Power switching control method and system

Abstract

The invention relates to the technical field of stretch benders, in particular to a power switching control method and system. During application, the servo motor is closed or switched to a follow-up working condition during primary stretch bending, main driving force is provided by the large arm oil cylinder, and the servo motor is prevented from being damaged due to bearing of overlarge torque; and during secondary stretch bending, the large arm stops rotating and is locked, the clamping arm is driven to rotate through the auxiliary stretch bending oil cylinder, and the stretch bending working range and flexibility can be improved. And after stretch bending is finished, the high-precision characteristic of the servo motor is used for driving the clamping arm to return to the initial position, the return stroke response speed can be effectively increased through the characteristic of the servo motor, it is ensured that the clamping arm can be accurately aligned with the part to be stretch-bent during next stretch bending work, and error accumulation is reduced. Operators do not need to frequently and manually calibrate the equipment, so that the production efficiency can be improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of stretch bending machines, and in particular to a power switching control method and system. Background Art

[0002] In the field of modern industrial manufacturing, stretch bending machines, as key equipment for metal profile forming, are widely used in high-precision parts processing scenarios such as aerospace, automobile manufacturing, and rail transportation. After completing the stretch bending operation, existing stretch bending machines face significant technical bottlenecks in the return and reset link of the clamping arm. At present, stretch bending machines generally use cylinders as the sole power source to drive the movement of the clamping arm. Although the cylinder can provide a large driving force, it has inherent defects such as response delay and low control accuracy due to its reliance on hydraulic transmission. During the return process of the clamping arm, it is difficult to achieve precise position control by relying solely on the cylinder drive, and it is impossible to ensure that the clamping arm can return to the initial position stably and accurately every time. This return error will continue to accumulate as the number of processing batches increases, resulting in subsequent workpiece clamping and positioning deviations, seriously affecting the processing consistency and forming accuracy of the product. In addition, the lack of a high-precision return drive mechanism forces operators to frequently manually calibrate the equipment, significantly reducing production efficiency and increasing labor costs, making it difficult to meet the current urgent demand for high-precision, automated processing in industrial production. Summary of the Invention

[0003] In view of this, the present application provides a power switching control method and system, which can control the clamping arm to achieve high-precision return work.

[0004] In a first aspect, the present application provides a power switching control method, which is applied to a bending machine, the bending machine comprising a frame and a boom, the boom being rotatably mounted on the frame, the boom being provided with a clamping arm frame, the clamping arm being rotatably connected to the clamping arm frame via a frame shaft, the clamping arm being used to clamp a workpiece to be bent, the clamping arm frame being provided with an auxiliary bending oil cylinder and a servo motor, the oil rod of the auxiliary bending oil cylinder and the output shaft of the servo motor being linked to the frame shaft to drive the clamping arm to rotate relative to the clamping arm frame; wherein the power switching control method comprises: Receive the clamping signal of the workpiece to be bent; if the first bending instruction is obtained, control the arm to rotate to bend the workpiece to be bent once, and control the servo motor to turn off or switch to the follow-up working state; if the second bending instruction is obtained, control the arm to stop and lock, and control the auxiliary bending cylinder to drive the clamping arm to rotate relative to the clamping arm arm frame to bend the workpiece to be bent for the second time; after the bending is completed, receive the unloading signal of the workpiece to be bent; and if the clamping arm return instruction is obtained, control the servo motor to drive the clamping arm to return to its initial position relative to the clamping arm arm frame.

[0005] In combination with the first aspect, in a possible implementation, it also includes: if the first bending instruction is obtained, controlling the auxiliary bending cylinder to apply a first rotation trend to the clamping arm, and the first rotation trend is in the same direction as the rotation direction of the upper arm.

[0006] In combination with the first aspect, in a possible implementation, a locking mechanism is provided on the clamping arm, and the locking mechanism is configured to lock or release the rotation between the clamping arm arm frame and the clamping arm; the power switching control method further includes: if the first bending instruction is obtained, controlling the locking mechanism to lock the rotation between the clamping arm arm frame and the clamping arm; if the second bending instruction is obtained, controlling the locking mechanism to release the rotation between the clamping arm arm frame and the clamping arm; and if the clamping arm return instruction is obtained, controlling the locking mechanism to release the rotation between the clamping arm arm frame and the clamping arm.

[0007] In combination with the first aspect, in a possible implementation, it further includes: if the boom return instruction is obtained, the boom is controlled to return, and the auxiliary bending cylinder and the servo motor are controlled to switch to a follow-up working state.

[0008] In combination with the first aspect, in a possible implementation, if a clamping arm return instruction is obtained, controlling the servo motor to drive the clamping arm to return to the initial position relative to the clamping arm arm frame includes: within the first stroke of the clamping arm return, controlling the auxiliary bending cylinder and the servo motor to cooperatively drive the clamping arm to perform the return.

[0009] In combination with the first aspect, in a possible implementation, if a clamping arm return instruction is obtained, controlling the servo motor to drive the clamping arm to return to its initial position relative to the clamping arm arm frame includes: within the second stroke of the clamping arm return, controlling the auxiliary bending cylinder to switch to a follow-up state, and controlling the servo motor to drive the clamping arm to perform the return; wherein, the second stroke includes the initial position of the clamping arm.

[0010] In combination with the first aspect, in a possible implementation, it also includes: monitoring the rotational torque of the clamping arm when the clamping arm is in a rotating state; if the servo motor is in a driving working state and the rotational torque is greater than or equal to a preset torque, controlling the servo motor to switch to a follow-up state; and if the rotational torque is lower than the preset torque, controlling the servo motor to switch to a driving working state.

[0011] In combination with the first aspect, in a possible implementation, the clamping arm includes a telescopic frame and a telescopic arm, the top end of the telescopic frame is rotatably connected to the clamping arm frame through an arm frame shaft, the bottom end of the telescopic frame is rotatably connected to the clamping arm frame through an arm frame shaft, the telescopic arm is telescopically connected in the telescopic frame, the telescopic frame also includes a telescopic oil cylinder, the telescopic oil cylinder is linked with the telescopic arm to drive the telescopic arm to perform telescoping, the telescopic direction of the telescopic arm is perpendicular to the axial direction of the arm frame shaft, and the end of the telescopic arm is provided with a clamping mechanism for clamping the workpiece to be bent; wherein, the power switching control method also includes: if a second bending instruction is obtained, in the control of the auxiliary bending oil cylinder to drive the Before the clamping arm rotates relative to the clamping arm frame to perform a secondary bending of the workpiece to be bent, the secondary bending position is obtained according to the second bending instruction; if the secondary bending position is the same as the primary bending position, the auxiliary bending cylinder is controlled to drive the clamping arm to rotate relative to the clamping arm frame to perform a secondary bending of the workpiece to be bent; if the secondary bending position is different from the primary bending position, the clamping mechanism is controlled to release the workpiece to be bent; the telescopic cylinder is controlled to drive the telescopic arm to extend and retract until the clamping mechanism reaches the corresponding position of the secondary bending position; the clamping mechanism is controlled to clamp the workpiece to be bent; and the auxiliary bending cylinder is controlled to drive the clamping arm to rotate relative to the clamping arm frame to perform a secondary bending of the workpiece to be bent.

[0012] In the second aspect, the present application also provides a power switching control system, which is applied to a bending machine, the bending machine includes a frame and a boom, the boom is rotatably mounted on the frame, a clamping arm frame is provided on the boom, the clamping arm is rotatably connected to the clamping arm frame through an arm frame shaft, the clamping arm is used to clamp the workpiece to be bent, and an auxiliary bending oil cylinder and a servo motor are provided on the clamping arm frame, the oil rod of the auxiliary bending oil cylinder and the output shaft of the servo motor are linked with the arm frame shaft to drive the clamping arm to rotate relative to the clamping arm frame; wherein, the power switching control system includes: a data module, configured to: receive a clamping signal of the workpiece to be bent; a first bending module, which is in communication with the data module, and the first bending module is configured to: if a first bending instruction is obtained, control the The upper arm rotates to bend the workpiece to be bent once, and controls the servo motor to be turned off or switched to a follow-up working state; the second bending module is connected to the data module for communication, and the second bending module is configured to: if a second bending instruction is obtained, control the upper arm to stop and lock, and control the auxiliary bending cylinder to drive the clamping arm to rotate relative to the clamping arm arm frame to bend the workpiece to be bent for a second time; the lower machine module is connected to the first bending module and the second bending module respectively, and the lower machine module is configured to: receive the lower machine signal of the workpiece to be bent after the bending is completed; and the return module is connected to the lower machine module for communication, and the return module is configured to: if a clamping arm return instruction is obtained, control the servo motor to drive the clamping arm to return to its initial position relative to the clamping arm arm frame.

[0013] In combination with the second aspect, in a possible implementation, the return module is further configured as follows: if the boom return instruction is obtained, the boom is controlled to return, and the auxiliary bending cylinder and the servo motor are controlled to switch to the follow-up working state; within the first stroke of the clamping arm return, the auxiliary bending cylinder and the servo motor are controlled to cooperatively drive the clamping arm to perform the return; within the second stroke of the clamping arm return, the auxiliary bending cylinder is controlled to switch to the follow-up state, and the servo motor is controlled to drive the clamping arm to perform the return; wherein, the second stroke includes the initial position of the clamping arm.

[0014] When this application is used, the servo motor is turned off or switched to the follow-up working state during the first bending operation, and the main driving force is provided by the boom cylinder to prevent the servo motor from being damaged due to excessive torque; during the second bending operation, the boom is stopped and locked, and the clamping arm is driven to rotate by the auxiliary bending cylinder, which can improve the bending working range and flexibility. After the bending operation is completed, the high-precision characteristics of the servo motor are used to drive the clamping arm back to the initial position, and the servo motor characteristics can effectively improve the return response speed, ensuring that the clamping arm can be accurately aligned with the workpiece to be bent during the next bending operation, reducing error accumulation. There is no need for operators to frequently manually calibrate the equipment, which can improve production efficiency and reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 FIG2 is a schematic diagram of the method steps of a power switching control method provided by an embodiment of the present application.

[0016] Figure 2 Shown is a partial structural diagram of a stretch bending machine.

[0017] Figure 3 Shown Figure 2 Another perspective structural diagram.

[0018] Figure 4 Shown Figure 2 Side view structural diagram.

[0019] Figure 5 Shown Figure 2 Top view of the structure.

[0020] Figure 6 Shown is an enlarged schematic diagram of part of the structure of the stretch bending machine.

[0021] Figure 7 Shown is a schematic diagram of the steps of the method for auxiliary locking of the clamping arm.

[0022] Figure 8 Shown is a schematic diagram of the steps for locking and releasing the clamping arm.

[0023] Figure 9 The figure shows the working steps when the boom returns.

[0024] Figure 10 The figure shows the working steps when the clamping arm returns.

[0025] Figure 11 The figure shows a schematic diagram of the steps for controlling the working state of the servo motor according to the rotation torque.

[0026] Figure 12 Shown is a schematic diagram of specific method steps of a secondary stretch bending embodiment.

[0027] Figure 13 FIG. 1 is a schematic diagram of the system structure of a power switching control system provided by an embodiment. DETAILED DESCRIPTION

[0028] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0029] Figure 2 Shown is a partial structural diagram of a stretch bending machine. Figure 3 Shown Figure 2 Another perspective structural diagram. Figure 4 Shown Figure 2 Side view structural diagram. Figure 5 Shown Figure 2 Top view of the structure. Figure 6 The present application provides a power switching control method, which is applied to a stretch bending machine, such as Figures 2 to 6 As shown, the bending machine includes a frame 101 and a boom 102. The boom 102 is rotatably mounted on the frame 101. The frame 101 is provided with a boom cylinder 103 for driving the boom 102 to rotate. Two symmetrical booms 102 are provided on both sides of the frame 101. Only one boom 102 is shown in the figure. The boom 102 is provided with a clamping arm frame 104. The clamping arm frame 104 has a receiving frame. The clamping arm 105 passes through the receiving frame. The receiving frame surrounds the clamping arm 105. The clamping arm 105 is rotatably connected to the clamping arm frame 104 through an arm shaft 106. The clamping arm 105 is used to clamp the workpiece to be bent. Specifically, the top end of the clamping arm 105 is rotatably connected to the clamping arm frame 104 through an arm shaft 106, and the bottom end of the clamping arm 105 is rotatably connected to the clamping arm frame 104 through an arm shaft 106. The clamping arm frame 104 is provided with an auxiliary bending cylinder 107 and a servo motor 108. The oil rod 1071 of the auxiliary bending cylinder 107 and the output shaft of the servo motor 108 are both linked to the arm frame shaft 106 to drive the clamping arm 105 to rotate relative to the clamping arm frame 104. Specifically, a connecting rod 1072 is floatingly connected to the oil rod 1071, one end of which is fixed to the arm frame shaft 106. That is, the connection structure between the oil rod 1071 and the connecting rod 1072 can have a certain floating range. When the oil rod 1071 is extended or retracted, it can drive the connecting rod 1072 to swing, thereby driving the arm frame shaft 106 to rotate, and further driving the clamping arm 105 to rotate relative to the clamping arm frame 104.

[0030] Figure 1 FIG. 1 is a schematic diagram of the steps of a power switching control method provided by an embodiment of the present application. Figure 1 As shown, the power switching control method includes: Step 110: Receive a clamping signal of the workpiece to be bent.

[0031] When the bending machine is working, the two ends of the workpiece to be bent are respectively fixed on the clamping arms 105 on the two large arms 102 on both sides of the frame 101. The clamping mechanism 1051 of the clamping arm 105 clamps the workpiece to be bent and generates a clamping signal.

[0032] Step 120: If the first bending instruction is obtained, the arm 102 is controlled to rotate to bend the workpiece once, and the servo motor 108 is controlled to be turned off or switched to a follow-up working state.

[0033] In this step, the bending machine performs the first bending on the workpiece to be bent. Since the torque of the servo motor 108 is limited and it is difficult to withstand the bending torque, the servo motor 108 does not need to participate in the bending at this time to avoid damage to the servo motor 108. During one bending, since the clamping arm 105 is inserted into the accommodating frame of the clamping arm bracket 104, the accommodating frame can limit the clamping arm 105. A locking mechanism 10501 can also be provided to lock the relative position of the clamping arm 105 and the upper arm 102. The locking mechanism 10501 can be an electromagnetic lock. When the electromagnetic lock is working, it can be attracted to the matching body 1041 on the clamping arm bracket 104 to lock the clamping arm 105. When the electromagnetic lock is not working, it can slide on the surface of the matching body 1041.

[0034] Step 130: If a second bending instruction is obtained, the arm 102 is controlled to stop and lock, and the auxiliary bending cylinder 107 is controlled to drive the clamping arm 105 to rotate relative to the clamping arm support 104 to perform a second bending of the workpiece.

[0035] In this step, if further bending is required, the boom 102 can be locked using the boom cylinder 103, and the auxiliary bending cylinder 107 can be used to rotate the clamping arm 105 to perform a second bending of the workpiece. The rotatable clamping arm 105 and auxiliary bending cylinder 107 increase the bending range and flexibility of the bending machine. For example, a second bending can be performed when the boom 102 is rotated to its extreme position or at any time when the boom 102 is in the middle of its travel. Similarly, the servo motor 108 does not intervene during the second bending to avoid damage to the servo motor 108.

[0036] Step 140: After the bending is completed, a signal for the workpiece to be bent to be removed from the machine is received.

[0037] In this step, after the bending is completed, the clamping mechanism 1051 releases the workpiece to be bent, takes the workpiece out of the clamping mechanism 1051 and moves it down the bending machine, generating a signal to disengage the machine.

[0038] Step 150 : If the clamping arm return instruction is obtained, the servo motor 108 is controlled to drive the clamping arm 105 to return to the initial position relative to the clamping arm support 104 .

[0039] In this step, when the clamping arm 105 needs to return, the rotation accuracy of the servo motor 108 is high, which can reach 0.01 silk. The return accuracy of the clamping arm 105 can be improved by controlling the servo motor 108 to return, so that the clamping arm 105 can be accurately returned to the initial position for the next time of stretch bending.

[0040] In this embodiment, the servo motor 108 is switched to follow-up working condition when the stretch bending is performed once, and the main driving force is provided by the large arm oil cylinder 103 to avoid damage of the servo motor 108 due to bearing too large torque. When the stretch bending is performed twice, the large arm 102 is locked in rotation, and the clamping arm 105 is driven to rotate by the auxiliary stretch bending oil cylinder 107, which can improve the working range and flexibility of stretch bending. After the stretch bending is completed, the clamping arm 105 is driven to return to the initial position by the high-precision characteristics of the servo motor 108. The servo motor characteristics can effectively improve the return response speed, so that the clamping arm 105 can accurately align the workpiece to be stretched and bent next time, and the error accumulation is reduced. The production efficiency can be improved and the labor cost can be reduced without frequent manual calibration of the equipment by the operator.

[0041] Figure 7 As shown in the method steps of auxiliary locking of the clamping arm, in an embodiment, as shown in Figure 7 The power switching control method further includes: If the first stretch bending instruction is obtained, the auxiliary stretch bending oil cylinder 107 is controlled to apply a first rotation trend to the clamping arm 105 in step 160, and the first rotation trend is in the same direction as the rotation direction of the large arm 102.

[0042] In this embodiment, the first rotation trend applied by the auxiliary stretch bending oil cylinder 107 can assist in locking the clamping arm 105. For example, when the large arm 102 rotates counterclockwise, the workpiece to be stretched and bent will apply an opposite rotation torque to the clamping arm 105, i.e. will drive the clamping arm 105 to have a clockwise rotation trend. The auxiliary stretch bending oil cylinder 107 applies a counterclockwise torque to the clamping arm 105 to offset the clockwise rotation trend applied by the workpiece to be stretched and bent to the clamping arm 105.

[0043] In an embodiment, as shown in Figure 6 The locking mechanism 10501 is arranged on the clamping arm 105, and is configured to lock or release the rotation between the clamping arm bracket 104 and the clamping arm 105. The locking mechanism 10501 can adopt an electromagnetic lock. When the electromagnetic lock works, it can be adsorbed with the matching body 1041 on the clamping arm bracket 104 to lock the clamping arm 105. When the electromagnetic lock does not work, it can slide on the surface of the matching body 1041. Figure 8 As shown in the method steps of locking and releasing the clamping arm, as shown in Figure 8 The power switching control method further includes: Step 170 : If the first bending instruction is obtained, the locking mechanism 10501 is controlled to lock the rotation between the clamping arm support 104 and the clamping arm 105 .

[0044] Step 180: If the second bending instruction is obtained, the locking mechanism 10501 is controlled to release the rotation between the clamping arm support 104 and the clamping arm 105.

[0045] Step 190 : If the clamping arm return instruction is obtained, the locking mechanism 10501 is controlled to release the rotation between the clamping arm support 104 and the clamping arm 105 .

[0046] This embodiment allows the clamping arm 105 to be locked immediately during a first bending operation, allowing the workpiece to be bent. When a second bending operation is required, the clamping arm 105 is released, and the auxiliary bending cylinder 107 drives the clamping arm 105 to rotate for the second bending operation. When a return stroke is required, the locking mechanism 10501 releases the clamping arm 105, allowing the servo motor 108 to drive the clamping arm back.

[0047] Figure 9 The figure shows the working steps when the boom is returning. Figure 9 As shown, the power switching control method further includes: Step 200: If the boom return instruction is obtained, the boom 102 is controlled to return, and the auxiliary bending cylinder 107 and the servo motor 108 are controlled to switch to the follow-up working state.

[0048] When this embodiment is used, when the boom 102 returns to its original position, the auxiliary bending cylinder 107 and the servo motor 108 do not intervene in the work.

[0049] Figure 10 The figure shows the working steps when the clamping arm returns. Figure 10 As shown, step 150 includes: Step 151 : In the first stroke of the return stroke of the clamping arm, the auxiliary bending cylinder 107 and the servo motor 108 are controlled to cooperatively drive the clamping arm 105 to return.

[0050] Step 152: During the second stroke of the clamping arm return, the auxiliary bending cylinder 107 is controlled to switch to the follower state, and the servo motor 108 is controlled to drive the clamping arm 105 to return. In this step, the second stroke includes the initial position of the clamping arm 105.

[0051] In this embodiment, during the first stroke, the auxiliary bending cylinder 107 and the servo motor 108 jointly drive the return stroke, accelerating the return stroke. During the second stroke, the servo motor 108 drives the return stroke, achieving high-precision position control, allowing the clamping arm 105 to accurately return to its initial position. Specifically, the first stroke can be set to the first 4 / 5, 3 / 4, or 2 / 3 of the return stroke, while the second stroke is the remaining stroke, including the initial position.

[0052] Figure 11 FIG. 1 is a schematic diagram showing the steps of controlling the working state of the servo motor according to the rotation torque. Figure 11 As shown, the power switching control method further includes: Step 200 : Monitor the rotational torque of the clamping arm 105 when the clamping arm 105 is in a rotating state.

[0053] Step 210 : If the servo motor 108 is in the driving state and the rotational torque is greater than or equal to the preset torque, the servo motor 108 is controlled to switch to the following state.

[0054] Step 220 : If the rotation torque is lower than the preset torque, control the servo motor 108 to switch to the driving working state.

[0055] When used, this embodiment can effectively protect the servo motor 108 and prevent the servo motor 108 from being damaged due to torque exceeding the limit. The preset torque can be determined according to the factory data of different servo motors 108.

[0056] In one embodiment, if Figures 2 to 6 As shown, the clamping arm 105 includes a telescopic frame 1052 and a telescopic arm 1053. The top of the telescopic frame 1052 is rotatably connected to the clamping arm frame 104 through an arm shaft 106, and the bottom end of the telescopic frame 1052 is rotatably connected to the clamping arm frame 104 through an arm shaft 106. The telescopic arm 1053 is telescopically connected in the telescopic frame 1052. The telescopic frame 1052 also includes a telescopic cylinder 1054. The telescopic cylinder 1054 is linked with the telescopic arm 1053 to drive the telescopic arm 1053 to perform telescoping. The telescopic direction of the telescopic arm 1053 is perpendicular to the axial direction of the arm shaft 106. The end of the telescopic arm 1053 is provided with a clamping mechanism 1051 for clamping the workpiece to be bent. Figure 12 The figure shows a schematic diagram of the specific steps of a secondary bending embodiment. Figure 12 As shown, the power switching control method further includes: Step 230: If a second bending instruction is obtained, before controlling the auxiliary bending cylinder 107 to drive the clamping arm 105 to rotate relative to the clamping arm support 104 to perform a second bending of the workpiece, a second bending position is obtained according to the second bending instruction.

[0057] Step 240: If the secondary bending position is the same as the primary bending position, control the auxiliary bending cylinder 107 to drive the clamping arm 105 to rotate relative to the clamping arm support 104 to perform a secondary bending of the workpiece.

[0058] Step 250: If the secondary bending position is different from the primary bending position, control the clamping mechanism 1051 to release the workpiece to be bent.

[0059] Step 260 , control the telescopic oil cylinder 1054 to drive the telescopic arm 1053 to extend and retract until the clamping mechanism 1051 reaches a corresponding position of the secondary bending position.

[0060] Step 270: Control the clamping mechanism 1051 to clamp the workpiece to be bent.

[0061] Step 280 , controlling the auxiliary bending cylinder 107 to drive the clamping arm 105 to rotate relative to the clamping arm support 104 to perform a secondary bending of the workpiece.

[0062] When this embodiment is used, the telescopic clamping arm 105 can be used to clamp different positions of the workpiece to be bent, so that the workpiece to be bent can be bent at multiple positions, thereby improving the flexibility of the bending work.

[0063] The present application also provides a power switching control system, which is applied to a stretch bending machine, such as Figures 2 to 6 As shown, the bending machine includes a frame 101 and a boom 102. The boom 102 is rotatably mounted on the frame 101. The frame 101 is provided with a boom cylinder 103 for driving the boom 102 to rotate. Two symmetrical booms 102 are provided on both sides of the frame 101. Only one boom 102 is shown in the figure. A clamping arm frame 104 is provided on the boom 102. The clamping arm frame 104 has a receiving frame. The clamping arm 105 passes through the receiving frame. The receiving frame surrounds the clamping arm 105. The clamping arm 105 is rotatably connected to the clamping arm frame 104 through an arm shaft 106. The clamping arm 105 is used to clamp the workpiece to be bent. Specifically, the top end of the clamping arm 105 is rotatably connected to the clamping arm frame 104 through an arm shaft 106, and the bottom end of the clamping arm 105 is rotatably connected to the clamping arm frame 104 through an arm shaft 106. The clamping arm frame 104 is equipped with an auxiliary bending cylinder 107 and a servo motor 108. The oil rod 1071 of the auxiliary bending cylinder 107 and the output shaft of the servo motor 108 are both linked to the arm frame shaft 106 to drive the clamping arm 105 to rotate relative to the clamping arm frame 104. Specifically, the oil rod 1071 is floatingly connected to a connecting rod 1072, one end of which is fixed to the arm frame shaft 106. That is, the connection structure between the oil rod 1071 and the connecting rod 1072 can have a certain floating range. When the oil rod 1071 is extended or retracted, it can drive the connecting rod 1072 to swing, thereby driving the arm frame shaft 106 to rotate, and further driving the clamping arm 105 to rotate relative to the clamping arm frame 104.

[0064] Figure 13 FIG. 1 is a schematic diagram of a power switching control system provided by an embodiment. Figure 13 As shown, the power switching control system includes: a data module 1301 , a first bending module 1302 , a second bending module 1303 , an unloading module 1304 , and a return module 1305 .

[0065] The data module 1301 is configured to: receive a clamping signal of the workpiece to be bent; The first bending module 1302 is in communication with the data module 1301. The first bending module 1302 is configured to: if a first bending instruction is obtained, control the arm 102 to rotate to bend the workpiece to be bent once, and control the servo motor 108 to turn off or switch to a follow-up working state.

[0066] The second bending module 1303 is communicatively connected to the data module 1301. The second bending module 1303 is configured as follows: if a second bending instruction is obtained, the main arm 102 is controlled to stop and lock, and the auxiliary bending cylinder 107 is controlled to drive the clamping arm 105 to rotate relative to the clamping arm bracket 104 to perform a second bending of the workpiece.

[0067] The unloading module 1304 is communicatively connected to the first bending module 1302 and the second bending module 1303 respectively. The unloading module 1304 is configured to receive an unloading signal of the workpiece to be bent after the bending is completed.

[0068] The return module 1305 is in communication with the dismounting module 1304 . The return module 1305 is configured to: if a return instruction for the clamping arm is obtained, control the servo motor 108 to drive the clamping arm 105 to return to its initial position relative to the clamping arm support 104 .

[0069] When this embodiment is used, the servo motor 108 is turned off or switched to the follow-up working state during the first bending operation, and the main driving force is provided by the boom cylinder 103 to prevent the servo motor 108 from being damaged due to excessive torque; during the second bending operation, the boom 102 is stopped and locked, and the clamping arm 105 is driven to rotate by the auxiliary bending cylinder 107, which can improve the bending working range and flexibility. After the bending operation is completed, the high-precision characteristics of the servo motor 108 are used to drive the clamping arm 105 back to the initial position, and the servo motor characteristics can effectively improve the return response speed, ensuring that the clamping arm 105 can be accurately aligned with the workpiece to be bent during the next bending operation, reducing error accumulation. There is no need for operators to frequently manually calibrate the equipment, which can improve production efficiency and reduce labor costs.

[0070] In one embodiment, the return module 1305 is further configured to: upon receiving a boom return command, control the boom 102 to return, and control both the auxiliary bending cylinder 107 and the servo motor 108 to switch to a follower mode; within the first stroke of the clamping arm return, control the auxiliary bending cylinder 107 and the servo motor 108 to collaboratively drive the clamping arm 105 to return; and within the second stroke of the clamping arm return, control the auxiliary bending cylinder 107 to switch to a follower mode, and control the servo motor 108 to drive the clamping arm 105 to return. In this step, the second stroke includes the initial position of the clamping arm 105.

[0071] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0072] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0073] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0074] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be applied in the widest sense consistent with the principles and novel features of the present invention.

[0075] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A power switching control method, applied to a stretch bending machine, characterized in that: The bending machine includes a frame and a large arm, the large arm is rotatably mounted on the frame, a clamping arm frame is provided on the large arm, the clamping arm is rotatably connected to the clamping arm frame via an arm frame shaft, the clamping arm is used to clamp the workpiece to be bent, an auxiliary bending oil cylinder and a servo motor are provided on the clamping arm frame, the oil rod of the auxiliary bending oil cylinder and the output shaft of the servo motor are both linked with the arm frame shaft to drive the clamping arm to rotate relative to the clamping arm frame; The power switching control method includes: receiving a clamping signal of the workpiece to be bent; If the first bending instruction is obtained, the arm is controlled to rotate to bend the workpiece to be bent once, and the servo motor is controlled to be turned off or switched to a follow-up working state; If a second bending instruction is obtained, the boom is controlled to stop and lock, and the auxiliary bending cylinder is controlled to drive the clamping arm to rotate relative to the clamping arm bracket to perform a second bending of the workpiece; After the bending is completed, receiving a signal for the workpiece to be bent to be removed from the machine; and If a clamping arm return instruction is obtained, the servo motor is controlled to drive the clamping arm to return to an initial position relative to the clamping arm support.

2. The power switching control method according to claim 1, characterized in that: Also includes: If the first bending instruction is obtained, the auxiliary bending cylinder is controlled to apply a first rotational trend to the clamping arm, and the first rotational trend is in the same direction as the rotation direction of the boom.

3. The power switching control method according to claim 1, characterized in that: The clamping arm is provided with a locking mechanism, and the locking mechanism is configured to lock or release the rotation between the clamping arm bracket and the clamping arm; The power switching control method further includes: If the first bending instruction is obtained, controlling the locking mechanism to lock the rotation between the clamping arm support and the clamping arm; If the second bending instruction is obtained, controlling the locking mechanism to release the rotation between the clamping arm support and the clamping arm; and If the clamping arm return instruction is obtained, the locking mechanism is controlled to release the rotation between the clamping arm bracket and the clamping arm.

4. The power switching control method according to claim 1, characterized in that: Also includes: If the boom return instruction is obtained, the boom is controlled to return, and the auxiliary bending cylinder and the servo motor are controlled to switch to the follow-up working state.

5. The power switching control method according to claim 1, characterized in that: If the clamping arm return instruction is obtained, controlling the servo motor to drive the clamping arm to return to the initial position relative to the clamping arm support includes: In the first stroke of the return stroke of the clamping arm, the auxiliary bending cylinder and the servo motor are controlled to cooperatively drive the clamping arm to return.

6. The power switching control method according to claim 1, characterized in that: If the clamping arm return instruction is obtained, controlling the servo motor to drive the clamping arm to return to the initial position relative to the clamping arm support includes: In the second stroke of the clamping arm return, the auxiliary bending cylinder is controlled to switch to the follow-up state, and the servo motor is controlled to drive the clamping arm to return; wherein, the second stroke includes the initial position of the clamping arm.

7. The power switching control method according to claim 1, characterized in that: Also includes: monitoring a rotational torque of the clamping arm when the clamping arm is in a rotational state; If the servo motor is in a driving state and the rotational torque is greater than or equal to a preset torque, the servo motor is controlled to switch to a following state; as well as If the rotation torque is lower than the preset torque, the servo motor is controlled to switch to a driving working state.

8. The power switching control method according to claim 1, characterized in that: The clamping arm includes a telescopic frame and a telescopic arm, the top end of the telescopic frame is rotatably connected to the clamping arm frame via an arm frame shaft, the bottom end of the telescopic frame is rotatably connected to the clamping arm frame via an arm frame shaft, the telescopic arm is telescopically connected to the telescopic frame, the telescopic frame also includes a telescopic oil cylinder, the telescopic oil cylinder is linked with the telescopic arm to drive the telescopic arm to perform telescopic, the telescopic direction of the telescopic arm is perpendicular to the axial direction of the arm frame shaft, and the end of the telescopic arm is provided with a clamping mechanism for clamping the workpiece to be bent; Wherein, the power switching control method further includes: If a second bending instruction is obtained, before controlling the auxiliary bending cylinder to drive the clamping arm to rotate relative to the clamping arm bracket to perform a second bending of the workpiece, a second bending position is obtained according to the second bending instruction; If the secondary bending position is the same as the primary bending position, controlling the auxiliary bending cylinder to drive the clamping arm to rotate relative to the clamping arm bracket to perform secondary bending of the workpiece; If the secondary bending position is different from the primary bending position, controlling the clamping mechanism to release the workpiece to be bent; Controlling the telescopic oil cylinder to drive the telescopic arm to extend and retract until the clamping mechanism reaches a corresponding position of the secondary bending position; Controlling the clamping mechanism to clamp the workpiece to be bent; and The auxiliary bending oil cylinder is controlled to drive the clamping arm to rotate relative to the clamping arm bracket to perform secondary bending of the workpiece.

9. A power switching control system, applied to a stretch bending machine, characterized in that: The bending machine includes a frame and a large arm, the large arm is rotatably mounted on the frame, a clamping arm frame is provided on the large arm, the clamping arm is rotatably connected to the clamping arm frame via an arm frame shaft, the clamping arm is used to clamp the workpiece to be bent, an auxiliary bending oil cylinder and a servo motor are provided on the clamping arm frame, the oil rod of the auxiliary bending oil cylinder and the output shaft of the servo motor are both linked with the arm frame shaft to drive the clamping arm to rotate relative to the clamping arm frame; Wherein, the power switching control system includes: A data module is configured to: receive a clamping signal of the workpiece to be bent; a first bending module, communicatively connected to the data module, wherein the first bending module is configured to: upon receiving a first bending instruction, control the arm to rotate to bend the workpiece to be bent once, and control the servo motor to be turned off or switched to a follow-up working state; a second bending module, communicatively connected to the data module, wherein the second bending module is configured to: upon receiving a second bending instruction, control the boom to stop and lock, and control the auxiliary bending cylinder to drive the clamping arm to rotate relative to the clamping arm bracket to perform a second bending of the workpiece; an unloading module, which is in communication with the first bending module and the second bending module respectively, and is configured to receive an unloading signal of the workpiece to be bent after bending is completed; and The return module is communicatively connected to the lower machine module. The return module is configured to: if a return instruction of the clamping arm is obtained, control the servo motor to drive the clamping arm to return to an initial position relative to the clamping arm bracket.

10. The power switching control system according to claim 9, characterized in that: The return module is also configured as follows: if the boom return instruction is obtained, the boom is controlled to return, and the auxiliary bending cylinder and the servo motor are controlled to switch to the follow-up working state; within the first stroke of the clamping arm return, the auxiliary bending cylinder and the servo motor are controlled to cooperatively drive the clamping arm to perform the return; within the second stroke of the clamping arm return, the auxiliary bending cylinder is controlled to switch to the follow-up state, and the servo motor is controlled to drive the clamping arm to perform the return; wherein, the second stroke includes the initial position of the clamping arm.

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