Power switching control method and system

Abstract

The application relates to the technical field of stretch bending machines, in particular to a power switching control method and system. When the application is applied, the servo motor is closed or switched to a follow-up working condition during primary stretch bending, the main driving force is provided by the large-arm oil cylinder, and the servo motor is prevented from being damaged due to bearing too large torque; the large arm is locked during secondary stretch bending, the clamping arm is driven to rotate through the auxiliary stretch bending oil cylinder, the stretch bending working range and flexibility can be improved. After the stretch bending is completed, the high-precision characteristics of the servo motor are used to drive the clamping arm to return to the initial position, the servo motor characteristics can effectively improve the return response speed, the clamping arm can accurately align the workpiece to be stretched and bent during the next stretch bending work, 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.

Description

Technical Field

[0001] This application relates to the field of bending machine technology, specifically to a power switching control method and system. Background Technology

[0002] In modern industrial manufacturing, stretch bending machines, as key equipment for metal profile forming, are widely used in high-precision component processing scenarios such as aerospace, automotive manufacturing, and rail transportation. Existing stretch bending machines face significant technical bottlenecks in the return stroke reset process of the clamping arm after the stretch bending operation. Currently, stretch bending machines generally use hydraulic cylinders as the single power source to drive the clamping arm movement. While hydraulic cylinders can provide significant driving force, they suffer from inherent defects such as response delay and low control precision due to their reliance on hydraulic transmission. During the return stroke of the clamping arm, relying solely on hydraulic cylinder drive makes it difficult to achieve precise position control, failing to guarantee that the clamping arm will stably and accurately return to its initial position each time. This return stroke error accumulates with each batch of processing, leading to subsequent workpiece clamping and positioning deviations, severely affecting product processing consistency and forming accuracy. Furthermore, the lack of a high-precision return stroke drive mechanism forces operators to frequently manually calibrate the equipment, significantly reducing production efficiency, increasing labor costs, and failing to meet the urgent needs of current industrial production for high-precision and automated processing. Summary of the Invention

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

[0004] Firstly, this application provides a power switching control method 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 via a boom shaft. The clamping arm is used to clamp the workpiece to be bent. An auxiliary bending cylinder and a servo motor are provided on the clamping arm frame. The oil rod of the auxiliary bending cylinder and the output shaft of the servo motor are both linked to the boom shaft to drive the clamping arm to rotate relative to the clamping arm frame. The power switching control method includes: The system receives a clamping signal from the workpiece to be bent; if a first bending command is received, it controls the boom to rotate to bend the workpiece once, and controls the servo motor to shut down or switch to follow-up mode; if a second bending command is received, it controls the boom to stop and lock, and controls the auxiliary bending cylinder to drive the clamping arm to rotate relative to the clamping arm frame to bend the workpiece a second time; after bending is completed, it receives a signal for the workpiece to be unloaded; and if a clamping arm return command is received, it controls the servo motor to drive the clamping arm back to its initial position relative to the clamping arm frame.

[0005] In conjunction with the first aspect, one possible implementation further includes: if the first bending command is received, controlling the auxiliary bending cylinder to apply a first rotational tendency to the clamping arm, the first rotational tendency being in the same direction as the rotation direction of the main arm.

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

[0007] In conjunction with the first aspect, one possible implementation also includes: if the boom return command is received, controlling the boom to return to its original position, and controlling both the auxiliary bending cylinder and the servo motor to switch to follow-up mode.

[0008] In conjunction with the first aspect, in one possible implementation, if a return command for the clamping arm is received, controlling the servo motor to drive the clamping arm back to its initial position relative to the clamping arm frame includes: during the first stroke of the return stroke of the clamping arm, controlling the auxiliary bending cylinder and the servo motor to collaboratively drive the clamping arm to perform the return stroke.

[0009] In conjunction with the first aspect, in one possible implementation, if a return command for the clamping arm is received, controlling the servo motor to drive the clamping arm back to its initial position relative to the clamping arm frame includes: during the second stroke of the clamping arm's return stroke, 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 stroke; wherein, the second stroke includes the initial position of the clamping arm.

[0010] In conjunction with the first aspect, one possible implementation further 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 state and the rotational torque is greater than or equal to a preset torque, then controlling the servo motor to switch to a follow-up state; and if the rotational torque is lower than the preset torque, then controlling the servo motor to switch to a driving state.

[0011] In conjunction with the first aspect, in one 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 via a boom shaft, and the bottom end of the telescopic frame is rotatably connected to the clamping arm frame via a boom shaft. The telescopic arm is telescopically connected within the telescopic frame. The telescopic frame also includes a telescopic hydraulic cylinder, which is linked to the telescopic arm to drive the telescopic arm to extend or retract. The extension / retraction direction of the telescopic arm is perpendicular to the axial direction of the boom shaft. The end of the telescopic arm is provided with a clamping mechanism for clamping the workpiece to be bent. The power switching control method further includes: if a second bending command is received, controlling the auxiliary bending hydraulic cylinder to drive... 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 command. 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 to the position corresponding to the secondary bending position of the clamping mechanism. The clamping mechanism is controlled to clamp the workpiece to be bent. 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] Secondly, this application also provides a power switching control system 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 via a boom shaft. The clamping arm is used to clamp the workpiece to be bent. An auxiliary bending cylinder and a servo motor are provided on the clamping arm frame. The oil rod of the auxiliary bending cylinder and the output shaft of the servo motor are both linked to the boom shaft to drive the clamping arm to rotate relative to the clamping arm frame. The power switching control system includes: a data module configured to receive a clamping signal from the workpiece to be bent; and a first bending module communicatively connected to the data module. The first bending module is configured to control the workpiece to be bent if a first bending command is received. The boom rotates to bend the workpiece once, and controls the servo motor to shut down or switch to follow-up mode; the second bending module is communicatively connected to the data module, and is configured to: if a second bending command is received, 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 frame to bend the workpiece a second time; the unloading module is communicatively connected to the first bending module and the second bending module respectively, and is configured to: receive the unloading signal of the workpiece after bending is completed; and the return module is communicatively connected to the unloading module, and is configured to: if a clamping arm return command is received, control the servo motor to drive the clamping arm back to the initial position relative to the clamping arm frame.

[0013] In conjunction with the second aspect, in one possible implementation, the return module is further configured to: if the boom return command is received, control the boom to return to its original position, and control both the auxiliary bending cylinder and the servo motor to switch to follow-up mode; during the first stroke of the clamping arm return, control the auxiliary bending cylinder and the servo motor to collaboratively drive the clamping arm to return to its original position; during the second stroke of the clamping arm return, control the auxiliary bending cylinder to switch to follow-up mode, and control the servo motor to drive the clamping arm to return to its original position; wherein, the second stroke includes the initial position of the clamping arm.

[0014] In application, during the first bending operation, the servo motor is switched off or to follow-up mode, with the main driving force provided by the boom cylinder, preventing damage to the servo motor due to excessive torque. During the second bending operation, the boom stops and locks, and the clamping arm is driven to rotate by the auxiliary bending cylinder, which improves the bending working range and flexibility. After bending, the high-precision characteristics of the servo motor drive the clamping arm back to its initial position, and the servo motor's characteristics effectively improve the return response speed, ensuring that the clamping arm can accurately align with the workpiece to be bent in the next bending operation, reducing error accumulation. Frequent manual calibration of the equipment by operators is eliminated, thereby improving production efficiency and reducing labor costs. Attached Figure Description

[0015] Figure 1 The diagram shown is a schematic representation of the steps of a power switching control method provided in an embodiment of this application.

[0016] Figure 2 The diagram shown is a partial structural schematic of the bending machine.

[0017] Figure 3 As shown Figure 2 Another perspective on the structure.

[0018] Figure 4 As shown Figure 2 Side view structural diagram.

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

[0020] Figure 6 The diagram shown is an enlarged schematic of part of the tension bending machine.

[0021] Figure 7 The diagram shows the steps of the method for assisting in locking the clamping arm.

[0022] Figure 8 The diagram shows the steps for locking and releasing the clamping arm.

[0023] Figure 9 The diagram shows the working steps during the boom return stroke.

[0024] Figure 10 The diagram shows the working steps of the clamping arm during its return stroke.

[0025] Figure 11 The diagram shows the steps for controlling the working state of a servo motor based on rotational torque.

[0026] Figure 12 The diagram shows a specific method step of a secondary bending embodiment.

[0027] Figure 13 The diagram shown is a schematic diagram of the system structure of a power switching control system provided in one embodiment. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0029] Figure 2 The diagram shown is a partial structural schematic of the bending machine. Figure 3 As shown Figure 2 Another perspective on the structure. Figure 4 As shown Figure 2 Side view structural diagram. Figure 5 As shown Figure 2 Top view of the structure. Figure 6 The diagram shown is an enlarged schematic of a portion of the structure of a tension bending machine. This application provides a power switching control method applied to a tension bending machine, such as... Figures 2-6 As shown, the bending machine includes a frame 101 and a boom 102. The boom 102 is rotatably mounted on the frame 101. A boom cylinder 103 is provided on the frame 101 to drive 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, through which a clamping arm 105 passes. The receiving frame surrounds the clamping arm 105. The clamping arm 105 is rotatably connected to the clamping arm frame 104 via a boom 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 via a boom shaft 106, and the bottom end of the clamping arm 105 is also rotatably connected to the clamping arm frame 104 via a boom shaft 106. The clamping arm 104 is equipped with an auxiliary bending cylinder 107 and a servo motor 108. The hydraulic rod 1071 of the auxiliary bending cylinder 107 and the output shaft of the servo motor 108 are both linked to the arm shaft 106 to drive the clamping arm 105 to rotate relative to the clamping arm 104. Specifically, a connecting rod 1072 is floatingly connected to the hydraulic rod 1071. One end of the connecting rod 1072 is fixed to the arm shaft 106. That is, the connection structure between the hydraulic rod 1071 and the connecting rod 1072 can have a certain floating range. When the hydraulic rod 1071 extends or retracts, it can drive the connecting rod 1072 to swing, thereby driving the arm shaft 106 to rotate, and then driving the clamping arm 105 to rotate relative to the clamping arm 104.

[0030] Figure 1 The diagram shown illustrates the method steps of a power switching control method according to an embodiment of this application. In one embodiment, as... Figure 1 As shown, the power switching control method includes:

[0031] Step 110: Receive the clamping signal of the part to be bent.

[0032] When the bending machine is working, the two ends of the workpiece to be bent are 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.

[0033] Step 120: If the first bending command is received, control the boom 102 to rotate to bend the workpiece in one stroke, and control the servo motor 108 to turn off or switch to follow-up mode.

[0034] In this step, the bending machine performs the first bending of the workpiece. Since the torque of the servo motor 108 is limited and cannot withstand the bending torque, the servo motor 108 does not need to participate in the bending at this time to avoid damage. During one bending cycle, the clamping arm 105 passes through the receiving frame of the clamping arm frame 104, and the receiving 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 attract and lock the clamping arm 105 with the mating body 1041 on the clamping arm frame 104. When the electromagnetic lock is not working, it can slide on the surface of the mating body 1041.

[0035] Step 130: If a second bending command is received, control the boom 102 to stop rotating and lock it, and control the auxiliary bending cylinder 107 to drive the clamping arm 105 to rotate relative to the clamping arm frame 104 to bend the workpiece to be bent for the second time.

[0036] In this step, when a second bending is required, the boom 102 can be locked by the boom cylinder 103, and the clamping arm 105 can be rotated by the auxiliary bending cylinder 107 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 limit position, or at any time when the boom 102 is in the middle stroke. Similarly, the servo motor 108 does not engage during the second bending to avoid damage to it.

[0037] Step 140: After the bending is completed, receive the unbending signal of the part to be bent.

[0038] In this step, after the bending is completed, the clamping mechanism 1051 releases the workpiece to be bent, removes the workpiece from the clamping mechanism 1051 and moves it off the bending machine, generating a machine off signal.

[0039] Step 150: If a return command for the clamping arm is received, control the servo motor 108 to drive the clamping arm 105 back to its initial position relative to the clamping arm frame 104.

[0040] In this step, when the clamping arm 105 needs to return to its original position, the servo motor 108 has high rotational accuracy, which can reach 0.01 mil. By controlling the clamping arm 105 to return to its original position through the servo motor 108, the return accuracy of the clamping arm 105 can be improved, so that the clamping arm 105 can accurately return to its initial position for the next bending operation.

[0041] In this embodiment, during the first bending operation, the servo motor 108 is switched off or to follow-up mode, with the main driving force provided by the boom cylinder 103, preventing damage to the servo motor 108 due to excessive torque. During the second bending operation, the boom 102 stops and locks, and the clamping arm 105 is driven to rotate by the auxiliary bending cylinder 107, which improves the bending working range and flexibility. After bending, the high-precision characteristics of the servo motor 108 drive the clamping arm 105 back to its initial position, and the servo motor's characteristics effectively improve the return response speed, ensuring that the clamping arm 105 can accurately align with the workpiece to be bent during the next bending operation, reducing error accumulation. Frequent manual calibration of the equipment by operators is unnecessary, thereby improving production efficiency and reducing labor costs.

[0042] Figure 7 The diagram shows the steps of a method for assisting in locking the clamping arm. In one embodiment, as shown... Figure 7 As shown, the power switching control method also includes:

[0043] If the first bending command is obtained, in step 160, the auxiliary bending cylinder 107 is controlled to apply a first rotational tendency to the clamping arm 105, and the first rotational tendency is in the same direction as the rotation direction of the main arm 102.

[0044] In this embodiment, the first rotational tendency applied by the auxiliary bending cylinder 107 can assist in locking the clamping arm 105. For example, when the main arm 102 rotates counterclockwise, the workpiece to be bent will apply an opposite rotational torque to the clamping arm 105, which will drive the clamping arm 105 to have a clockwise rotational tendency. The auxiliary bending cylinder 107 applies a counterclockwise torque to the clamping arm 105 to counteract the clockwise rotational tendency applied by the workpiece to be bent to the clamping arm 105.

[0045] In one embodiment, such as Figure 6 As shown, the clamping arm 105 is provided with a locking mechanism 10501. The locking mechanism 10501 is configured to lock or release the rotation between the clamping arm frame 104 and the clamping arm 105. The locking mechanism 10501 can be an electromagnetic lock. When the electromagnetic lock is working, it can attract each other with the mating body 1041 on the clamping arm frame 104 to lock the clamping arm 105. When the electromagnetic lock is not working, it can slide on the surface of the mating body 1041. Figure 8 The diagram illustrates the steps for locking and releasing the clamping arm. Figure 8 As shown, the power switching control method also includes:

[0046] Step 170: If the first bending command is received, control the locking mechanism 10501 to lock the rotation between the clamping arm 104 and the clamping arm 105.

[0047] Step 180: If a second bending command is received, control the locking mechanism 10501 to release the rotation between the clamping arm 104 and the clamping arm 105.

[0048] Step 190: If a return command for the clamping arm is received, control the locking mechanism 10501 to release the rotation between the clamping arm frame 104 and the clamping arm 105.

[0049] In this embodiment, the clamping arm 105 can be locked in time during the first bending operation to bend the workpiece. 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 again to perform the second bending operation. When a return stroke is required, the locking mechanism 10501 releases the clamping arm 105 so that the servo motor 108 can drive the clamping arm to return.

[0050] Figure 9 The diagram illustrates the working steps during the boom return stroke. In one embodiment, as shown... Figure 9 As shown, the power switching control method also includes:

[0051] Step 200: If the boom return command is received, control the boom 102 to return to its original position, and control the auxiliary bending cylinder 107 and servo motor 108 to switch to follow-up mode.

[0052] In this embodiment, when the boom 102 returns to its original position, neither the auxiliary bending cylinder 107 nor the servo motor 108 will engage.

[0053] Figure 10 The diagram illustrates the working steps of the gripper arm during its return stroke. In one embodiment, as shown... Figure 10 As shown, step 150 includes:

[0054] Step 151: During the first stroke of the clamping arm's return stroke, control the auxiliary bending cylinder 107 and the servo motor 108 to work together to drive the clamping arm 105 to return to its original position.

[0055] Step 152: During the second stroke of the clamping arm's return, control the auxiliary bending cylinder 107 to switch to follow-up mode, and control the servo motor 108 to drive the clamping arm 105 to return to its original position. In this step, the second stroke includes the initial position of the clamping arm 105.

[0056] In this embodiment, during the first stroke, the auxiliary bending cylinder 107 and the servo motor 108 jointly drive the return stroke, which can accelerate the return speed. During the second stroke, the servo motor 108 drives the return stroke to achieve high-precision position control, so that the clamping arm 105 accurately returns to the initial position. Specifically, the first stroke can be set as the first 4 / 5, 3 / 4, or 2 / 3 of the return stroke, and the second stroke is the remaining stroke including the initial position.

[0057] Figure 11 The diagram illustrates the steps of controlling the operating state of a servo motor based on rotational torque. In one embodiment, as shown... Figure 11 As shown, the power switching control method also includes:

[0058] Step 200: Monitor the rotational torque of the clamping arm 105 when it is in a rotating state.

[0059] Step 210: If the servo motor 108 is in the driving working state and the rotation torque is greater than or equal to the preset torque, then control the servo motor 108 to switch to the follow-up state.

[0060] Step 220: If the rotational torque is lower than the preset torque, control the servo motor 108 to switch to drive operation mode.

[0061] In application, this embodiment can effectively protect the servo motor 108 and prevent damage to the servo motor 108 due to excessive torque. The preset torque can be determined according to the factory data of different servo motors 108.

[0062] In one embodiment, such as Figures 2-6 As shown, the clamping arm 105 includes a telescopic frame 1052 and a telescopic arm 1053. The top end of the telescopic frame 1052 is rotatably connected to the clamping arm frame 104 via an arm shaft 106, and the bottom end of the telescopic frame 1052 is rotatably connected to the clamping arm frame 104 via 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 telescopic movement. 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 diagram illustrates the specific steps of a secondary bending method. Figure 12 As shown, the power switching control method also includes:

[0063] Step 230: If the second bending command is obtained, before controlling the auxiliary bending cylinder 107 to drive the clamping arm 105 to rotate relative to the clamping arm frame 104 to bend the workpiece for the second time, the second bending position is obtained according to the second bending command.

[0064] Step 240: If the position of the second bending is the same as the position of the first bending, control the auxiliary bending cylinder 107 to drive the clamping arm 105 to rotate relative to the clamping arm frame 104 to perform a second bending of the workpiece to be bent.

[0065] Step 250: If the position of the second bending is different from that of the first bending, then control the clamping mechanism 1051 to release the workpiece to be bent.

[0066] Step 260: Control the telescopic cylinder 1054 to drive the telescopic arm 1053 to extend and retract until the clamping mechanism 1051 reaches the corresponding position of the secondary bending position.

[0067] Step 270: Control the clamping mechanism 1051 to clamp the part to be bent.

[0068] Step 280: Control the auxiliary bending cylinder 107 to drive the clamping arm 105 to rotate relative to the clamping arm frame 104 to perform a secondary bending of the workpiece to be bent.

[0069] In this embodiment, the telescopic clamping arm 105 can clamp different positions of the workpiece to be bent, thereby performing multi-position bending of the workpiece and improving the flexibility of the bending work.

[0070] This application also provides a power switching control system applied to a bending machine, such as... Figures 2-6 As shown, the bending machine includes a frame 101 and a boom 102. The boom 102 is rotatably mounted on the frame 101. A boom cylinder 103 is provided on the frame 101 to drive 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, through which a clamping arm 105 passes. The receiving frame surrounds the clamping arm 105. The clamping arm 105 is rotatably connected to the clamping arm frame 104 via a boom 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 via a boom shaft 106, and the bottom end of the clamping arm 105 is also rotatably connected to the clamping arm frame 104 via a boom shaft 106. The clamping arm 104 is equipped with an auxiliary bending cylinder 107 and a servo motor 108. The hydraulic rod 1071 of the auxiliary bending cylinder 107 and the output shaft of the servo motor 108 are both linked to the arm shaft 106 to drive the clamping arm 105 to rotate relative to the clamping arm 104. Specifically, a connecting rod 1072 is floatingly connected to the hydraulic rod 1071. One end of the connecting rod 1072 is fixed to the arm shaft 106. That is, the connection structure between the hydraulic rod 1071 and the connecting rod 1072 can have a certain floating range. When the hydraulic rod 1071 extends or retracts, it can drive the connecting rod 1072 to swing, thereby driving the arm shaft 106 to rotate, and then driving the clamping arm 105 to rotate relative to the clamping arm 104.

[0071] Figure 13 The diagram shown is a schematic representation of a power switching control system according to one embodiment. In one embodiment, as... Figure 13 As shown, the power switching control system includes: a data module 1301, a first bending module 1302, a second bending module 1303, a lowering module 1304, and a return module 1305.

[0072] Data module 1301 is configured to receive clamping signals from the workpiece to be bent;

[0073] The first bending module 1302 is connected to the data module 1301. The first bending module 1302 is configured to: if a first bending command is received, control the boom 102 to perform a rotation to bend the workpiece in one go, and control the servo motor 108 to turn off or switch to follow-up mode.

[0074] The second bending module 1303 is connected to the data module 1301. The second bending module 1303 is configured to: if a second bending command is obtained, control the boom 102 to stop rotating and lock it, and control the auxiliary bending cylinder 107 to drive the clamping arm 105 to rotate relative to the clamping arm frame 104 to bend the workpiece to be bent for a second time.

[0075] The unbending module 1304 is communicatively connected to the first bending module 1302 and the second bending module 1303 respectively. The unbending module 1304 is configured to receive the unbending signal of the workpiece to be bent after the bending is completed.

[0076] The return module 1305 is communicatively connected to the unloading module 1304. The return module 1305 is configured to: if it receives a return command for the clamping arm, control the servo motor 108 to drive the clamping arm 105 back to the initial position relative to the clamping arm frame 104.

[0077] In this embodiment, during the first bending operation, the servo motor 108 is switched off or to follow-up mode, with the main driving force provided by the boom cylinder 103, preventing damage to the servo motor 108 due to excessive torque. During the second bending operation, the boom 102 stops and locks, and the clamping arm 105 is driven to rotate by the auxiliary bending cylinder 107, which improves the bending working range and flexibility. After bending, the high-precision characteristics of the servo motor 108 drive the clamping arm 105 back to its initial position, and the servo motor's characteristics effectively improve the return response speed, ensuring that the clamping arm 105 can accurately align with the workpiece to be bent during the next bending operation, reducing error accumulation. Frequent manual calibration of the equipment by operators is unnecessary, thereby improving production efficiency and reducing labor costs.

[0078] In one embodiment, the return module 1305 is further configured to: upon receiving a return command for the boom, control the boom 102 to return to its original position, and control both the auxiliary bending cylinder 107 and the servo motor 108 to switch to follow-up mode; during 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 to its original position; during the second stroke of the clamping arm return, control the auxiliary bending cylinder 107 to switch to follow-up mode, and control the servo motor 108 to drive the clamping arm 105 to return to its original position. In this step, the second stroke includes the initial position of the clamping arm 105.

[0079] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0080] The block diagrams of devices, apparatuses, devices, 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 those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0081] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0082] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0083] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A power switching control method, applied to a bending machine, characterized in that, 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 via a boom shaft. The clamping arm is used to clamp the workpiece to be bent. An auxiliary bending cylinder and a servo motor are provided on the clamping arm frame. The oil rod of the auxiliary bending cylinder and the output shaft of the servo motor are both linked to the boom shaft to drive the clamping arm to rotate relative to the clamping arm frame. 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 a boom shaft, and the bottom end of the telescopic frame is rotatably connected to the clamping arm frame via a boom shaft. The telescopic arm is telescopically connected in the telescopic frame. The telescopic frame also includes a telescopic hydraulic cylinder, which is linked with the telescopic arm to drive the telescopic arm to perform telescopic movement. The telescopic direction of the telescopic arm is perpendicular to the axial direction of the boom shaft. The end of the telescopic arm is provided with a clamping mechanism for clamping the workpiece to be bent. The power switching control method includes: S110, Receive the clamping signal of the part to be bent; S120. If the first bending command is obtained, control the boom to rotate to bend the part to be bent in one stroke, and control the servo motor to turn off or switch to follow-up mode. S130. If a second bending command is received, control the boom to stop rotating and lock it, and control the auxiliary bending cylinder to drive the clamping arm to rotate relative to the clamping arm frame to bend the workpiece to be bent a second time. S140. After the bending is completed, receive the unbending signal of the workpiece to be bent; and S150. If a return command for the clamping arm is received, control the servo motor to drive the clamping arm back to its initial position relative to the clamping arm frame. Wherein, S150 includes: During the first stroke of the clamping arm's return stroke, the auxiliary bending cylinder and the servo motor are controlled to work together to drive the clamping arm to return to its original position. During the second stroke of the clamping arm's return stroke, the auxiliary bending cylinder is switched to follow-up mode, and the servo motor is controlled to drive the clamping arm to return to its original position; the second stroke includes the initial position of the clamping arm.

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

3. The power switching control method according to claim 1, characterized in that, Also includes: The rotational torque of the clamping arm is monitored when the clamping arm is in a rotating state; If the servo motor is in drive mode and the rotational torque is greater than or equal to the preset torque, then control the servo motor to switch to follow-up mode. as well as If the rotational torque is lower than the preset torque, the servo motor is controlled to switch to drive operation mode.

4. The power switching control method according to claim 1, characterized in that, The power switching control method further includes: If a second bending command is obtained, before controlling the auxiliary bending cylinder to drive the clamping arm to rotate relative to the clamping arm frame to bend the workpiece for a second time, the second bending position is obtained according to the second bending command. If the secondary bending position is the same as the primary bending position, then 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 position of the secondary bending is different from the position of the primary bending, then the clamping mechanism is controlled to release the part to be bent; Control the telescopic cylinder to drive the telescopic arm to extend and retract until the clamping mechanism reaches the corresponding position of the secondary bending position; Control the clamping mechanism 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 in order to bend the workpiece to be bent a second time.

5. A power switching control system, applied to a tension bending machine, characterized in that, 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 via a boom shaft. The clamping arm is used to clamp the workpiece to be bent. An auxiliary bending cylinder and a servo motor are provided on the clamping arm frame. The oil rod of the auxiliary bending cylinder and the output shaft of the servo motor are both linked to the boom shaft to drive the clamping arm to rotate relative to the clamping arm frame. The power switching control system includes: The data module is configured to receive the clamping signal of the workpiece to be bent. The first bending module is communicatively connected to the data module. The first bending module is configured to: if a first bending command is received, control the boom to rotate to bend the workpiece to be bent in one stroke, and control the servo motor to turn off or switch to follow-up mode. The second bending module is connected to the data module. The second bending module is configured to: if a second bending command is received, control the boom to stop rotating and lock, and control the auxiliary bending cylinder to drive the clamping arm to rotate relative to the clamping arm frame to bend the workpiece to be bent a second time. The unbending module is communicatively connected to both the first bending module and the second bending module. The unbending module is configured to receive an unbending signal from the workpiece after bending is completed. The return module is communicatively connected to the unloading module. The return module is configured to: if a return command for the clamping arm is received, control the servo motor to drive the clamping arm back to the initial position relative to the clamping arm frame. The return module is further configured to: upon receiving a return command for the boom, control the boom to return to its original position and control both the auxiliary bending cylinder and the servo motor to switch to follow-up mode; during the first stroke of the clamping arm's return stroke, control the auxiliary bending cylinder and the servo motor to collaboratively drive the clamping arm to return to its original position; during the second stroke of the clamping arm's return stroke, control the auxiliary bending cylinder to switch to follow-up mode and control the servo motor to drive the clamping arm to return to its original position; wherein the second stroke includes the initial position of the clamping arm.

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