A handcart frame body automatic bending device and method thereof

Abstract

The application relates to a handcart frame automatic bending device and a method thereof, which comprises a rack, a pressing mechanism for extruding the bending position of the frame, and a bending mechanism for placing and pressing the two ends of the frame. The bending mechanism comprises two movable racks movably arranged on the rack, a driving assembly for controlling the movement of the movable racks, a rotating rack rotatably arranged on the movable rack, a power assembly for controlling the rotation of the two rotating racks, a clamping assembly for clamping the end of the frame, and a monitoring assembly for monitoring the rotation angle of the rotating rack. After one-time bending work is completed, the bending position of the frame is adjusted by the clamping assembly, the rotating position is monitored by the monitoring assembly, and other positions of the frame are bent again. The application realizes the effect of automatically bending the frame at different positions and angles for multiple times by adjusting the position and angle of the frame after the first-time bending is completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of trolley frame body bending equipment, in particular to a trolley frame body automatic bending device and method thereof. BACKGROUND

[0002] At present, the demand for children's trolleys in people's daily life is also increasing. In the production process of children's trolleys, the bending equipment of the trolley frame body is an automatic equipment integrating mechanical, hydraulic / pneumatic and CNC (Computer Numerical Control) technologies, which is specially used for automatically bending metal pipes or profiles.

[0003] In the related art, after positioning both ends of the frame body, the bending part is extruded, and finally the frame body is pushed and pressed at both ends to finally realize the bending of the frame body. However, most of the bending work can only be bent once or needs to be adjusted manually before bending, so there are defects of poor efficiency and applicability. SUMMARY

[0004] In order to improve the above technical problems, the present application provides a trolley frame body automatic bending device and method thereof.

[0005] The trolley frame body automatic bending device provided by the present application adopts the following technical scheme:

[0006] A trolley frame body automatic bending device comprises:

[0007] a rack;

[0008] a pressing mechanism for extruding the bending position of the frame body;

[0009] a bending mechanism for placing and pressing the two ends of the frame body;

[0010] The bending mechanism comprises:

[0011] two movable racks movably arranged on the rack, a driving assembly for controlling the movement of the movable racks, a rotating rack rotatably arranged on the movable rack, a power assembly for controlling the rotation of the two rotating racks, a clamping assembly for clamping the end of the frame body, and a monitoring assembly for monitoring the rotation angle of the rotating rack;

[0012] After completing a bending work, the clamping assembly adjusts the bending position of the frame body, and the monitoring assembly monitors the rotation position again to bend other positions of the frame body.

[0013] Further, the clamping assembly comprises:

[0014] a limiting rack arranged on the rotating rack;

[0015] A moving part is movably arranged on the limiting frame and used for moving the frame body in the X direction;

[0016] A fixing part is arranged on the moving part and used for fixing the frame body and moving along the X direction with the moving part.

[0017] Further, the moving part comprises:

[0018] A U-shaped seat movably arranged on the limiting frame and used for limiting the frame body;

[0019] A reciprocating part used for realizing reciprocating movement of the U-shaped seat;

[0020] The fixing part is arranged on the U-shaped seat, and the limiting frame is provided with a moving opening for movement of the U-shaped seat, both ends of the moving opening along the X direction are closed.

[0021] Further, the reciprocating part comprises:

[0022] A sliding plate fixedly connected with the bottom of the U-shaped seat;

[0023] Two guide rails arranged on the limiting frame along the X direction;

[0024] A linear motion control member used for realizing reciprocating movement of the sliding plate along the guide rails;

[0025] The sliding plate is sleeved and slides on the two guide rails.

[0026] Further, the fixing part comprises:

[0027] A fixing rope used for binding and fixing the frame body on the U-shaped seat;

[0028] A winding set used for realizing straightening and relaxing of the fixing rope.

[0029] Further, the U-shaped seat comprises a bottom frame and two side plates, both the bottom frame and the side plates are hollow and communicate with each other, the side plates are elastically arranged in the bottom frame, a connecting rod is fixedly connected in the inner cavity of the side plate, the connecting rope is bound on the connecting rod, and the winding set can also wind or release the connecting rope.

[0030] Further, the winding set comprises:

[0031] Two winding motors;

[0032] Two winding rollers used for winding or releasing the fixing rope;

[0033] Two connecting rollers used for winding or releasing the connecting rope;

[0034] Two electromagnet groups are used to connect or separate the winding roller and the connecting roller;

[0035] The connecting roller releases the connecting rope when the winding roller winds the fixed rope, and the winding roller releases the fixed rope when the connecting roller winds the connecting rope.

[0036] Further, the power assembly comprises:

[0037] A power motor is used to control the rotation of any rotating frame;

[0038] A power rod is used to connect two rotating frames and ensure that the two rotating frames rotate together;

[0039] A linear reciprocating component is used to realize the reciprocating movement of the power rod along the X direction;

[0040] Two power holes are arranged on the two rotating frames, and when the two ends of the power rod are located in the two power holes, the two rotating frames rotate together.

[0041] Further, the pressing mechanism comprises:

[0042] Two sliders move away from each other or towards each other, and are adapted to the outer bending direction of the frame body and clamp the frame body;

[0043] A mutual moving component is used to realize the mutual moving of the two sliders;

[0044] A supporting assembly is used to support the sliders.

[0045] Further, the supporting assembly comprises:

[0046] A bottom block is fixed on the frame;

[0047] A supporting rod is hinged to the bottom block;

[0048] A transmission rod is hinged to one end of the slider and the other end of the supporting rod;

[0049] When the slider moves to clamp the frame body, the supporting rod moves to abut against the back of the slider.

[0050] The application also provides an automatic folding method for a trolley frame body, which adopts the following technical scheme:

[0051] An automatic folding method for a trolley frame body comprises the following steps:

[0052] S1, definition and preparation: define the folding sequence and the folding path;

[0053] S2, performing the first bending:

[0054] Start to perform the first step in the "bending sequence":

[0055] Positioning: the controller reads the bending position set in the first bending step, and drives the X-axis moving part to accurately move the entire frame to the target position;

[0056] Pressing: after positioning, the pressing mechanism acts to press and support the frame at the position point, preparing for bending;

[0057] Bending: the controller reads the bending angle set in the first bending step, and immediately drives the power assembly to rotate the rotating frame.

[0058] Completion: when the real-time angle data matches the preset target angle value, the rotation of the rotating frame is immediately stopped, and thus the first bending is accurately completed;

[0059] S3, automatic connection and execution of subsequent bending:

[0060] Reset and confirmation: first, the pressing mechanism and the rotating frame will automatically reset, and the robot arm will automatically take out the first bent frame and move it to the specified position, away from the contact with the frame, and all related parts have returned to the safe initial state.

[0061] Calculation and displacement: read the target bending position of the next bending step;

[0062] Perform bending: after positioning, read the bending angle corresponding to this new position, and repeat the "pressing" and "bending" actions in the second step above to complete this bending;

[0063] S4, cycle and end:

[0064] The system will continue to repeat the "reset-calculation-displacement-bending" cycle of S3, complete all bending steps in the order defined in the "bending sequence", and when the last step in the sequence is executed, the entire automated bending process is completed, waiting for the next cycle

[0065] In summary, the beneficial technical effects of the present application are:

[0066] 1. The bending position is pressed by the pressing mechanism, and then the two ends of the frame body start to move by the bending mechanism, thus realizing the bending work of the frame body; the movable frame moves along the extension direction of the track, and during the movement of the movable frame along the track, the frame body is bent; after the first bending work is completed, the clamping assembly needs to adjust the bending position of the frame body, and then control any end of the frame body to start moving in the rotating frame until the bending position moves to the pressing mechanism, and the rotating frame can also start to rotate; after the rotating position is rotated by the monitoring assembly, the position and other bending angles of the frame body can be bent, and the rotating angle of the bending position is also controlled by the monitoring assembly;

[0067] 2. The fixed rope can bind the frame body on the U-shaped seat under the cooperation of the two winding rollers. Of course, the winding roller and the connecting roller can be connected by the electromagnet group, the connecting roller starts to wind the connecting rope, the connecting rope moves the corresponding side plate downward, and then the connecting roller and the winding roller are disconnected, and the fixed rope starts to straighten. However, since the side plate is lowered at this time, the connection position between the fixed rope and the frame body is increased, which further stabilizes the firmness of the fixed rope to fix the frame body on the U-shaped seat; that is, when the guide rail is powered on, the slide plate moves along the moving length direction of the guide rail under the action of the ampere force, thereby driving the slide plate and the U-shaped seat to move; the above operations are all after the first bending work of the frame body is completed, and the second position or the second bending angle needs to be adjusted;

[0068] 3. By respectively controlling the bending position and the bending angle in a closed loop, the method ensures the accuracy of processing, compares the actual position / angle value fed back by the sensor with the target value set in the program in real time, and dynamically adjusts until consistent, eliminates the cumulative error caused by mechanical wear, voltage fluctuation or material difference, ensures that each workpiece and each batch of products have high consistency in size and shape, and significantly improves the product quality and the qualification rate. BRIEF DESCRIPTION OF DRAWINGS

[0069] Figure 1 is the overall structure schematic diagram of the embodiment of the present application;

[0070] Figure 2 is the moving part schematic diagram in the embodiment of the present application;

[0071] Figure 3 is the U-shaped seat sectional view in the embodiment of the present application;

[0072] Figure 4 is the right view of the U-shaped seat sectional view in the embodiment of the present application;

[0073] Figure 5 is the movement trajectory schematic diagram between the transmission rod, the supporting rod and the sliding block in the embodiment of the present application.

[0074] BRIEF DESCRIPTION OF DRAWINGS

[0075] 1, frame;

[0076] 2, movable frame;

[0077] 3, rotating frame; 31, limiting frame; 32, U-shaped seat; 33, moving opening; 34, sliding plate; 35, guide rail; 361, fixed rope; 362, winding roller; 363, connecting roller; 364, electromagnet group; 321, bottom frame; 322, side plate; 323, connecting rod;

[0078] 4, monitoring assembly;

[0079] 5, power motor; 51, power rod; 52, linear reciprocating part; 53, power hole;

[0080] 61, sliding block; 63, double-threaded rod; 64, sliding rod; 65, bottom block; 66, support rod; 67, transmission rod; 7, track. DETAILED DESCRIPTION

[0081] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. Embodiment 1

[0082] The present application discloses a handcart frame automatic bending device. Referring to Figures 1-5 , which comprises: a frame 1; a pressing mechanism for extruding the bending position of the frame; a bending mechanism for placing and pressing the two ends of the frame; after the bending position is tightly pressed by the pressing mechanism, the two ends of the frame start to move by using the bending mechanism, thus realizing the bending work of the frame; the bending mechanism comprises: two movable frames 2 movably arranged on the frame 1, a driving assembly for controlling the movement of the movable frames 2, a rotating frame 3 rotatably arranged on the movable frame 2, a power assembly for controlling the rotation of the two rotating frames 3 together, a clamping assembly for clamping the end of the frame, and a monitoring assembly 4 for monitoring the rotation angle of the rotating frame 3.

[0083] The movable frame 2 is provided along the length direction as the X direction, the ends of the two movable frames 2 along the X direction are provided as open, the other end is provided as closed, the length size of the two movable frames 2 is greater than the length size of the frame body in this embodiment, and the rack 1 is provided with a track 7 for the movement of the movable frame 2, the bottom of the movable frame 2 is fixedly connected with a driving block for sliding in the track 7, the driving block is movable along the extension direction of the track 7, of course, the length size of the track 7 also meets the bending angle of the frame body, the driving assembly adopts an oil cylinder or an electric push rod in this embodiment, preferably an oil cylinder, the shell of the oil cylinder is hinged to the rack 1, and the output end of the oil cylinder is also hinged to the movable frame 2; Further, the movable frame 2 can move along the extension direction of the track 7, and during the movement of the movable frame 2 along the track 7, the frame body is bent, when the first bending work is completed, the clamping assembly needs to adjust the bending position of the frame body, then control any end of the frame body to start moving in the rotating frame 3, until the bending position moves to the pressing mechanism, and the rotating frame 3 can also be controlled to start rotating, after the rotating position is rotated by the monitoring assembly 4, the position of the frame body and other bending angles can be bent, and the rotating angle of the bending position is also controlled by the monitoring assembly 4.

[0084] The monitoring assembly 4 in this embodiment directly monitors and controls by using an angle encoder, since the angle encoder uses the prior art, this embodiment will not be repeated, a power motor 5 can be used as the power assembly, the power motor 5 controls any rotating frame 3 to rotate, the power assembly further includes a power rod 51 for connecting the two rotating frames 3 and ensuring that the two rotating frames 3 rotate together; a linear reciprocating member 52 for realizing the reciprocating movement of the power rod 51 along the X direction; the linear reciprocating member 52 can also be selected from an electric push rod or an oil cylinder, both of which can be used, the two rotating frames 3 are provided with power holes 53, the power rod 51 is initially located in one of the rotating frames 3, and when it is necessary to control the two rotating frames 3 to start rotating, it is necessary to control the power rod 51 to move to the two ends and be located in the two power holes 53 respectively, and the power rod 51 is provided as a square in this embodiment, so as to control the two rotating frames 3 to rotate together, and during the rotating process, the second bending position angle can be adjusted.

[0085] The clamping assembly includes a limiting frame 31 provided on the rotating frame 3;

[0086] A moving part movably provided on the limiting frame 31, for moving the frame body in the X direction and limiting the frame body;

[0087] The fixed part arranged on the moving part is used for fixing the frame body and moving along the X direction with the moving part. The moving part controls the frame body to start moving along the X direction under the action of the fixed part. When the frame body is bent for the second time, the moving part controls the frame body to move until it moves to the specified position. The moving part can be provided with one or two. If two, they are respectively arranged on the two rotating frames 3.

[0088] The moving part comprises a U-shaped seat 32 movably arranged on the limiting frame 31 and used for limiting the frame body, and the cross-sectional size of the frame body is matched with the cross-sectional size of the U-shaped seat 32; a reciprocating part used for realizing reciprocating movement of the moving frame; and a fixed part arranged on the U-shaped seat 32. The limiting frame 31 is provided with a moving port 33 used for moving the U-shaped seat 32. The two ends of the moving port 33 along the X direction are both closed. The length size of the moving port 33 is greater than the length size of the U-shaped seat 32. Therefore, the U-shaped seat 32 can move along the length direction of the moving port 33. The cross section of the U-shaped seat 32 is also arranged in a concave shape.

[0089] The reciprocating part comprises a sliding plate 34 fixedly connected with the bottom of the U-shaped seat 32; two guide rails 35 arranged on the limiting frame 31 along the X direction; the sliding plate 34 is sleeved and slid on the two guide rails 35; a linear motion control member (not shown in the figure) used for realizing reciprocating movement of the sliding plate 34 along the guide rail. The linear motion control member can be selected from an electric push rod or a pneumatic cylinder.

[0090] The guide rail 35 is arranged below the U-shaped seat 32, i.e. fixed below the limiting frame 31. In the initial state, the U-shaped seat 32 is located at the position close to one end of the moving port 33. Therefore, when the frame body needs to be moved, the linear motion control member controls the sliding rod to move along the guide rail, realizing the reciprocating movement effect of the U-shaped seat 32.

[0091] The fixing part comprises a fixing rope 361 for binding and fixing the frame body on the U-shaped seat 32, and a winding group for realizing the tensioning and relaxing of the fixing rope 361. When the fixing rope 361 starts to be tensioned, the friction between the fixing rope 361 and the upper part of the frame body wall increases. In the embodiment, the friction between the fixing rope 361 and the frame body is sufficient to make the frame body move with the U-shaped seat 32, that is, the frame body is bound on the U-shaped seat 32. The U-shaped seat 32 comprises a bottom frame 321 and two side plates 322. The bottom frame 321 and the side plates 322 are both hollow and communicate with each other. The side plates 322 are elastically arranged in the bottom frame 321. The inner cavities of the side plates 322 are fixedly connected with a connecting rod 323. The connecting rod 323 is bound with a connecting rope. The winding group can also wind or release the connecting rope. The bottom frame 321 is provided with a sliding port for the side plates 322 to slide into. The side plates 322 slide into the sliding port, and the side plates 322 are also hollow, that is, the two ends of the side plates 322 along the Y direction are both open. The fixing rope 361 passes into the side plates 322 from the bottom frame 321 and then passes out from the top end of the side plates 322, and is wound again after passing around the frame body on the U-shaped seat 32. In the embodiment, the bottom of the sliding port is provided with a plurality of springs. The other ends of the springs are used to connect the side walls of the side plates 322 to realize the elastic action between the side plates 322 and the bottom frame 321. It is necessary to ensure that the positions of the springs are staggered with the movement path of the fixing rope 361.

[0092] The winding group comprises two winding motors, two winding rollers 362 for winding or releasing the fixing rope 361, two connecting rollers 363 for winding or releasing the connecting rope, and two electromagnet groups 364 for connecting or separating the winding rollers 362 and the connecting rollers 363. When the winding rollers 362 wind the fixing rope 361, the connecting rollers 363 release the connecting rope. When the winding rollers 362 release the fixing rope 361, the connecting rollers 363 wind the connecting rope. The winding motors are arranged outside the bottom frame 321. The output ends of the winding motors are connected with one end of the winding rollers 362. The winding rollers 362 are rotationally arranged in the bottom frame 321, and the length direction of the winding rollers 362 is arranged along the X direction. The connecting rollers 363 are also rotationally connected with the other end of the bottom frame 321. The electromagnet groups 364 are arranged at the ends of the connecting rollers 363 or the winding rollers 362 at equal intervals, so as to realize the connection or separation of the winding rollers 362 and the connecting rollers 363. The winding direction of the connecting rope on the connecting rollers 363 is opposite to the winding direction of the fixing rope 361 on the winding rollers 362. Therefore, the winding and releasing actions of the fixing rope 361 and the connecting rope are opposite.

[0093] When only need to prevent the frame from falling when the rotation angle is greater than 90°, the electromagnet group 364 does not connect the winding roller 362 and the connecting roller 363, so only need to control the two winding rollers 362 to cooperate to tighten the fixed rope 361, and the fixed rope 361 limits the frame on the U-shaped seat 32, but when the U-shaped seat 32 needs to drive the frame to move, one of the U-shaped seats 32 needs to be operated, and if the fixed rope 361 is in a relaxed state in the initial state, the electromagnet group 364 needs to connect the winding roller 362 and the connecting roller 363, control the connecting roller 363 to start winding the connecting rope, the connecting rope moves the corresponding side plate 322 downward, and then disconnects the connecting roller 363 and the winding roller 362, and controls the fixed rope 361 to start straightening, but because the side plate 322 descends at this time, the connection position between the fixed rope 361 and the frame is more, further stabilizing the fixed rope 361 to fix the frame on the U-shaped seat 32, and when the U-shaped seat 32 has rotated an angle greater than 90°, that is, the upper opening of the U-shaped seat 32 is downward or inclined downward, the connection position between the frame and the fixed rope 361 is already more, and there is no need to control the side plate 322 to move, that is, only need to ensure that the fixed rope 361 is straightened; and when the frame needs to be taken away, the fixed rope 361 needs to be released and a certain distance of the fixed rope 361 needs to be released, and after the frame is taken away, the winding roller 362 and the connecting roller 363 can be connected again to control the connecting rope to be released, although the fixed rope 361 will be wound, but because more fixed rope 361 is released before, the fixed rope 361 is wound until the fixed rope 361 between the U-shaped seat 32 and the new frame can be put in the initial state, and the side plate 322 returns to the initial position under the action of the spring restoring to the original shape.

[0094] The pressing mechanism comprises: two sliding blocks 61, which move away from or towards each other, are matched with the outer bending direction of the frame and clamp the frame; a relative motion assembly for realizing the movement of the two sliding blocks 61 away from or towards each other; and a supporting assembly for supporting the sliding blocks 61. In the embodiment, the relative motion assembly adopts a transmission mode of a double-headed threaded rod 63, that is, the relative motion assembly comprises a second motor, the double-headed threaded rod 63 and a sliding rod 64, the sliding blocks 61 are sleeved on the sliding rod 64, the bottom of the sliding blocks 61 is screw-connected with the double-headed threaded rod 63, and the two sliding blocks 61 are located at the two ends of the double-headed threaded rod 63, so as to realize the relative motion of the two sliding blocks 61. In the embodiment, the surface of the sliding blocks 61 abutting against the frame is arc-shaped, which can ensure the normal operation of the frame.

[0095] Referring to Figure 5The support assembly comprises a bottom block 65 fixed on the rack 1, a support rod 66 hinged to the bottom block 65, and a transmission rod 67 hinged at one end to the sliding block 61 and at the other end to the support rod 66. When the sliding block 61 moves to clamp the frame body, the support rod 66 moves to abut against the back of the sliding block 61, the bottom block 65 is vertically arranged, and the hinged shaft axis direction of the support rod 66 and the hinged shaft axis direction of the transmission rod 67 and the support rod 66 are parallel. In the initial state, the movable end of the support rod 66 is located above the sliding block 61. When the sliding block 61 moves towards the frame body, the support rod 66 swings downward under the action of the transmission rod 67. The transmission rod 67 swings downward around the hinge point with the sliding block 61, and pulls the support rod 66 to swing towards the back of the sliding block 61. In this embodiment, when the sliding block 61 moves to abut against the frame body, the support rod 66 just swings to abut against the back of the sliding block 61. The end surface of the support rod 66 is arranged as an arc surface, i.e. the support rod 66 is still arranged to be upwardly inclined. When the sliding block 61 moves towards the initial position, the support rod 66 can swing upwardly to the initial position, i.e. when the two sliding blocks 61 move towards each other, the transmission rod 67 swings upwardly around the hinge point with the sliding block 61, and the support rod 66 is driven to swing away from the sliding block 61. Since the sliding block 61 needs to bear a large force when it is bent, the support of the support rod 66 to the sliding block 61 effectively reduces the load between the sliding block 61 and the double-thread rod 63, thereby prolonging the cooperation life of the sliding block 61 and the double-thread rod 63. In this embodiment, the length of the support rod 66 is smaller than the length of the transmission rod 67, thereby ensuring that when the sliding block 61 moves back to the initial position, the transmission rod pushes the support rod 66 to a position away from the sliding block 61. Of course, the transmission rod 67 can also be connected to the bottom surface of the support rod 66 through sliding in the prior art, and the transmission rod 67 is hinged with a moving block, and the bottom surface of the support rod 66 is provided with a moving groove. The moving block and the moving groove are arranged in a T-shaped cross section, so that when the support rod 66 and the transmission rod 67 move, the moving block moves in the moving groove, and the support rod 66 can swing.

[0096] The implementation principle of the embodiment of the handcart frame automatic folding device is that the fixing rope 361 can bind the frame on the U-shaped seat 32 under the cooperation of the two winding rollers 362. Of course, the winding roller 362 and the connecting roller 363 can be connected through the electromagnet group 364, the connecting roller 363 is controlled to start winding the connecting rope, the connecting rope moves the corresponding side plate 322 downward, and then the connecting roller 363 and the winding roller 362 are disconnected, and the fixing rope 361 is controlled to start straightening. However, since the side plate 322 is lowered at this time, the connection position between the fixing rope 361 and the frame is increased, further stabilizing the firmness of the fixing rope 361 to fix the frame on the U-shaped seat 32. The linear motion control member drives the sliding plate 34 and the U-shaped seat 32 to move. The above operations are all after the first folding work of the frame is completed, and the second position or the second folding angle needs to be adjusted,

[0097] After the first folding, there are two adjustment methods. Among them, the first folded frame can be taken out from the two U-shaped seats 32 by artificial, and the two movable frames 2 are returned to the initial position. The second folded part of the frame is placed on one of the U-shaped seats 32, and then the second folding work is adjusted by moving the U-shaped seat 32 and rotating the frame 3. A multi-axis robot clamping arm can also be installed. After the first folded frame is taken out and the two movable frames 2 return to the initial position, the frame to be folded is placed on the U-shaped seat 32 of any movable frame 2.

[0098] When the angle needs to be adjusted, the power rod 51 is connected to the two rotating frames 3, one rotating frame 3 is controlled to rotate, and then the second folding work is realized by using the clamping of the two sliding blocks 61 and the movement of the movable frame 2. During the folding work, the supporting rod 66 swings downward under the action of the transmission rod 67. When the sliding block 61 moves to abut against the frame, the supporting rod 66 just swings to abut against the back of the sliding block 61. The supporting of the supporting rod 66 to the sliding block 61 effectively reduces the load between the sliding block 61 and the double-headed threaded rod 63, thereby prolonging the cooperation life of the sliding block 61 and the double-headed threaded rod 63. Embodiment 2

[0099] An automatic folding method of a handcart frame, comprising the following steps:

[0100] S1, definition and preparation: define the folding sequence and the folding path; first, define or call a "folding sequence" through a man-machine interaction interface, and plan the folding path of the entire frame. Each "folding step" in the sequence clearly specifies two core information: a folding position, that is, which point on the frame should be folded, and a folding angle, that is, the degree number that the point needs to be folded to; after the definition is completed, the operator places the straight frame to be processed on the equipment, and the clamping assembly is initially fixed

[0101] S2, the first bending is performed:

[0102] The first step in the bending sequence is started to be performed:

[0103] Positioning: the controller reads the bending position set in the first bending step and drives the X-axis moving part to accurately move the entire frame to the target position.

[0104] Pressing: after positioning is completed, the pressing mechanism acts to press and support the frame at the position point, preparing for bending.

[0105] Bending: the controller reads the bending angle set in the first bending step and immediately drives the power assembly to rotate the rotating frame.

[0106] Completion: when the real-time angle data matches the preset target angle value, the rotation of the rotating frame is immediately stopped, and thus the first bending is accurately completed;

[0107] S3, automatic connection and execution of subsequent bending: after completing a bending, the system starts to perform the next bending step in the sequence;

[0108] Reset and confirmation: first, the pressing mechanism and the rotating frame are automatically reset, and the robot arm automatically takes out the first bent frame and moves it to a specified position, out of contact with the frame, and all related components have returned to a safe initial state.

[0109] Calculation and displacement: the target bending position of the next bending step is read; the relative movement distance between the current position and the next target position is automatically calculated, the controller drives the X-axis moving part to move the frame by this calculated relative distance, so as to accurately deliver the next bending point to the processing position;

[0110] Perform bending: after positioning, the bending angle corresponding to the new position is read, and the "pressing" and "bending" actions in the second step above are repeated to complete this bending;

[0111] S4, cycle and end:

[0112] The system will continue to repeat the "reset-calculation-displacement-bending" cycle of S3, complete all bending steps in the order defined in the "bending sequence", and when the last step in the sequence is executed, the entire automated bending process is completed, and the next cycle is waiting.

[0113] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. Unless otherwise defined, the terms "first", "second" or "third" and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. The terms "one", "another", "an" or "some" as well as similar referents in the context of describing the specification and claims are to be construed to be open-ended, i.e., to cover both singular and plural referents unless otherwise indicated. The terms "including", "containing" or "comprising" and the like are not intended to exclude other integers or steps, but to "include" or "comprise" other integers or steps unless otherwise indicated. The terms "connected", "coupled" or "pathway" and the like are not limited to direct connections, couplings or pathways, but can also include indirect connections, couplings or pathways unless otherwise indicated. The terms "upstream" and "downstream" are used to describe the relative position of elements in a flow path, and are not intended to denote an absolute position unless otherwise indicated.

[0114] The above are only preferred embodiments of the present application, not intended to limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A handcart frame automatic folding device, characterized in that, The utility model relates to a bending machine for frame, including: Frame (1); Pressing mechanism for extruding the bending position of frame body; Bending mechanism for placing and pressing the two ends of frame body and pushing the two ends of frame body; Bending mechanism includes: Two movable racks (2) movably arranged on the frame (1), a drive assembly for controlling the movement of the movable racks (2), a rotating rack (3) rotatably arranged on the movable racks (2), a power assembly for controlling the rotation of the two rotating racks (3), a clamping assembly for clamping the end of the frame body, and a monitoring assembly (4) for monitoring the rotation angle of the rotating rack (3); After completing a bending work, the clamping assembly is used to adjust the bending position of the frame body, and the monitoring assembly (4) is used to monitor the rotation position, and then the frame body is bent at other positions again; The clamping assembly includes a limiting rack (31) arranged on the rotating rack (3); A moving part movably arranged on the limiting rack (31) is used to move the frame body in the X direction and limit the frame body; A fixed part arranged on the moving part is used to fix the frame body and move along the X direction together with the moving part; The moving part includes a U-shaped seat (32) movably arranged on the limiting rack (31) and used to limit the frame body; A reciprocating part is used to realize the reciprocating movement of the U-shaped seat (32); The fixed part is arranged on the U-shaped seat (32), the limiting rack (31) is provided with a moving opening (33) for the movement of the U-shaped seat (32), and the two ends of the moving opening (33) along the X direction are closed; The fixed part includes a fixed rope (361) for binding and fixing the frame body on the U-shaped seat (32); A winding group is used to realize the straightening and relaxation of the fixed rope (361); The U-shaped seat (32) includes a bottom frame (321) and two side plates (322), the bottom frame (321) and the side plates (322) are both hollow and communicate with each other, the side plates (322) are elastically arranged in the bottom frame (321), the inner cavities of the side plates (322) are fixedly connected with connecting rods (323), the connecting rods (323) are bound with connecting ropes, and the winding group can also wind or release the connecting ropes; The winding group includes: Two winding motors; Two winding rollers (362) are used to wind or release the fixed rope (361); Two connecting rollers (363) are used to wind or release the connecting ropes; Two electromagnet groups (364) are used to connect or separate the winding rollers (362) and the connecting rollers (363); 2. The apparatus according to claim 1, wherein When the winding roller (362) winds the fixed rope (361), the connecting roller (363) releases the connecting rope, and when the winding roller (362) releases the fixed rope (361), the connecting roller (363) winds the connecting rope. The reciprocating part includes a sliding plate (34) fixedly connected with the bottom of the U-shaped seat (32); Two guide rails (35) are arranged on the limiting rack (31) along the X direction. A linear motion control component is arranged to realize the reciprocating movement of the slide plate (34) along the guide rail (35); The slide plate (34) is sleeved and slides on the two guide rails (35).

3. The apparatus according to claim 2, wherein The power assembly comprises a power motor (5) arranged to control the rotation of any one of the rotating frames (3); A power rod (51) is arranged to connect the two rotating frames (3) and ensure that the two rotating frames (3) rotate together; A linear reciprocating component (52) is arranged to realize the reciprocating movement of the power rod (51) along the X direction; The two rotating frames (3) are each provided with a power hole (53), and when the two ends of the power rod (51) are located in the two power holes (53), the two rotating frames (3) rotate together.

4. The apparatus according to claim 3, wherein The pressing mechanism comprises two sliders (61) moving away from or towards each other, which are adapted to the bending direction of the frame body and clamp the frame body; A mutual moving component is arranged to realize the mutual moving away or towards of the two sliders (61); A supporting component is arranged to support the sliders (61).

5. A method of automatically bending a cart frame body based on the automatically bending apparatus for a cart frame body according to any one of claims 1 to 4, characterized by, The method comprises the following steps: S1, defining and preparing: defining a bending sequence and a bending path; S2, performing the first bending: Start to perform the first bending step in the "bending sequence": Positioning: the controller reads the bending position set in the first bending step, and drives the X-axis moving part to accurately move the entire frame body to the target position; Pressing: after positioning, the pressing mechanism acts to extrude and support the frame body at the position point, preparing for bending; Bending: the controller reads the bending angle set in the first bending step, and then drives the power assembly to rotate the rotating frame; Completion: when the real-time angle data matches the preset target angle value, the rotation of the rotating frame is immediately stopped, and the first bending is accurately completed; S3, automatic connection and execution of subsequent bending: Resetting and confirming: first, the pressing mechanism and the rotating frame are automatically reset, and the robot arm automatically takes out the first bent frame body and moves to the specified position, out of contact with the frame body, and all related components have returned to the safe initial state; Calculating and shifting: read the target bending position of the next bending step; Performing bending: after positioning, read the bending angle corresponding to this new position, and repeat the "pressing" and "bending" actions in the second step above to complete this bending; S4, cycle and end: The system will continue to repeat the "reset-calculate-shift-bend" cycle of S3, and complete all bending steps in the order defined in the "bending sequence". When the last step in the sequence is executed, the entire automated bending process is completed, and the next cycle is waiting.

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