Double-rotor multi-linear transfer mechanism and bending device

Abstract

The invention relates to the technical field of motor manufacturing, and provides a double-rotor multi-linear transfer mechanism and a bending device. The double-rotor multi-line type transferring mechanism comprises a transferring guide rail, power mechanisms and a feeding and discharging mechanism. The two power mechanisms are installed on the transferring guide rail in a spaced and independent sliding mode in the second direction. The feeding and discharging mechanism comprises a transferring support and a first feeding and discharging assembly, the first feeding and discharging assembly comprises a first lifting driving part, a first sliding driving part and a first clamp, the first lifting driving part is installed on the transferring support, and the first lifting driving part drives the first sliding driving part to move in the vertical direction; the first sliding driving piece drives the first clamp to move in the second direction, the number of the feeding and discharging mechanisms is two, and transferring supports of the two feeding and discharging mechanisms are installed on the two power mechanisms correspondingly. On the basis, the transfer mechanism can adapt to feeding and discharging of flat wires with different intervals and different specifications without replacing a feeding and discharging mechanism, and the universality and the reuse rate are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor manufacturing, in particular to a double-mover multi-line type transfer mechanism and a bending device. BACKGROUND

[0002] In the production and manufacturing process of flat wire motors, flat wire needs to participate in processing and assembly processes, for example, a fixed-length straight segment of flat copper wire is first processed into a 2D-shaped U-shaped line, and then the U-shaped line is processed into a 3D-shaped hairpin coil with a specific angle. In the flat wire processing or assembly process, a transfer mechanism is needed to feed and discharge the flat wire.

[0003] Chinese patent CN219058142U discloses a feeding and discharging mechanism, by setting two clamping assemblies, when the winding tool is wound, one clamping assembly clamps the winding tool that has been wound, the conveying mechanism drives the clamping assembly to move from the winding position to the feeding and discharging position, and the other clamping assembly clamps the winding tool on the feeding and discharging position, and then the winding tool on the previous clamping assembly is placed on the feeding and discharging position, so that the feeding and discharging mechanism can simultaneously feed and discharge, the number of movements of the feeding and discharging mechanism between the winding position and the feeding and discharging position is reduced, and the efficiency of feeding and discharging is improved.

[0004] Similarly, although the existing transfer mechanism improves the efficiency of feeding and discharging through two clamping assemblies, the interval between the two clamping assemblies is fixed, and cannot adapt to the feeding and discharging of flat wires with different intervals, which has the technical problem of poor universality. SUMMARY

[0005] The purpose of the present application is to provide a double-mover multi-line type transfer mechanism and a bending device, which aims to solve the technical problem of poor universality of the existing transfer mechanism.

[0006] In a first aspect, the present application provides a double-mover multi-line type transfer mechanism, which has a first direction, a second direction and a vertical direction perpendicular to each other, and comprises: a transfer guide rail extending along the second direction; two power mechanisms, which are spaced apart along the second direction and are independently slidably installed on the transfer guide rail; a feeding and discharging mechanism, which comprises a transfer support and a first feeding and discharging assembly, the first feeding and discharging assembly comprising a first lifting drive, a first sliding drive and a first clamp, the first lifting drive being installed on the transfer support, the first lifting drive driving the first sliding drive to move along the vertical direction, the first sliding drive driving the first clamp to move along the second direction, the number of the feeding and discharging mechanisms being two, and the transfer supports of the two feeding and discharging mechanisms being respectively installed on the two power mechanisms.

[0007] Secondly, this application provides a bending device, including a frame, and a 2D bending mechanism, a 3D bending mechanism, and a double-acting multi-line transfer mechanism that are sequentially and spaced apart along a first direction on the frame.

[0008] The beneficial effects of the dual-actuator multi-wire transfer mechanism and bending device provided by this invention are as follows: the first clamps of the two loading and unloading mechanisms can simultaneously load and unload different flat wires; the two power mechanisms respectively drive the two transfer brackets to slide along the second direction on the transfer guide rail, flexibly adjusting the interval of the two first clamps in the second direction to meet the loading and unloading of flat wires with different intervals; the first sliding drive member drives the first clamp to move along the second direction, flexibly adjusting the position of the first clamp in the second direction on the transfer bracket; the first lifting drive member drives the first clamp to move vertically, so that the first clamp moves closer to pick up the flat wire or away from the flat wire in the vertical direction; based on this, this transfer mechanism can adapt to the loading and unloading of flat wires with different intervals and specifications without changing the loading and unloading mechanism, greatly improving versatility and reusability. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the structure of the dual-motor multi-linear transfer mechanism provided in an embodiment of the present invention; Figure 2 A schematic diagram of the loading and unloading mechanism of a double-acting multi-linear transfer mechanism; Figure 3 for Figure 2 Another perspective view; Figure 4 This is a schematic diagram of another structure of the loading and unloading mechanism of a double-acting multi-linear transfer mechanism; Figure 5 This is a schematic diagram of the first loading / unloading component of the loading / unloading mechanism. Figure 6 for Figure 5 Another perspective view; Figure 7 This is a schematic diagram of the bending device provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the 3D bending mechanism provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the support components for a 3D bending mechanism. Figure 10A schematic diagram of the forming mold of a 3D bending mechanism; Figure 11 Another perspective view of the forming mold of the 3D bending mechanism; Figure 12 This is an exploded view of the forming mold of a 3D bending mechanism.

[0011] The following are the labeling elements in the figure: 10. Flat wire; 20. Photoelectric sensor; 30. Vision sensor; 40. Double-actuator multi-wire transfer mechanism; 41. Transfer guide rail; 42. Power mechanism; 43. Loading and unloading mechanism; 100. Transfer bracket; 200. First loading / unloading assembly; 210. First lifting drive component; 220. First sliding drive component; 230. First clamp; 231. First pneumatic gripper; 240. First adapter plate; 250. First slide rail; 260. First screw; 270. First mounting bracket; 271. First base plate; 272. First upright plate; 273. First perforated hole; 274. Second perforated hole; 280. Second slide rail; 290. Second screw; 3 00. Second loading / unloading assembly; 310. Second sliding drive component; 320. Second clamp; 321. Clamp drive component; 322. First clamping plate; 323. Second clamping plate; 324. Clamp support bracket; 325. Second pneumatic gripper; 326. Clamping support plate; 327. Pneumatic gripper receiving cavity; 328. Clamping movable hole; 330. Third slide rail; 340. Second lifting drive component; 400. Frame; 500. 2D bending mechanism; 600. 3D bending mechanism; 700. Turntable assembly; 710. Turntable body; 720. Turntable drive component; 730. Support assembly; 731. Support plate; 732. First positioning post; 733. Second positioning post; 734. Third positioning post; 735. Support elastic element; 800. Stamping assembly; 810. Stamping bracket; 820. Stamping drive component; 900. Forming die; 910. Upper die; 911. Upper plate; 912. First upper block; 913. Second upper block; 914. 915. Molding protrusion; 920. First inclined surface; 921. Lower mold; 922. Second positioning hole; 923. Lower plate; 924. First lower block; 925. Second lower block; 926. Molding groove; 927. Sliding elastic element; 928. Sliding guide element; 929. Sliding groove; 930. Second inclined surface; 940. First limiting post; 950. Second limiting post; 960. Sliding sleeve; 970. Mold closing elastic element; 980. Support block. Detailed Implementation

[0012] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0013] Throughout this specification, references to "an embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this application. Therefore, the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, and not all refer to the same embodiment. Furthermore, in one or more embodiments, particular features, structures, or characteristics may be combined in any suitable manner.

[0014] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0015] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature.

[0016] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0017] For ease of description, we define three mutually perpendicular coordinate axes in space as the X-axis, Y-axis, and Z-axis. The direction along the X-axis is vertical, the direction along the Y-axis is horizontal, and the direction along the Z-axis is vertical. The X-axis and Y-axis are two mutually perpendicular coordinate axes on the same horizontal plane, and the Z-axis is the vertical coordinate axis. The X-axis, Y-axis, and Z-axis lie on three mutually perpendicular planes in space: the XY-plane, the YZ-plane, and the XZ-plane. The XY-plane is horizontal, and the XZ-plane and YZ-plane are both vertical, with the XZ-plane perpendicular to the YZ-plane. Movement along these three axes in space refers to movement along the three mutually perpendicular axes in space, specifically movement along the X, Y, and Z axes. Planar movement, on the other hand, refers to movement within the XY-plane.

[0018] Combination Figures 1 to 4 The dual-actuator multi-linear transfer mechanism 40 provided in this embodiment has two perpendicular directions: a first direction X, a second direction Y, and a vertical direction Z. The dual-actuator multi-linear transfer mechanism 40 includes a transfer guide rail 41, a power mechanism 42, and a loading / unloading mechanism 43. The transfer guide rail 41 extends along the second direction Y, and there are two power mechanisms 42, which are spaced apart and independently slidably mounted on the transfer guide rail 41 along the second direction Y. The loading and unloading mechanism 43 includes a transfer bracket 100 and a first loading and unloading assembly 200. The first loading and unloading assembly 200 includes a first lifting drive 210, a first sliding drive 220 and a first clamp 230. The first lifting drive 210 is mounted on the transfer bracket 100. The first lifting drive 210 drives the first sliding drive 220 to move in the vertical direction Z. The first sliding drive 220 drives the first clamp 230 to move in the second direction Y. There are two loading and unloading mechanisms 43. The transfer brackets 100 of the two loading and unloading mechanisms 43 are respectively mounted on two power mechanisms 42.

[0019] In this design, the first clamps 230 of the two loading and unloading mechanisms 43 can simultaneously load and unload different flat wires 10. Two power mechanisms 42 drive two transfer brackets 100 to slide along the second direction Y on the transfer guide rail 41, flexibly adjusting the interval between the two first clamps 230 in the second direction Y to accommodate the loading and unloading of flat wires 10 with different intervals. A first sliding drive member 220 drives the first clamps 230 to move along the second direction Y, flexibly adjusting the position of the first clamps 230 on the transfer brackets 100 in the second direction Y. A first lifting drive member 210 drives the first clamps 230 to move vertically, allowing the first clamps 230 to move closer to or further away from the flat wires 10 in the vertical direction Z to pick them up or put them down. Based on this, the dual-actuator multi-wire transfer mechanism 40 can adapt to the loading and unloading of flat wires 10 with different intervals and specifications without replacing the loading and unloading mechanisms 43, significantly improving its versatility and reusability.

[0020] It should be noted that the two power mechanisms 42 are independently and slidably mounted on the transfer guide rail 41, meaning that the power mechanism 42 can slide along the transfer guide rail 41 in a self-driven manner. Optionally, the power mechanism 42 is a permanent magnet motor, and it slides in cooperation with the transfer guide rail 41 through a slider.

[0021] It should be noted that one of the two transfer brackets 100 is mounted on one of the power mechanisms 42 and slides on the transfer guide rail 41 along with the power mechanism 42, while the other of the two transfer brackets 100 is mounted on the other power mechanism 42 and slides on the transfer guide rail 41 accordingly.

[0022] Specifically, the length of the transfer guide rail 41 is 8 to 30 times the sliding drive stroke of the first sliding drive member 220. In other words, the transfer bracket 100 slides a large distance on the transfer guide rail 41 with the power mechanism 42, achieving coarse adjustment of the position of the first clamp 230 in the second direction Y, and the first sliding drive member 220 drives the first clamp 230 to slide a small distance in the second direction Y, achieving fine adjustment of the position of the first clamp 230 in the second direction Y.

[0023] In some embodiments, combined with Figure 2 and Figure 3 The first loading / unloading assembly 200 includes a first adapter plate 240. A first clamp 230 is slidably mounted on one side of the first adapter plate 240 along the second direction Y. A first sliding drive component 220 is fixedly mounted on the first adapter plate 240 and is located on the same side of the first adapter plate 240 as the first clamp 230, shortening the transmission path between the two and reducing the loss of adjustment accuracy caused by the accumulation of assembly errors between components, making the fine adjustment of the first clamp 230 along the second direction Y more precise. The first adapter plate 240 is vertically slidably mounted on the transfer bracket 100. With the power output of the first lifting drive component 210, it can prevent the first clamp 230 from shaking or shifting due to uneven force during lifting.

[0024] In one embodiment, combined Figure 5 and Figure 6 The first adapter plate 240 is equipped with a first slide rail 250, and the first clamp 230 is slidably supported on the first slide rail 250, so that the first clamp 230 can achieve a more stable and uniform displacement under the drive of the first sliding drive member 220.

[0025] In one embodiment, combined Figure 5 and Figure 6The first loading / unloading assembly 200 includes a first screw 260 rotatably mounted on a first adapter plate 240, a first clamp 230 threadedly sleeved on the first screw 260, and a first sliding drive 220 driving the first screw 260 to rotate. Compared to pneumatic drive methods such as cylinders (which are susceptible to accuracy fluctuations due to air pressure) or gear and rack transmissions (which have tooth backlash), screw transmissions offer higher positioning accuracy, ensuring that the first clamp 230 can be precisely adjusted to its position in the second direction Y.

[0026] Specifically, the rotary output shaft of the first sliding drive member 220 is fixedly sleeved on the first gear, the first screw 260 is fixedly sleeved on the second gear, and the first belt is sleeved on the first gear and the second gear, so that the two gears rotate synchronously. The end of the first screw 260 away from the first sliding drive member 220 is rotatably supported on the first adapter plate 240 through the first bearing, so that both ends are supported.

[0027] In one embodiment, the first screw 260 and the first slide rail 250 are arranged in parallel. The weight of the first clamp 230 and the load of clamping the flat wire 10 are evenly transmitted to the first adapter plate 240 through the first slide rail 250. The first screw 260 only needs to provide the axial force to drive the first clamp 230 to move, and does not need to bear the additional radial load.

[0028] Furthermore, both the first screw 260 and the first slide rail 250 extend along the second direction Y, rather than the vertical direction Z, so they do not need to bear the weight of the first clamp 230, thus avoiding inaccurate positioning due to gravity and reducing the load on the first screw 260 and the first slide rail 250.

[0029] In one embodiment, the first screw 260 is located below the first slide rail 250, utilizing the unused space below the first slide rail 250. Specifically, the first sliding drive member 220 is located below the first screw 260. That is, the first slide rail 250, the first screw 260, and the first sliding drive member 220 are distributed sequentially from top to bottom at intervals, with the first clamp 230 and the first slide rail 250 located above. The large space above facilitates clamping the flat wire 10 without interference from the first screw 260 and the first sliding drive member 220.

[0030] In one embodiment, combined Figure 5 and Figure 6The first loading / unloading assembly 200 includes a first mounting frame 270, which includes a first base plate 271 and a first upright plate 272. The first base plate 271 is fitted to the transfer bracket 100, forming a large-area contact, which can evenly transfer the weight of the first loading / unloading assembly 200 and the load of clamping the flat wire 10 to the transfer bracket 100. The first upright plate 272 is installed on one side of the first base plate 271 in the first direction X, and the rigid support in the vertical direction Z counteracts the torque generated by the lifting of the first clamp 230, greatly improving the vibration resistance and impact resistance of the overall structure.

[0031] Specifically, in combination Figure 5 and Figure 6 The first sliding drive member 220 is vertically slidably mounted on the outer side of the first upright plate 272 via the second slide rail 280. The outer side of the first upright plate 272 refers to the side of the first upright plate 272 away from the first base plate 271, thus allowing the first sliding drive member 220 to have a larger installation space. The second slide rail 280 provides vertical Z-direction support for the first sliding drive member 220, allowing the load to be transferred to the first upright plate 272 through the second slide rail 280 during the lifting and lowering drive of the first lifting drive member 210. In the illustrated embodiment, the first sliding drive member 220 and the first clamp 230 are mounted on the first adapter plate 240, which is vertically slidably mounted on the outer side of the first upright plate 272 via the second slide rail 280.

[0032] In one embodiment, the first base plate 271 has a first hollow hole 273 extending toward the first upright plate 272, and the first upright plate 272 has a second hollow hole 274 extending downward, the second hollow hole 274 communicating with the first hollow hole 273. A first sliding drive member 220 is threadedly sleeved with a second screw 290, the second screw 290 being located in the second hollow hole 274. A first lifting drive member 210 is mounted on the top of the first base plate 271, the rotation output shaft of the first lifting drive member 210 extending into the first hollow hole 273 and connected to the bottom of the second screw 290 via a belt, driving the second screw 290 to rotate, thereby driving the first sliding drive member 220 threadedly sleeved with the second screw 290 and the first clamp 230 connected thereto to rise and fall.

[0033] The first perforated hole 273 and the second perforated hole 274 are connected to form an L-shaped transmission channel. This allows the output shaft of the first lifting drive component 210 to connect to the belt through the first perforated hole 273, while also allowing the second screw 290 to be completely accommodated within the second perforated hole 274. This avoids the transmission components being exposed and occupying extra space, ensuring transmission stability, preventing motion interference, and resulting in a more compact overall structure, especially suitable for the spatial layout of the L-shaped first mounting bracket 270. Specifically, there are two second slide rails 280, located on either side of the second perforated hole 274 in the second direction Y. Optionally, the second perforated hole 274 is located in the exact middle of the two second slide rails 280.

[0034] The belt drive has a certain elastic buffering capacity, which can absorb the impact load when the first lifting drive 210 starts or stops, reducing the impact on the second screw 290 and the first sliding drive 220, avoiding thread wear or component deformation caused by excessive instantaneous force, and indirectly improving the vertical positioning accuracy of the first sliding drive 220. Specifically, the rotary output shaft of the first lifting drive 210 is fixedly sleeved on the third gear, the second screw 290 is fixedly sleeved on the fourth gear, and the second belt is sleeved on the third and fourth gears to achieve synchronous rotation of the two gears. The top of the second screw 290 is rotatably supported on the first vertical plate 272 through the second bearing, so that both ends are supported.

[0035] In one embodiment, the first clamp 230 includes two first pneumatic grippers 231 spaced apart along a first direction X. The two first pneumatic grippers 231 are simultaneously spaced apart along the first direction X. The two first pneumatic grippers 231 spaced apart along the first direction X can form two-point symmetrical support, which balances the gravitational torque of the flat wire 10 by dispersing the clamping force, and prevents the flat wire 10 from tilting or falling during the clamping process.

[0036] Specifically, the opening and closing opening of the first pneumatic gripper 231 is vertical. In other words, when the opening and closing opening of the first pneumatic gripper 231 is open, it clamps the flat wire 10 from bottom to top under the drive of the first lifting drive member 210, and then closes the opening and closing opening to achieve the clamping of the flat wire 10; otherwise, it lowers the flat wire 10.

[0037] In some embodiments, combined with Figure 2 , Figure 3 and Figure 4The loading and unloading mechanism 43 also includes a second loading and unloading assembly 300. The second loading and unloading assembly 300 and the first loading and unloading assembly 200 are distributed at intervals along the second direction Y. The second loading and unloading assembly 300 includes a second sliding drive 310 and a second clamp 320. The second sliding drive 310 is mounted on the transfer bracket 100 and drives the second clamp 320 to slide along the second direction Y. The first loading and unloading assembly 200 and the second loading and unloading assembly 300 are distributed at intervals along the second direction Y, which can realize the clamping of multiple flat wires 10 at a time. For example, while the first clamp 230 clamps one flat wire 10, the second clamp 320 can simultaneously clamp another flat wire 10, directly improving the loading and unloading efficiency per unit time. The second clamp 320 of the second loading and unloading assembly 300 can be independently finely adjusted along the second direction Y by the second sliding drive 310. That is, the first loading and unloading assembly 200 and the second loading and unloading assembly 300 can clamp two flat wires 10 at different intervals, which has strong versatility and improves production flexibility.

[0038] In one embodiment, combined Figure 2 , Figure 3 and Figure 4 The second loading / unloading assembly 300 also includes a third slide rail 330. The output shafts of the third slide rail 330 and the second sliding drive 310 are distributed parallel to each other along the first direction X. The second clamp 320 is slidably mounted on the third slide rail 330. The third slide rail 330 provides the second clamp 320 with clear guiding constraints and rigid support along the second direction Y.

[0039] In one embodiment, combined Figure 4 The second clamp 320 includes a clamping drive 321, a first clamping plate 322, and a second clamping plate 323. The first clamping plate 322 and the second clamping plate 323 are distributed vertically. The clamping drive 321 drives the first clamping plate 322 and the second clamping plate 323 to move closer to or further away from each other, thereby clamping or releasing the flat wire 10. The flat wire 10 has a wide and thin cross-sectional shape. The vertical distribution of the first clamping plate 322 and the second clamping plate 323 forms a clamping space in the vertical direction Z, which can completely fit the flat surface of the flat wire 10. By applying clamping force evenly on both sides, the tilting or deformation of the flat wire 10 due to clamping point offset is avoided. The first clamping plate 322 and the second clamping plate 323 have a large clamping area, enabling them to clamp the flat wire 10 over a large area from top to bottom, resulting in high stability and adaptability to different flat wires 10, making them highly versatile.

[0040] In one embodiment, combined Figure 2 and Figure 3The second clamp 320 includes a clamp bracket 324 and a second pneumatic gripper 325. The clamp bracket 324 is connected to the output end of the second sliding drive member 310. The top of the clamp bracket 324 has a clamping support plate 326, and the interior of the clamp bracket 324 has a pneumatic gripper receiving cavity 327. The clamping support plate 326 has an eccentrically set clamping movable hole 328. The second pneumatic gripper 325 is installed in the pneumatic gripper receiving cavity 327, and the top of the second pneumatic gripper 325 extends out of the clamping movable hole 328. The opening and closing opening of the second pneumatic gripper 325 is vertically up and down. The second pneumatic gripper 325 clamps one side of the U-shaped flat wire 10, and the other side of the U-shaped flat wire 10 is supported by the clamping support plate 326 to prevent the flat wire 10 from shaking and to avoid using two second pneumatic grippers 325.

[0041] Specifically, in combination Figure 2 and Figure 3 The second loading and unloading assembly 300 also includes a second lifting drive 340, which is connected to the output end of the second sliding drive 310 and is used to drive the lifting of the fixture bracket 324.

[0042] Combination Figure 7 This application also provides a bending device, including a frame 400, and a 2D bending mechanism 500, a 3D bending mechanism 600, and any one of the double-acting multi-line transfer mechanisms 40 in Embodiment 1, which are sequentially and spaced apart along a first direction X on the frame 400. A straight flat wire 10 is sequentially bent in planar shape by the 2D bending mechanism 500, bent in three-dimensional shape by the 3D bending mechanism 600, and clamped and unloaded by the double-acting multi-line transfer mechanism 40 along the first direction X.

[0043] Specifically, in combination Figure 7 There are two 2D bending mechanisms 500, which are installed parallel to each other on the frame 400 along the second direction Y. Each 2D bending mechanism 500 has a corresponding 3D bending mechanism 600 at its end. The two power mechanisms 42 in the double-actuator multi-line transfer mechanism 40 drive the two loading and unloading mechanisms 43 to unload the bent products of the two 3D bending mechanisms 600.

[0044] Please refer to Figure 8The 3D bending mechanism 600 provided in this application includes a turntable assembly 700 and a stamping assembly 800. The turntable assembly 700 includes a turntable body 710 and a turntable drive 720. The turntable body 710 has multiple support components 730 arranged circumferentially, which are used to hold a forming mold 900. The forming mold 900 includes an upper mold 910 and a lower mold 920 elastically connected, with a flat wire 10 placed between the upper mold 910 and the lower mold 920. The turntable drive 720 is located below the turntable body 710 and drives the turntable body 710 to rotate around the vertical direction Z. The stamping assembly 800 includes a stamping bracket 810 and a stamping drive 820. The stamping bracket 810 covers one side of the turntable body 710, and the top of the other side of the turntable body 710 is open for the placement and removal of the flat wire 10 from the forming mold 900. The stamping drive 820 is mounted on the stamping bracket 810 and located above the turntable body 710. The output end of the stamping drive 820 provides stamping force to the upper die 910 that rotates below it, so that the upper die 910 and the lower die 920 close together.

[0045] In this design, the turntable drive 720 drives the turntable body 710 to rotate in the vertical direction Z, causing the forming dies 900 on the multiple support components 730 to rotate sequentially to below the output end of the stamping drive 820. The output end of the stamping drive 820 presses down on the upper die 910 located below it, causing the upper die 910 and lower die 920 to close, thereby performing 3D stamping forming of the flat wire 10 located between the upper die 910 and lower die 920. When the output end of the stamping drive 820 stamps the forming die 900 on one side, the forming die 900 on the other side can simultaneously pick up and put down the flat wire 10, improving forming efficiency.

[0046] In some embodiments, combined with Figure 8 and Figure 9 The 3D bending mechanism 600 includes a frame 400, which has two perpendicular directions: a first direction X, a second direction Y, and a vertical direction Z. A turntable body 710 is rotatably mounted on the frame 400, and a turntable drive 720 and a stamping bracket 810 are fixedly mounted on the frame 400. The stamping bracket 810 spans the turntable body 710 along the second direction Y, covering one side of the turntable body 710 in the first direction X. The other side of the turntable body 710 in the first direction X is not covered by the stamping bracket 810, facilitating the loading and unloading of the flat wire 10.

[0047] In some embodiments, combined with Figure 8The 3D bending mechanism 600 includes photoelectric sensors 20, the number of which is the same as the number of support components 730, and they correspond one-to-one. The photoelectric sensors 20 are fixedly mounted on the turntable body 710 and rotate with the turntable body 710, remaining relatively stationary with respect to their corresponding support components 730. Each photoelectric sensor 20 is used to detect whether the upper mold 910 and lower mold 920 on the corresponding support component 730 are closed. When the upper mold 910 moves down to close, the detection light of the photoelectric sensor 20 is blocked. When the upper mold 910 and lower mold 920 separate, the detection light of the photoelectric sensor 20 is not blocked. Based on this, the photoelectric sensor 20 detects whether the upper die 910 below the stamping drive 820 has moved down and closed, that is, whether the flat wire 10 has been stamped. Once the stamping is completed, the output end of the stamping drive 820 moves up and the turntable body 710 rotates. There is no need to wait for the upper die 910 to elastically reset in place. During the rotation, the upper die 910 automatically elastically resets. The 3D bending mechanism 600 can further improve the forming efficiency. The photoelectric sensor 20 detects whether the upper die 910 of the forming mold 900 on the other side elastically resets. If it elastically resets, the flat wire 10 can be picked up and put down.

[0048] In some embodiments, combined with Figure 8 The 3D bending mechanism 600 includes vision sensors 30, the number of which is the same as the number of support components 730, and they correspond one-to-one. The vision sensors 30 are fixedly mounted on the frame 400 and do not rotate with the turntable body 710. The vision sensors 30 are located below the turntable body 710 and are used to detect whether the support components 730 have rotated into position. For example, the vision sensor 30 located below the stamping drive 820 is used to detect whether the corresponding forming die 900 has rotated directly below the stamping drive 820 before allowing the stamping drive 820 to initiate the pressing action, avoiding incorrect stamping pressure application due to the forming die 900 not being in position. For example, the vision sensor 30 at the pick-and-place position confirms that the forming die 900 is in position before allowing the flat wire 10 to be picked up or placed, avoiding deviation in the pick-and-place position of the flat wire 10 due to the offset of the forming die 900.

[0049] In some embodiments, combined with Figure 8 and Figure 9The support assembly 730 includes a support plate 731 and a first positioning post 732. The turntable body 710 has a first positioning hole, and the lower mold 920 has a second positioning hole 921. The bottom of the support plate 731 has a second positioning post 733 rotatably embedded in the first positioning hole. The embedded fit enables the support assembly 730 to be positioned on the turntable body 710, and the rotatable fit enables the initial installation angle adjustment of the support assembly 730. The first positioning post 732 is installed on the top of the support plate 731 and is rotatably embedded in the second positioning hole 921. The embedded fit enables the molding die 900 to be positioned on the support assembly 730. The rotatable fit has a certain clearance allowance, which can prevent the molding die 900 from jamming during positioning and installation due to processing errors.

[0050] Specifically, the first positioning post 732 is located on the outer periphery of the second positioning post 733. That is, the weight of the support assembly 730 is transferred to the turntable body 710 through the second positioning post 733 located in the middle. The weight of the forming mold 900 is distributed and supported on the support assembly 730 through the first positioning post 732 located on the outer periphery of the second positioning post 733. Since the forming mold 900 bears the stamping force, if it is only supported by the central positioning post, the support assembly 730 is prone to overturning due to the shift of the mold's center of gravity or the torque between the stamping force and the central positioning post. The first positioning posts 732 distributed on the periphery can distribute the load and stamping force of the forming mold 900 to multiple circumferential support points of the support assembly 730, balancing the eccentric load of the forming mold 900 and limiting the tilting tendency of the support assembly 730, thus significantly improving the overall structural stability.

[0051] Specifically, there are at least two first positioning pins 732 to prevent the molding die 900 from rotating relative to the support assembly 730. Optionally, the distance from the cylindrical axis of all first positioning pins 732 to the cylindrical axis of the second positioning pin 733 is equal, ensuring that the positioning torque provided by each first positioning pin 732 is evenly distributed. Optionally, the distance from the cylindrical axis of the first positioning pin 732 to the cylindrical axis of the second positioning pin 733 is greater than the radius of the second positioning pin 733, that is, each first positioning pin 732 is located in the same circle and is concentrically arranged with the second positioning pin 733. The first positioning pins 732 and the second positioning pins 733 are staggered in the vertical projection of the support plate 731, which facilitates the installation of the first positioning pins 732 on the support plate 731, and the entire support plate 731 is evenly stressed and does not warp. Optionally, the radius of the first positioning pin 732 is 1 / 5 to 1 / 2 of the radius of the second positioning pin 733. Optionally, there are two first positioning posts 732, which are located on opposite sides of the same radial direction of the second positioning post 733. This ensures uniform force distribution and torque balance, and also limits the rotation of the molding die 900 relative to the support component 730 with the minimum number of first positioning posts 732, so as not to make it difficult to fully fit and match due to a large number of first positioning posts 732 and manufacturing errors.

[0052] In one embodiment, combined Figure 8 and Figure 9 The support assembly 730 also includes a plurality of third positioning posts 734 disposed along the edge of the support plate 731, and the turntable body 710 has third positioning holes for clearance engagement with the third positioning posts 734. The plurality of third positioning posts 734 form multi-point constraints on the outer peripheral edge of the support plate 731, preventing the support plate 731 from rotating around the second positioning posts 733 on the turntable body 710. Furthermore, the multi-point engagement more precisely defines the relative position of the support plate 731 and the turntable body 710, preventing local tilting of the support plate 731 and ensuring parallelism when the upper mold 910 and lower mold 920 are closed. Specifically, there are four third positioning posts 734, distributed at the four corners of the support plate 731.

[0053] In one embodiment, the distance from the cylindrical axis of all third positioning posts 734 to the cylindrical axis of the second positioning post 733 is equal, ensuring that the lever arm of each third positioning post 734 relative to the second positioning post 733 is the same, which is beneficial for the uniform force on each third positioning post 734. Specifically, the support assembly 730 is positioned and supported on the turntable body 710 through the second positioning post 733 and the third positioning post 734, and the forming mold 900 is positioned and supported on the support assembly 730 through the first positioning post 732. The distance from the cylindrical axis of the third positioning post 734 to the cylindrical axis of the second positioning post 733 is greater than the distance from the cylindrical axis of the first positioning post 732 to the cylindrical axis of the second positioning post 733. Therefore, the lever arm of the load on the forming mold 900 is less than the lever arm of the supporting force applied by the third positioning post 734. The lever arm difference ensures that the anti-overturning moment is always greater than the overturning moment. Furthermore, the load of the molding die 900 falls between the second positioning post 733 and the third positioning post 734, and the force is transmitted to the second positioning post 733 and the third positioning post 734 relatively evenly, resulting in a shorter force transmission path.

[0054] In one embodiment, the diameter of the first positioning hole is larger than the outer diameter of the second positioning post 733, and the difference between the two is called the first diameter difference. The diameter of the third positioning hole is slightly larger than or equal to the outer diameter of the third positioning post 734, and the difference between the two is called the second diameter difference. The first diameter difference is greater than the second diameter difference. The bottom of the second positioning post 733 is lower than the bottom of the third positioning post 734, and the second positioning post 733 is embedded into the turntable body 710 before the third positioning post 734. Based on this, the first positioning hole is used as a coarse positioning hole, and the third positioning hole is used as a fine positioning hole, so as to realize the movable embedding of the second positioning post 733 and the first positioning hole, thereby realizing the initial positioning of the support component 730, while reserving adjustment margin for the subsequent fine positioning of the third positioning post 734. In addition, it is beneficial to quickly align the third positioning hole and the third positioning post 734.

[0055] In one embodiment, the diameter φa of the first positioning hole is 110% to 130% of the outer diameter φb of the second positioning post 733. On the one hand, φa is greater than or equal to 120%*φb to ensure the movable insertion between the second positioning post 733 and the first positioning hole under the condition of adapting tolerances, and to achieve the initial positioning of the support component 730 on the turntable body 710, which helps to reduce the assembly difficulty. On the other hand, φa is less than or equal to 130%*φb to limit the relative displacement between the second positioning post 733 and the first positioning hole, thereby controlling the floating amount of the third positioning post 734, reducing the docking difficulty between the third positioning post 734 and the third positioning hole in the subsequent precise positioning process, which is conducive to the rapid insertion between the third positioning post 734 and the third positioning hole and improves the assembly efficiency.

[0056] In some embodiments, combined with Figure 8 and Figure 9The support assembly 730 also includes a plurality of support elastic elements 735 spaced circumferentially along the second positioning post 733, with the two ends of the support elastic elements 735 abutting against the turntable body 710 and the support plate 731, respectively. During the 3D forming of the flat wire 10, the stamping drive component 820 applies an instantaneous impact force to the forming mold 900. The support elastic elements 735 absorb part of the impact energy through their own compression deformation, preventing the impact force from being directly and rigidly transmitted to the rigid second positioning post 733 and third positioning post 734.

[0057] In one embodiment, the compression directions of all supporting elastic elements 735 converge directly above the center of gravity of the support plate 731. The point of application of the resultant force of the elastic support force and the center of gravity of the support plate 731 are located on the same vertical line, that is, the resultant force of the elastic force points to the center of gravity, preventing overturning. The horizontal component forces cancel each other out, completely avoiding local stress concentration caused by uneven gravity distribution, forming an ideal coaxial force system, eliminating force deviation from the root, and ensuring that the resultant force direction of the support plate 731 is on the vertical line, preventing tilting, ensuring that the support plate 731 and its supported lower mold 920 are horizontal, the lower mold 920 has a stable posture, and the 3D forming dimensional deviation rate of the flat line 10 is greatly reduced.

[0058] In one embodiment, combined Figure 8 and Figure 9 All supporting elastic elements 735 are located on the same concentric circle centered on the cylindrical axis of the second positioning post 733. This ensures that the elastic support force is completely symmetrical around the circumference centered on the second positioning post 733, preventing uneven force distribution on the support plate 731. The magnitude and direction of all radial elastic components are symmetrical along the circumference, retaining only the resultant force along the perpendicular bisector, ensuring that the support plate 731 and the lower die 920 do not move horizontally. Especially when the forming die 900 tilts during stamping or the lower die 920 vibrates, the resultant force of the supporting components 730 is in the perpendicular bisector of the center of gravity, and is less affected by changes in tilt angle. The natural frequency of the system is controlled, reducing the risk of resonance. Optionally, the supporting elastic element 735 can be a spring, an air damper, or a rubber strip.

[0059] In some embodiments, combined with Figure 10 , Figure 11 and Figure 12The lower mold 920 includes a lower plate 922, a first lower block 923, and a second lower block 924. The first lower block 923 is fixedly mounted on the lower plate 922, and the second lower block 924 is slidably mounted on the lower plate 922. The second lower block 924 slides close to the first lower block 923, and the tops of the two blocks enclose a forming groove 925. Specifically, one side of the first lower block 923 near the second lower block 924 encloses a portion of the forming groove 925, and the other two opposite sides of the first lower block 923 have the remaining portions of the forming groove 925. The upper mold 910 includes an upper plate 911, a first upper block 912, and a second upper block 913, both fixedly mounted on the upper plate 911. The first upper block 912 has a forming protrusion 914 adapted to the forming groove 925, and the second upper block 913 abuts against and pushes the second lower block 924 to slide close to the first lower block 923. When the forming mold 900 is working, the upper mold 910 presses down, and the second upper block 913 contacts the second lower block 924, pushing the second lower block 924 to slide closer to the first lower block 923. This allows the shape and size of the forming groove 925 to more accurately adapt to the 3D shape requirements of the flat wire 10, facilitating precise forming of the flat wire 10. The flat wire 10 not only bears the vertical impact force from the first lower block 923 but also the horizontal extrusion force from the second lower block 924, ensuring that the pressure on various parts of the flat wire 10 is relatively uniform during the forming process, avoiding defects such as product deformation and cracks caused by uneven pressure.

[0060] In one embodiment, combined Figure 12 The lower die 920 also includes a sliding elastic element 926, with its two ends abutting against the first lower block 923 and the second lower block 924, respectively. When the stamping drive 820 drives the upper die 910 to rise, the pushing force of the second upper block 913 on the second lower block 924 disappears, and the sliding elastic element 926 will rebound on its own, pushing the second lower block 924 away from the first lower block 923 automatically, so that the forming groove 925 returns to its initial open state, making it easier to remove the formed flat wire 10 and put in new flat wire 10 raw material. When the second lower block 924 is pushed by the second upper block 913 and moves rapidly toward the first lower block 923 during the stamping stage, the sliding elastic element 926 gradually buffers the impact force through its own compression, which not only protects the mold contact surface but also greatly reduces collision noise and vibration.

[0061] In one embodiment, combined Figure 11 and Figure 12The lower plate 922 is fixedly equipped with a sliding guide 927, and the bottom of the second lower block 924 has a sliding groove 928, in which the sliding guide 927 is slidably embedded. The cooperation between the sliding guide 927 and the sliding groove 928 provides precise guidance for the sliding of the second lower block 924, ensuring that the second lower block 924 can move along a predetermined direction during the sliding process, reducing offset and shaking during the sliding process, maintaining a stable motion state, and helping to ensure the dimensional and shape accuracy of the forming groove 925, thereby improving the forming quality of the product.

[0062] In one embodiment, the second upper block 913 has a first inclined surface 915, which slopes upwards towards the first lower block 923. When the upper die 910 moves vertically downwards, the first inclined surface 915 of the second upper block 913 contacts the second lower block 924. The inclined structure of the first inclined surface 915 decomposes the vertically downward stamping force into a horizontal force pointing towards the first lower block 923. This force can directly push the second lower block 924 to slide horizontally along the sliding guide 927 without the need for an additional horizontal driving device, and finally surround the forming groove 925 with the first lower block 923. When the second lower block 924 is pushed to slide, the horizontal component of the first inclined surface 915 always points in the direction of the first lower block 923. As the upper mold 910 presses down, the direction of the component will be constrained by the geometry of the first inclined surface 915, ensuring that the second lower block 924 slides along the preset path of the sliding guide 927, avoiding the second lower block 924 from shifting or getting stuck due to uneven sliding resistance, and ensuring the centerness and dimensional consistency of the flat wire 10 forming.

[0063] In one embodiment, combined Figure 11 and Figure 12 The second lower block 924 has a second inclined surface 929, which slopes upwards towards the first lower block 923. When the second upper block 913 is pressed down, it abuts against the second inclined surface 929 of the second lower block 924. The vertically downward stamping force is divided into a vertical component and a horizontal component along the second inclined surface 929. The horizontal component always points towards the first lower block 923. As the upper die 910 is pressed down, the direction of the horizontal component is constrained by the geometry of the second inclined surface 929, ensuring that the second lower block 924 slides along the preset path of the sliding guide 927. This prevents the second lower block 924 from shifting or getting stuck due to uneven sliding resistance, ensuring the centering and dimensional consistency of the flat wire 10.

[0064] In one embodiment, the lower mold 920 further includes a support block 980 fixedly installed on the lower plate 922. The support block 980 is located on the side of the second lower block 924 away from the first lower block 923. The top surface of the support block 980 is a plane, and the bottom surface of the second upper block 913 is a plane. When the upper mold 910 and the lower mold 920 are closed in place, the top surface of the support block 980 fits against the bottom surface of the second upper block 913, which can provide accurate positioning for the closing of the upper mold 910 and the lower mold 920, ensure the relative positional accuracy between the upper and lower molds, and help ensure the dimensional accuracy and shape accuracy of the molding groove 925, thereby improving the molding quality of the product.

[0065] In one embodiment, the upper plate 911 is provided with a first limiting post 930, and the lower plate 922 is provided with a second limiting post 940. The first limiting post 930 and the second limiting post 940 are vertically aligned so that when the first limiting post 930 abuts against the second limiting post 940, the upper die 910 stops moving downward, thus avoiding over- or under-stamping. When the mold is closed, if the instantaneous impact force of the upper die 910 on the lower die 920 is entirely borne by the forming components (such as the first upper block 912, the first lower block 923, the second upper block 913, and the second lower block 924), it is easy to cause wear and deformation of the core forming surface. However, when the first limiting post 930 and the second limiting post 940 abut against each other, most of the stamping impact force will be transmitted to the upper plate 911 and the lower plate 922 through the first limiting post 930 and the second limiting post 940, rather than being concentrated on the forming protrusion 914 and the forming groove 925.

[0066] In one embodiment, a third limiting post 950 is fixedly installed on the lower plate 922, and a sliding sleeve 960 is installed on the upper plate 911, which slidably engages with the third limiting post 950. A mold-closing elastic element 970 is sleeved on the third limiting post 950 and abuts against the sliding sleeve 960. The sliding engagement between the third limiting post 950 and the sliding sleeve 960 provides a vertical guide reference for the up-and-down movement of the upper mold 910. The mold-closing elastic element 970 abuts against the sliding sleeve 960, absorbing the impact force at the moment of mold closing through elastic deformation, thus avoiding rigid collision damage. The mold-closing elastic element 970 is typically a compression spring.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A double-acting multi-linear transfer mechanism, having two mutually perpendicular directions—a first direction, a second direction, and a vertical direction—characterized by, include: A transfer guide rail extending along the second direction; Two power mechanisms are slidably mounted independently and spaced apart along the second direction on the transfer guide rail; The loading and unloading mechanism includes a transfer bracket and a first loading and unloading assembly. The first loading and unloading assembly includes a first lifting drive, a first sliding drive, and a first clamp. The first lifting drive is mounted on the transfer bracket. The first lifting drive drives the first sliding drive to move along the vertical direction. The first sliding drive drives the first clamp to move along the second direction. There are two loading and unloading mechanisms. The transfer brackets of the two loading and unloading mechanisms are respectively mounted on the two power mechanisms.

2. The double-acting multi-linear transfer mechanism according to claim 1, characterized in that: The first loading and unloading assembly includes a first adapter plate, the first clamp is slidably mounted on one side of the first adapter plate along the second direction, the first sliding drive is fixedly mounted on the first adapter plate and located on the same side of the first adapter plate as the first clamp, and the first adapter plate is vertically slidably mounted on the transfer bracket.

3. The double-acting multi-linear transfer mechanism according to claim 2, characterized in that: The first adapter plate is equipped with a first slide rail, and the first clamp is slidably supported on the first slide rail; The first loading and unloading assembly includes a first screw rotatably mounted on the first adapter plate, a first clamp threaded onto the first screw, and a first sliding drive member driving the first screw to rotate. The first screw and the first slide rail are arranged in parallel; the first screw is located below the first slide rail; the first sliding drive is located below the first screw.

4. The double-acting multi-linear transfer mechanism according to claim 2, characterized in that: The first loading and unloading assembly includes a first mounting frame, which includes a first base plate and a first upright plate. The first base plate is fitted onto the transfer bracket, and the first upright plate is mounted on one side of the first base plate in the first direction. The first sliding drive member is vertically slidably mounted on the outside of the first upright plate via a second slide rail.

5. The double-acting multi-linear transfer mechanism according to claim 4, characterized in that: The first base plate has a first hollow hole extending toward the first upright plate, and the first upright plate has a second hollow hole extending downward. The second hollow hole communicates with the first hollow hole. The first sliding drive component is threadedly fitted with a second screw, which is located in the second hollow hole. The first lifting drive component is installed on the top of the first base plate. The rotation output shaft of the first lifting drive component extends into the first hollow hole and is connected to the bottom of the second screw via a belt.

6. The double-acting multi-linear transfer mechanism according to claim 1, characterized in that: The first clamp includes two first pneumatic grippers spaced apart along the first direction, and the two first pneumatic grippers are simultaneously spaced apart along the first direction; the opening and closing openings of the first pneumatic grippers are vertically up and down.

7. The double-acting multi-linear transfer mechanism according to claim 1, characterized in that: The loading and unloading mechanism further includes a second loading and unloading assembly. The second loading and unloading assembly and the first loading and unloading assembly are distributed at intervals along the second direction. The second loading and unloading assembly includes a second sliding drive member and a second clamp. The second sliding drive member is mounted on the transfer bracket and drives the second clamp to slide along the second direction.

8. The double-acting multi-linear transfer mechanism according to claim 7, characterized in that: The second loading and unloading assembly further includes a third slide rail, the third slide rail and the output shaft of the second sliding drive are distributed parallel to each other along the first direction, and the second clamp is slidably mounted on the third slide rail.

9. The double-acting multi-linear transfer mechanism according to claim 7, characterized in that: The second clamp includes a clamping drive, a first clamping plate and a second clamping plate, the first clamping plate and the second clamping plate being distributed vertically, and the clamping drive driving the first clamping plate and the second clamping plate to move closer to or further away from each other; Alternatively, the second clamp includes a clamp bracket and a second pneumatic gripper. The clamp bracket is connected to the output end of the second sliding drive member. The top of the clamp bracket has a clamping support plate, and the interior of the clamp bracket has a pneumatic gripper receiving cavity. The clamping support plate has an eccentrically arranged clamping movable hole. The second pneumatic gripper is installed in the pneumatic gripper receiving cavity, and the top of the second pneumatic gripper extends out of the clamping movable hole. The opening and closing opening of the second pneumatic gripper is vertically up and down.

10. A bending device, characterized in that: The bending device includes a frame, and a 2D bending mechanism, a 3D bending mechanism, and a double-acting multi-line transfer mechanism as described in any one of claims 1 to 9, which are sequentially and spaced apart along a first direction on the frame.

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