Double-mover multi-line type transfer mechanism and bending device

Abstract

The application relates to the technical field of motor manufacturing, and provides a double-mover multi-line type moving mechanism and a bending device. The double-mover multi-line type moving mechanism comprises a moving guide rail, power mechanisms and feeding and discharging mechanisms, the two power mechanisms are independently and spacedly installed on the moving guide rail to slide along a second direction; the feeding and discharging mechanisms comprise moving supports and first feeding and discharging assemblies, the first feeding and discharging assemblies comprise first lifting driving elements, first sliding driving elements and first clamps, the first lifting driving elements are installed on the moving supports, the first lifting driving elements drive the first sliding driving elements to move along a vertical direction, the first sliding driving elements drive the first clamps to move along the second direction, the number of the feeding and discharging mechanisms is two, and the moving supports of the two feeding and discharging mechanisms are respectively installed on the two power mechanisms. Based on this, the moving mechanism can adapt to the feeding and discharging of flat wires with different intervals and different specifications without replacing the feeding and discharging mechanisms, and the universality and the reuse rate are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of motor manufacturing technology, and in particular to a double-motor multi-line transfer mechanism and bending device. Background Technology

[0002] In the manufacturing process of flat wire motors, flat wires need to participate in processing and assembly steps. For example, a fixed length of straight flat copper wire is first processed into a 2D U-shape, and then the U-shaped wire is processed into a 3D hairpin coil with a specific angle. During the flat wire processing or assembly process, a transfer mechanism is required to load and unload the flat wires.

[0003] Chinese patent CN219058142U discloses a loading and unloading mechanism. By setting two clamping components, after the winding fixture has finished winding, one clamping component clamps the winding fixture that has finished winding. The conveying mechanism drives the clamping component to move from the winding position to the loading and unloading position. The other clamping component clamps the winding fixture located at the loading and unloading position. Then, the winding fixture on the first clamping component is placed on the loading and unloading position, so that the loading and unloading mechanism can load and unload at the same time, reducing the number of times the loading and unloading mechanism moves between the winding position and the loading and unloading position, and improving the efficiency of loading and unloading.

[0004] Similarly, while existing transfer mechanisms improve the efficiency of loading and unloading through two clamping components, the fixed spacing between the two clamping components cannot adapt to the loading and unloading of flat wires with different spacings, resulting in a technical problem of poor versatility. Summary of the Invention

[0005] The purpose of this invention is to provide a double-acting multi-line transfer mechanism and bending device, which aims to solve the technical problem of poor versatility of existing transfer mechanisms.

[0006] In a first aspect, this application provides a dual-motor multi-linear transfer mechanism having a first direction, a second direction, and a vertical direction that are perpendicular to each other, including:

[0007] A transfer guide rail extending along the second direction;

[0008] Two power mechanisms are slidably mounted independently and spaced apart along the second direction on the transfer guide rail;

[0009] The feeding and discharging mechanism comprises a moving support and a first feeding and discharging assembly, the first feeding and discharging assembly comprises a first lifting driving element, a first sliding driving element and a first clamp, the first lifting driving element is installed on the moving support, the first lifting driving element drives the first sliding driving element to move along the vertical direction, the first sliding driving element drives the first clamp to move along the second direction, the number of the feeding and discharging mechanisms is two, and the moving supports of the two feeding and discharging mechanisms are respectively installed on the two power mechanisms.

[0010] In a second aspect, the application provides a bending device, comprising a rack, a 2D bending mechanism, a 3D bending mechanism and a double-mover multi-linear moving mechanism which are installed on the rack in sequence along a first direction.

[0011] The double-mover multi-linear moving mechanism and the bending device have the following beneficial effects: the first clamps of the two feeding and discharging mechanisms can simultaneously feed and discharge different flat wires, the two power mechanisms respectively drive the two moving supports to slide along the second direction on the moving guide rail, the interval of the two first clamps in the second direction is flexibly adjusted, the feeding and discharging of flat wires with different intervals are satisfied, the first sliding driving element drives the first clamp to move along the second direction, the second direction position of the first clamp on the moving support is flexibly adjusted, the first lifting driving element drives the first clamp to move vertically, so that the first clamp is close to or away from the flat wire in the vertical direction; based on this, the moving mechanism can adapt to the feeding and discharging of flat wires with different intervals and different specifications without replacing the feeding and discharging mechanism, and the universality and reuse rate are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0013] Figure 1 The structure diagram of the double-mover multi-linear moving mechanism provided by the embodiments of the application;

[0014] Figure 2 The structure diagram of the feeding and discharging mechanism of the double-mover multi-linear moving mechanism;

[0015] Figure 3 The structure diagram of the feeding and discharging mechanism of the double-mover multi-linear moving mechanism; Figure 2 The structure diagram of the feeding and discharging mechanism of the double-mover multi-linear moving mechanism;

[0016] Figure 4 The structure diagram of the feeding and discharging mechanism of the double-mover multi-linear moving mechanism;

[0017] Figure 5 is a structural schematic view of a first feeding and discharging assembly of the feeding and discharging mechanism;

[0018] Figure 6 is a perspective view of the feeding and discharging mechanism; Figure 5

[0019] Figure 7 is a structural schematic view of a bending device provided by an embodiment of the present application;

[0020] Figure 8 is a structural schematic view of a 3D bending mechanism provided by an embodiment of the present application;

[0021] Figure 9 is a structural schematic view of a supporting assembly of the 3D bending mechanism;

[0022] Figure 10 is a working schematic view of a forming die of the 3D bending mechanism;

[0023] Figure 11 is another perspective view of the forming die of the 3D bending mechanism;

[0024] Figure 12 is an exploded view of the forming die of the 3D bending mechanism.

[0025] In the drawings, various reference signs represent:

[0026] 10, flat wire; 20, photoelectric sensor; 30, visual sensor; 40, double-motor multi-line type transfer mechanism; 41, transfer guide rail; 42, power mechanism; 43, feeding and discharging mechanism;

[0027] 100, transfer support; 200, first feeding and discharging assembly; 210, first lifting driving member; 220, first sliding driving member; 230, first clamp; 231, first pneumatic gripper; 240, first adapter plate; 250, first sliding rail; 260, first screw; 270, first mounting frame; 271, first bottom plate; 272, first vertical plate; 273, first hollow hole; 274, second hollow hole; 280, second sliding rail; 290, second screw; 300, second feeding and discharging assembly; 310, second sliding driving member; 320, second clamp; 321, clamp driving member; 322, first clamping plate; 323, second clamping plate; 324, clamp support; 325, second pneumatic gripper; 326, clamping support plate; 327, pneumatic gripper accommodating cavity; 328, clamping movable hole; 330, third sliding rail; 340, second lifting driving member; 400, rack; 500, 2D bending mechanism; 600, 3D bending mechanism;

[0028] ​700, turntable assembly; 710, turntable body; 720, turntable driving piece; 730, support assembly; 731, support plate; 732, first positioning column; 733, second positioning column; 734, third positioning column; 735, support elastic piece; 800, punching assembly; 810, punching support; 820, punching driving piece; 900, forming die; 910, upper die; 911, upper plate; 912, first upper block; 913, second upper block; 914, forming protrusion; 915, first inclined surface; 920, lower die; 921, second positioning hole; 922, lower plate; 923, first lower block; 924, second lower block; 925, forming groove; 926, sliding elastic piece; 927, sliding guide piece; 928, sliding groove; 929, second inclined surface; 930, first limiting column; 940, second limiting column; 950, third limiting column; 960, sliding sleeve; 970, die clamping elastic piece; 980, support block. DETAILED DESCRIPTION

[0029] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar elements or elements having the same or similar functions are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0030] Throughout the specification, reference to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Therefore, the appearance of the phrases "in one embodiment" or "in some embodiments" in various places throughout the specification are not all referring to the same embodiment. In addition, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0031] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0032] In addition, the terms "first", "second", and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", and the like can explicitly or implicitly include one or more of the features.

[0033] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0034] For the convenience of description, three coordinate axes perpendicular to each other in space are defined as X-axis, Y-axis and Z-axis, at the same time, the direction along the X-axis is the longitudinal direction, the direction along the Y-axis is the transverse direction, and the direction along the Z-axis is the vertical direction; wherein the X-axis and the Y-axis are two coordinate axes perpendicular to each other in the same horizontal plane, and the Z-axis is a vertical coordinate axis; the X-axis, the Y-axis and the Z-axis are perpendicular to each other in space, and the three planes are XY plane, YZ plane and XZ plane, wherein the XY plane is a horizontal plane, the XZ plane and the YZ plane are both vertical planes, and the XZ plane is perpendicular to the YZ plane. The three axes in space are X-axis, Y-axis and Z-axis, moving along the three axes in space means moving along the three axes perpendicular to each other in space, and specifically moving along the X-axis, the Y-axis and the Z-axis in space; while plane movement is movement in the XY plane.

[0035] In combination Figures 1 to 4 The double-mover multi-line type transfer mechanism 40 provided by the embodiment has a first direction X, a second direction Y and a vertical direction Z perpendicular to each other. The double-mover multi-line type transfer mechanism 40 comprises a transfer guide rail 41, a power mechanism 42 and a feeding and discharging mechanism 43. The transfer guide rail 41 extends along the second direction Y, the number of the power mechanism 42 is two, and the two power mechanisms 42 are independently and slidably installed on the transfer guide rail 41 along the second direction Y. The feeding and discharging mechanism 43 comprises a transfer bracket 100 and a first feeding and discharging assembly 200, the first feeding and discharging assembly 200 comprises a first lifting driving member 210, a first sliding driving member 220 and a first clamp 230, the first lifting driving member 210 is installed on the transfer bracket 100, the first lifting driving member 210 drives the first sliding driving member 220 to move along the vertical direction Z, and the first sliding driving member 220 drives the first clamp 230 to move along the second direction Y. The number of the feeding and discharging mechanism 43 is two, and the transfer brackets 100 of the two feeding and discharging mechanisms 43 are respectively installed on the two power mechanisms 42.

[0036] The first clamps 230 of the two feeding and discharging mechanisms 43 can simultaneously feed and discharge different flat wires 10. The two power mechanisms 42 respectively drive the two moving carriers 100 to slide on the moving guide rail 41 in the second direction Y, flexibly adjust the interval of the two first clamps 230 in the second direction Y, meet the feeding and discharging of flat wires 10 with different intervals, the first sliding driving part 220 drives the first clamp 230 to move in the second direction Y, flexibly adjusts the second direction Y position of the first clamp 230 on the moving carrier 100, and the first lifting driving part 210 drives the first clamp 230 to move vertically, so that the first clamp 230 is close to or away from the flat wire 10 in the vertical direction Z. Based on this, the double-mover multi-line moving mechanism 40 can adapt to the feeding and discharging of flat wires 10 with different intervals and different specifications without replacing the feeding and discharging mechanism 43, greatly improving the versatility and reusability.

[0037] It should be noted that the two power mechanisms 42 are independently slidably installed on the moving guide rail 41, which means that the power mechanism 42 can slide on the moving guide rail 41 by itself. Alternatively, the power mechanism 42 is a permanent magnet motor, and the sliding block is slidably connected with the moving guide rail 41.

[0038] It should be noted that one of the two moving carriers 100 is installed on one of the power mechanisms 42 and slides on the moving guide rail 41 with the power mechanism 42, and the other of the two moving carriers 100 is installed on the other power mechanism 42 and slides on the moving guide rail 41 with the power mechanism 42.

[0039] Specifically, the length of the moving guide rail 41 is 8 to 30 times the sliding driving stroke of the first sliding driving part 220. In other words, the moving carrier 100 slides a large distance on the moving guide rail 41 with the power mechanism 42, coarsely adjusts the position of the first clamp 230 in the second direction Y, and the first sliding driving part 220 drives the first clamp 230 to slide a small distance in the second direction Y, finely adjusts the position of the first clamp 230 in the second direction Y.

[0040] In some embodiments, in combination with Figure 2 and Figure 3 , the first feeding and discharging assembly 200 includes a first adapter plate 240, the first clamp 230 is slidably installed on one side of the first adapter plate 240 in the second direction Y, and the first sliding driving part 220 is fixedly installed on the first adapter plate 240 and located on the same side of the first clamp 230, which shortens the transmission path between the two, reduces the loss of adjustment accuracy caused by the cumulative assembly error between components, and makes the fine adjustment of the first clamp 230 in the second direction Y more accurate. The first adapter plate 240 is vertically slidably installed on the moving carrier 100, cooperates with the power output of the first lifting driving part 210, and can avoid the shaking or deviation of the first clamp 230 during lifting due to uneven force.

[0041] In one of the embodiments, in combination with Figure 5 and Figure 6 The first adapter plate 240 is provided with the first slide rail 250, and the first clamp 230 is slidingly supported on the first slide rail 250, so that the first clamp 230 is driven by the first slide driving member 220 to move more stably and uniformly.

[0042] In one of the embodiments, in combination with Figure 5 and Figure 6 The first feeding and discharging assembly 200 comprises a first screw 260 rotatably mounted on the first adapter plate 240, the first clamp 230 is threadedly sleeved on the first screw 260, and the first slide driving member 220 drives the first screw 260 to rotate. Compared with the pneumatic driving mode (easily affected by the air pressure fluctuation) or the gear and rack transmission (with a backlash), the positioning accuracy of the screw transmission is higher, so as to ensure that the first clamp 230 can be accurately adjusted in the second direction Y.

[0043] Specifically, the rotating output shaft of the first slide driving 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 as to realize the synchronous rotation of the two gears. The end of the first screw 260 away from the first slide driving member 220 is rotatably supported on the first adapter plate 240 through the first bearing, so that both ends are supported.

[0044] In one of the embodiments, 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 the clamped flat wire 10 are uniformly transmitted to the first adapter plate 240 through the first slide rail 250, and the first screw 260 only needs to provide an axial force to drive the first clamp 230 to move, without additionally bearing a radial load.

[0045] Moreover, the first screw 260 and the first slide rail 250 both extend along the second direction Y, rather than the vertical direction Z, without bearing the gravity of the first clamp 230, avoiding the inaccuracy caused by the gravity factor, and reducing the load of the first screw 260 and the first slide rail 250.

[0046] In one of the embodiments, the first screw 260 is located below the first slide rail 250, and the first screw 260 is arranged in the idle space below the first slide rail 250. Specifically, the first slide driving member 220 is located below the first screw 260. That is, the first slide rail 250, the first screw 260 and the first slide driving member 220 are sequentially and spacedly distributed from top to bottom, and the first clamp 230 and the first slide rail 250 are located above, so that the space above is large, facilitating the clamping of the flat wire 10, and the first screw 260 and the first slide driving member 220 will not interfere with the clamping.

[0047] In one of the embodiments, in combination Figure 5 and Figure 6 The first feeding and discharging assembly 200 comprises a first mounting frame 270, which comprises a first bottom plate 271 and a first vertical plate 272. The first bottom plate 271 is attached to the transfer support 100 to form a large-area contact, so that the weight of the first feeding and discharging assembly 200 and the load of the clamped flat wire 10 can be uniformly transmitted to the transfer support 100. The first vertical plate 272 is installed on one side of the first bottom plate 271 in the first direction X and is rigidly supported in the vertical direction Z to offset the moment generated by the lifting of the first clamp 230, thereby greatly improving the anti-vibration and anti-impact capability of the overall structure.

[0048] Specifically, in combination Figure 5 and Figure 6 The first sliding drive 220 is vertically slidably installed on the outer side of the first vertical plate 272 through the second sliding rail 280. The outer side of the first vertical plate 272 refers to the side of the first vertical plate 272 away from the first bottom plate 271, so that the first sliding drive 220 has a larger installation space. The second sliding rail 280 provides vertical direction Z support for the first sliding drive 220, so that the load is transmitted to the first vertical plate 272 through the second sliding rail 280 when the first lifting drive 210 is driven to lift. In the illustrated embodiment, the first sliding drive 220 and the first clamp 230 are installed on the first adapter plate 240, and the first adapter plate 240 is vertically slidably installed on the outer side of the first vertical plate 272 through the second sliding rail 280.

[0049] In one of the embodiments, the first bottom plate 271 has a first hollow hole 273 extending towards the first vertical plate 272, and the first vertical plate 272 has a second hollow hole 274 extending downward, the second hollow hole 274 being in communication with the first hollow hole 273. The first sliding drive 220 is threadedly sleeved with a second screw 290, and the second screw 290 is located in the second hollow hole 274. The first lifting drive 210 is installed on the top of the first bottom plate 271, and the rotating output shaft of the first lifting drive 210 extends into the first hollow hole 273 and is connected to the bottom of the second screw 290 through a belt, driving the second screw 290 to rotate, and in turn driving the first sliding drive 220 threadedly sleeved with the second screw 290 and the first clamp 230 connected thereto to lift.

[0050] The first hollow hole 273 and the second hollow hole 274 are in communication, forming an L-shaped transmission channel, which allows the output shaft of the first lifting drive 210 to pass through the first hollow hole 273 and be connected with the belt, and allows the second screw 290 to be completely accommodated in the second hollow hole 274, avoiding the exposure of the transmission components and occupying additional space, ensuring the stability of the transmission, avoiding motion interference, and making the overall structure more compact, especially suitable for the spatial layout of the L-shaped first mounting frame 270. Specifically, the number of the second slide rails 280 is two, and the two second slide rails 280 are located on both sides of the second hollow hole 274 in the second direction Y. Optionally, the second hollow hole 274 is located in the middle of the two second slide rails 280.

[0051] The belt transmission has a certain elastic buffering capacity, which can absorb the impact load when the first lifting drive 210 starts or stops, reduce the impact on the second screw 290 and the first sliding drive 220, avoid thread wear or component deformation caused by excessive instantaneous force, and indirectly improve the vertical positioning accuracy of the first sliding drive 220. Specifically, the rotating output shaft of the first lifting drive 210 is fixedly sleeved with the third gear, the second screw 290 is fixedly sleeved with the fourth gear, and the second belt is sleeved with the third gear and the fourth gear, realizing synchronous rotation of the two gears. The top of the second screw 290 is rotatably supported on the first vertical plate 272 by the second bearing, realizing support at both ends.

[0052] In one embodiment, the first clamp 230 includes two first air claws 231 spaced apart along the first direction X, and the two first air claws 231 are spaced apart along the first direction X. The two first air claws 231 are spaced apart along the first direction X, which can form a two-point symmetrical support, balance the gravity moment of the flat wire 10 by dispersing the clamping force, and avoid tilting or falling of the flat wire 10 during clamping.

[0053] Specifically, the opening and closing of the first air claw 231 is vertically up and down. In other words, the opening and closing of the first air claw 231 is opened, and under the drive of the first lifting drive 210, it clamps the flat wire 10 from bottom to top, and then closes the opening and closing, realizing clamping the flat wire 10; on the contrary, it releases the flat wire 10.

[0054] In some embodiments, in combination with Figure 2 , Figure 3 and Figure 4The feeding and discharging mechanism 43 further comprises a second feeding and discharging assembly 300, the first feeding and discharging assembly 200 and the second feeding and discharging assembly 300 are spaced apart along the second direction Y, the second feeding and discharging assembly 300 comprises a second sliding driving member 310 and a second clamp 320, the second sliding driving member 310 is installed on the transfer bracket 100, and the second sliding driving member 310 drives the second clamp 320 to slide along the second direction Y. The first feeding and discharging assembly 200 and the second feeding and discharging assembly 300 are spaced apart along the second direction Y, and a plurality of flat wires 10 can be clamped at a time. For example, while the first clamp 230 clamps one flat wire 10, the second clamp 320 can clamp another flat wire 10 at the same time, directly improving the feeding and discharging efficiency per unit time. The second clamp 320 of the second feeding and discharging assembly 300 can be independently adjusted in position along the second direction Y through the second sliding driving member 310, that is, the first feeding and discharging assembly 200 and the second feeding and discharging assembly 300 can clamp two flat wires 10 with different intervals, have strong versatility, and improve production flexibility.

[0055] In one of the embodiments, in combination with Figure 2 , Figure 3 and Figure 4 , the second feeding and discharging assembly 300 further comprises a third sliding rail 330, the third sliding rail 330 and the output shaft of the second sliding driving member 310 are spaced apart in parallel along the first direction X, and the second clamp 320 is slidingly installed on the third sliding rail 330. The third sliding rail 330 provides clear guiding constraint and rigid support for the second clamp 320 along the second direction Y.

[0056] In one of the embodiments, in combination with Figure 4 , the second clamp 320 comprises a clamp driving member 321, a first clamping plate 322 and a second clamping plate 323, the first clamping plate 322 and the second clamping plate 323 are spaced apart in a vertical direction Z, and the clamp driving member 321 drives the first clamping plate 322 and the second clamping plate 323 to move close to or away from each other, so as to clamp or release the flat wire 10. The flat wire 10 has a wide and thin cross-sectional shape, the first clamping plate 322 and the second clamping plate 323 are spaced apart in the vertical direction Z to form a clamping space, and can be completely attached to the flat surface of the flat wire 10. The clamping space is uniformly clamped from the top and bottom surfaces, so that the flat wire 10 is prevented from being inclined or deformed due to the deviation of the clamping point. The first clamping plate 322 and the second clamping plate 323 have a large clamping area, can clamp the flat wire 10 from the top and bottom surfaces, have high stability, and are suitable for different flat wires 10, and have strong versatility.

[0057] In one of the embodiments, in combination with Figure 2 and Figure 3The second clamp 320 comprises a clamp support 324 and a second air claw 325. The clamp support 324 is connected to the output end of the second sliding driving member 310. The top of the clamp support 324 is provided with a clamping support plate 326. The inside of the clamp support 324 is provided with an air claw accommodating cavity 327. The clamping support plate 326 is provided with an eccentric clamping movable hole 328. The second air claw 325 is installed in the air claw accommodating cavity 327. The top of the second air claw 325 extends out of the clamping movable hole 328. The opening and closing of the second air claw 325 is vertically up and down. The second air claw 325 clamps one side of the U-shaped flat wire 10. The other side of the U-shaped flat wire 10 is supported on the clamping support plate 326, so as to avoid the shaking of the flat wire 10 and to avoid the use of two second air claws 325.

[0058] Specifically, in combination with Figure 2 and Figure 3 , the second feeding and discharging assembly 300 further comprises a second lifting driving member 340. The second lifting driving member 340 is connected to the output end of the second sliding driving member 310. The second lifting driving member 340 is used to drive the lifting of the clamp support 324.

[0059] In combination with Figure 7 , the application further provides a bending device. The bending device comprises a rack 400, a 2D bending mechanism 500, a 3D bending mechanism 600 and any one of the double-mover multi-line type transfer mechanisms 40 in Embodiment One, which are sequentially and spacedly installed on the rack 400 along a first direction X. The flat wire 10 in a linear type is sequentially subjected to plane bending by the 2D bending mechanism 500, subjected to three-dimensional bending by the 3D bending mechanism 600 and subjected to clamping and discharging by the double-mover multi-line type transfer mechanism 40 along the first direction X.

[0060] Specifically, in combination with Figure 7 , the number of the 2D bending mechanisms 500 is two. The two 2D bending mechanisms 500 are installed on the rack 400 in parallel and spacedly along a second direction Y. The end of each 2D bending mechanism 500 corresponds to one 3D bending mechanism 600. The two power mechanisms 42 in the double-mover multi-line type transfer mechanism 40 drive the two feeding and discharging mechanisms 43 to discharge the bent products of the two 3D bending mechanisms 600.

[0061] Please refer to Figure 8The 3D bending mechanism 600 provided by the present application comprises a rotating disc assembly 700 and a stamping assembly 800. The rotating disc assembly 700 comprises a rotating disc body 710 and a rotating disc driving member 720. The rotating disc body 710 is provided with a plurality of support assemblies 730 in the circumferential direction, and the support assemblies 730 are used for placing a forming die 900. The forming die 900 comprises an upper die 910 and a lower die 920 which are elastically connected, and the upper die 910 and the lower die 920 are used for placing a flat wire 10. The rotating disc driving member 720 is located below the rotating disc body 710 and drives the rotating disc body 710 to rotate around the vertical direction Z. The stamping assembly 800 comprises a stamping support 810 and a stamping driving member 820. The stamping support 810 covers one side of the rotating disc body 710, and the other side of the rotating disc body 710 is open at the top to facilitate the taking and placing of the flat wire 10 of the forming die 900. The stamping driving member 820 is installed on the stamping support 810 and located above the rotating disc body 710. The output end of the stamping driving member 820 provides a stamping force to the upper die 910 which is rotated below the output end of the stamping driving member 820, so that the upper die 910 and the lower die 920 are folded.

[0062] The rotating disc driving member 720 drives the rotating disc body 710 to rotate around the vertical direction Z, so that the forming dies 900 on the plurality of support assemblies 730 are sequentially rotated to below the output end of the stamping driving member 820. The output end of the stamping driving member 820 presses the upper die 910 located below the output end of the stamping driving member 820, and the upper die 910 and the lower die 920 are folded, so that the flat wire 10 located between the upper die 910 and the lower die 920 is 3D stamped and formed. When the output end of the stamping driving member 820 stamps the forming die 900 on one side, the forming die 900 on the other side can simultaneously take and place the flat wire 10, thereby improving the forming efficiency.

[0063] In some embodiments, in combination with Figure 8 and Figure 9 The 3D bending mechanism 600 comprises a rack 400 which has a first direction X, a second direction Y and a vertical direction Z which are perpendicular to each other. The rotating disc body 710 is rotatably installed on the rack 400, and the rotating disc driving member 720 and the stamping support 810 are fixedly installed on the rack 400. The stamping support 810 spans the rotating disc body 710 along the second direction Y. The stamping support 810 covers one side of the rotating disc body 710 in the first direction X, and the other side of the rotating disc body 710 in the first direction X is not covered by the stamping support 810, thereby facilitating the taking and placing of the flat wire 10.

[0064] In some embodiments, in combination with Figure 8The 3D bending mechanism 600 comprises photoelectric sensors 20, the number of which is the same as that of the support assemblies 730 and one-to-one correspondence. The photoelectric sensors 20 are fixedly installed on the turntable body 710 and rotate with the turntable body 710, and remain relatively stationary with the corresponding support assemblies 730. Each photoelectric sensor 20 is used to detect whether the upper die 910 and the lower die 920 on the corresponding support assembly 730 are closed. When the upper die 910 is lowered to close, the detection light of the photoelectric sensor 20 is blocked. When the upper die 910 and the lower die 920 are separated, the detection light of the photoelectric sensor 20 is not blocked. Based on this, whether the upper die 910 under the stamping driving piece 820 is lowered to close, i.e. whether the flat wire 10 is completed stamping, is detected by the photoelectric sensor 20. Only if the stamping is completed, the output end of the stamping driving piece 820 is raised, the turntable body 710 rotates, and there is no need to wait for the elastic reset of the upper die 910 in place. During the rotation process, the upper die 910 is automatically elastically reset, and the 3D bending mechanism 600 can further improve the molding efficiency. Whether the upper die 910 of the molding die 900 on the other side is elastically reset is detected by the photoelectric sensor 20, and if it is elastically reset, the flat wire 10 can be taken and placed.

[0065] In some embodiments, in combination with Figure 8 The 3D bending mechanism 600 comprises vision sensors 30, the number of which is the same as that of the support assemblies 730 and one-to-one correspondence. The vision sensors 30 are fixedly installed on the rack 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 assemblies 730 are rotated into place. For example, the vision sensor 30 located below the stamping driving piece 820 is used to detect whether the corresponding molding die 900 is rotated directly below the stamping driving piece 820, so as to allow the stamping driving piece 820 to start the downward pressing action, thereby avoiding the error of the stamping force application position caused by the molding die 900 not being in place. For example, the vision sensor 30 of the taking and placing position confirms that the molding die 900 is in place, and then allows the flat wire 10 to be taken and placed, thereby avoiding the deviation of the flat wire 10 taking and placing position caused by the deviation of the molding die 900.

[0066] In some embodiments, in combination with Figure 8 and Figure 9The support assembly 730 comprises a support plate 731 and a first positioning column 732, the turntable body 710 has a first positioning hole, the lower mold 920 has a second positioning hole 921, the bottom of the support plate 731 has a second positioning column 733 rotatably embedded in the first positioning hole, and the embedded cooperation realizes the positioning of the support assembly 730 on the turntable body 710. The rotatable cooperation realizes the initial installation angle adjustment of the support assembly 730. The first positioning column 732 is installed on the top of the support plate 731, the first positioning column 732 is rotatably embedded in the second positioning hole 921, the embedded cooperation realizes the positioning of the forming mold 900 on the support assembly 730, and the rotatable cooperation has a certain gap allowance, which can avoid the clamping of the forming mold 900 during positioning and installation due to the machining error.

[0067] Specifically, the first positioning column 732 is located outside the second positioning column 733, that is, the weight of the support assembly 730 is transmitted to the turntable body 710 through the second positioning column 733 in the middle, and the weight of the forming mold 900 is supported on the support assembly 730 through the first positioning column 732 outside the second positioning column 733. Since the forming mold 900 bears the stamping force, if only the central positioning column is supported, the mold center of gravity is easy to deviate or the stamping force and the central positioning column exist torque, which causes the support assembly 730 to overturn. The first positioning column 732 distributed on the periphery can disperse the load of the forming mold 900 and the forming stamping force to multiple circumferential fulcrums of the support assembly 730, which not only balances the eccentric load of the forming mold 900, but also limits the tilting trend of the support assembly 730, greatly improving the stability of the overall structure.

[0068] Specifically, the number of the first positioning posts 732 is at least two to prevent the forming die 900 from rotating relative to the support assembly 730. Optionally, the distance from the cylinder axis of all the first positioning posts 732 to the cylinder axis of the second positioning posts 733 is equal, ensuring that the positioning torque provided by each first positioning post 732 is uniformly distributed. Optionally, the distance from the cylinder axis of the first positioning posts 732 to the cylinder axis of the second positioning posts 733 is greater than the radius of the second positioning posts 733, i.e., each first positioning post 732 is located on the same circle and is arranged in a concentric circle with the second positioning posts 733, the first positioning posts 732 and the second positioning posts 733 are staggered with each other in the vertical projection of the support plate 731, facilitating the installation of the first positioning posts 732 on the support plate 731, and the entire support plate 731 is uniformly stressed without warping. Optionally, the radius of the first positioning posts 732 is 1 / 5-1 / 2 of the radius of the second positioning posts 733. Optionally, the number of the first positioning posts 732 is two, and the two first positioning posts 732 are located on the same two opposite sides of the second positioning posts 733, which on the one hand uniformly stresses and balances the torque, and on the other hand limits the rotation of the forming die 900 relative to the support assembly 730 with the smallest number of first positioning posts 732, without the difficulty of embedding all the first positioning posts 732 due to manufacturing errors because of the large number of first positioning posts 732.

[0069] In one embodiment, in combination with Figure 8 and Figure 9 The support assembly 730 further comprises a plurality of third positioning posts 734 arranged along the edge of the support plate 731, and the turntable body 710 has third positioning holes for gap-fitting with the third positioning posts 734. The plurality of third positioning posts 734 form a multi-point position constraint at the outer peripheral edge of the support plate 731, which on the one hand prevents the support plate 731 from rotating on the turntable body 710 about the second positioning posts 733, and on the other hand, the multi-point position fitting can more accurately define the relative position of the support plate 731 and the turntable body 710, avoiding local tilting of the support plate 731 and ensuring the parallelism when the upper die 910 and the lower die 920 are folded. Specifically, the number of the third positioning posts 734 is four, and the four third positioning posts 734 are distributed at the four corners of the support plate 731.

[0070] In one embodiment, the distance from the cylindrical axis of all third positioning columns 734 to the cylindrical axis of the second positioning column 733 is equal, ensuring that the force arm of each third positioning column 734 relative to the second positioning column 733 is the same, which is conducive to uniform stress of each third positioning column 734. Specifically, the support assembly 730 is positioned and supported on the turntable body 710 by the second positioning column 733 and the third positioning column 734, the forming mold 900 is positioned and supported on the support assembly 730 by the first positioning column 732, and the distance from the cylindrical axis of the third positioning column 734 to the cylindrical axis of the second positioning column 733 is greater than the distance from the cylindrical axis of the first positioning column 732 to the cylindrical axis of the second positioning column 733. Then, the force arm of the load of the forming mold 900 is smaller than the force arm of the support force exerted by the third positioning column 734, and the difference in force arm ensures that the anti-overturning moment is always greater than the overturning moment. Moreover, the load of the forming mold 900 falls between the second positioning column 733 and the third positioning column 734, and is more evenly transmitted to the second positioning column 733 and the third positioning column 734, and the force transmission path is shorter.

[0071] In one embodiment, the hole diameter of the first positioning hole is greater than the outer diameter of the second positioning column 733, and the difference between the two is a first diameter difference. The hole diameter of the third positioning hole is slightly greater than or equal to the outer diameter of the third positioning column 734, and the difference between the two is a second diameter difference. The first diameter difference is greater than the second diameter difference. The bottom of the second positioning column 733 is lower than the bottom of the third positioning column 734, and the second positioning column 733 is embedded into the turntable body 710 before the third positioning column 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, realizing the active embedding of the second positioning column 733 and the first positioning hole, and further realizing the preliminary positioning of the support assembly 730, while reserving an adjustment margin for the subsequent fine positioning of the third positioning column 734. In addition, it is conducive to the rapid alignment between the third positioning hole and the third positioning column 734.

[0072] In one embodiment, the hole diameter φa of the first positioning hole is 110% to 130% of the outer diameter φb of the second positioning column 733. On the one hand, φa is greater than or equal to 120%*φb, so as to ensure the active embedding between the second positioning column 733 and the first positioning hole and realize the preliminary positioning of the support assembly 730 on the turntable body 710 in the case of tolerance adaptation, which is conducive to reducing the assembly difficulty; on the other hand, φa is less than or equal to 130%*φb, which limits the relative displacement between the second positioning column 733 and the first positioning hole, thereby controlling the floating amount of the third positioning column 734 and reducing the difficulty of the subsequent abutment between the third positioning column 734 and the third positioning hole, which is conducive to the rapid embedding between the third positioning column 734 and the third positioning hole and improves the assembly efficiency.

[0073] In some embodiments, in combination with Figure 8 and Figure 9The support assembly 730 further comprises a plurality of support elastic members 735 circumferentially spaced along the second positioning column 733, two ends of the support elastic members 735 abutting the rotary disc body 710 and the support plate 731 respectively. When the flat wire 10 is 3D formed, the stamping driving member 820 will exert a transient impact force on the forming die 900, and the support elastic members 735 absorb part of the impact energy by compressive deformation of themselves, avoiding direct rigid transmission of the impact force to the rigid second positioning column 733 and the third positioning column 734.

[0074] In one embodiment, the compression directions of all the support elastic members 735 converge directly above the barycenter of the support plate 731, the action point of the resultant force of the elastic support force and the mass barycenter of the support plate 731 are located on the same median line, that is, the direction of the resultant force of the elastic force points to the barycenter, and overturning does not occur, the horizontal component forces cancel each other out, completely avoiding local stress concentration caused by uneven distribution of gravity, forming an ideal coaxial force system, eliminating the stress deviation from the root, and at the same time ensuring that the direction of the resultant force borne by the support plate 731 is on the median line, and tilting does not occur, ensuring that the support plate 731 and the lower die 920 supported thereby are horizontal, the posture of the lower die 920 is stable, and the 3D forming dimensional deviation rate of the flat wire 10 is greatly reduced.

[0075] In one embodiment, in combination with Figure 8 and Figure 9 , all the support elastic members 735 are located on the same concentric circle with the cylindrical shaft of the second positioning column 733 as the center, which can make the elastic support force completely symmetrical on the circumference with the second positioning column 733 as the center, avoiding uneven stress on the support plate 731, the size and direction of all the radial elastic component forces are symmetrical along the circumference, only the resultant force in the direction of the median line is reserved, and it is ensured that the support plate 731 and the lower die 920 do not have any horizontal movement. Especially when the forming die 900 is inclined or the lower die 920 vibrates, since the resultant force of the support assembly 730 is in the direction of the barycenter median line, the influence of the inclination angle change is small, the natural frequency of the system is controlled, and the risk of resonance is reduced. Optionally, the support elastic members 735 are springs, air dampers or rubber strips.

[0076] In some embodiments, in combination with Figure 10 , Figure 11 and Figure 12The lower mold 920 comprises a lower plate 922, a first lower block 923 and a second lower block 924, the first lower block 923 is fixedly installed on the lower plate 922, and the second lower block 924 is slidingly installed on the lower plate 922. The second lower block 924 is slidingly close to the first lower block 923, and the top portions of both blocks enclose a forming groove 925. The first lower block 923 is close to one side of the second lower block 924, and the first lower block 923 and the second lower block 924 enclose a part of the forming groove 925. The other two opposite sides of the first lower block 923 have another part of the forming groove 925. The upper mold 910 comprises an upper plate 911, a first upper block 912 and a second upper block 913 which are fixedly installed on the upper plate 911. The first upper block 912 has a forming protrusion 914 for adapting to the forming groove 925, and the second upper block 913 abuts and pushes the second lower block 924 to slide close to the first lower block 923. When the forming mold 900 works, the upper mold 910 is pressed down, the second upper block 913 contacts the second lower block 924 and pushes the second lower block 924 to slide close to the first lower block 923, so that the shape and size of the forming groove 925 are more accurately adapted to the 3D shape requirement of the flat wire 10, facilitating accurate forming of the flat wire 10. The flat wire 10 not only bears the vertical stamping force of the first lower block 923, but also bears the horizontal extrusion force of the second lower block 924, so that the flat wire 10 is subjected to relatively uniform pressure at each part during the forming process, avoiding defects such as deformation and cracks of the product caused by uneven pressure.

[0077] In one embodiment, in combination with Figure 12 The lower mold 920 further comprises a sliding elastic member 926, and two ends of the sliding elastic member 926 abut against the first lower block 923 and the second lower block 924 respectively. When the stamping driving member 820 drives the upper mold 910 to rise, the pushing force of the second upper block 913 on the second lower block 924 disappears, the sliding elastic member 926 rebounds by itself, pushes the second lower block 924 to automatically move away from the first lower block 923, and the forming groove 925 returns to the initial open state, facilitating taking out the formed flat wire 10 and putting in new flat wire 10 raw materials. When the second lower block 924 is quickly close to the first lower block 923 by the second upper block 913 during the stamping stage, the sliding elastic member 926 gradually buffers the impact force by compression, which not only protects the mold fitting surface, but also greatly reduces the collision noise and vibration.

[0078] In one embodiment, in combination with Figure 11 and Figure 12The lower plate 922 is fixedly installed with a sliding guide 927, and the bottom of the second lower block 924 is provided with a sliding groove 928, and the sliding guide 927 is slidingly embedded in the sliding groove 928. The cooperation of the sliding guide 927 and the sliding groove 928 provides accurate guidance for the sliding of the second lower block 924, ensures that the second lower block 924 can move along the predetermined direction in the sliding process, reduces the deviation and shaking in the sliding process, can keep a stable motion state, helps to ensure the dimensional accuracy and shape accuracy of the forming groove 925, and thus improves the forming quality of the product.

[0079] In one embodiment, the second upper block 913 is provided with a first inclined surface 915 which is inclined from bottom to top towards the direction close to the first lower block 923. When the upper die 910 moves vertically downward, the first inclined surface 915 of the second upper block 913 will be in contact with the second lower block 924, and the inclined structure of the first inclined surface 915 will decompose the vertical downward stamping component force into a horizontal component force directed towards the first lower block 923. This component force can directly push the second lower block 924 to slide horizontally along the sliding guide 927 without additional horizontal driving devices, and finally enclose the forming groove 925 with the first lower block 923. When pushing the second lower block 924 to slide, the horizontal component force of the first inclined surface 915 is always directed towards the direction of the first lower block 923, and with the downward pressing of the upper die 910, the direction of the component force will be ensured to slide along the preset path of the sliding guide 927 through the geometric constraint of the first inclined surface 915, avoiding the deviation or jamming of the second lower block 924 due to uneven sliding resistance, and ensuring the center degree and dimensional consistency of the flat wire 10.

[0080] In one embodiment, in combination with Figure 11 and Figure 12 The second lower block 924 is provided with a second inclined surface 929 which is inclined from bottom to top towards the direction close to the first lower block 923. When the second upper block 913 is pressed downward, the second upper block 913 abuts against the second inclined surface 929 of the second lower block 924, and the vertical downward stamping component force is decomposed into a vertical component force and a horizontal component force along the second inclined surface 929. The horizontal component force is always directed towards the direction of the first lower block 923, and with the downward pressing of the upper die 910, the direction of the horizontal component force will be ensured to slide along the preset path of the sliding guide 927 through the geometric constraint of the second inclined surface 929, avoiding the deviation or jamming of the second lower block 924 due to uneven sliding resistance, and ensuring the center degree and dimensional consistency of the flat wire 10.

[0081] In one embodiment, the lower die 920 further comprises 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 planar, the bottom surface of the second upper block 913 is planar, and the top surface of the support surface is in contact with the bottom surface of the second upper block 913 when the upper die 910 and the lower die 920 are closed to position, thereby providing accurate positioning for the closing of the upper die 910 and the lower die 920, ensuring the relative position accuracy between the upper die and the lower die, helping to ensure the dimensional accuracy and shape accuracy of the forming groove 925, thereby improving the forming quality of the product.

[0082] In one embodiment, the upper plate 911 is provided with a first limiting column 930, and the lower plate 922 is provided with a second limiting column 940, the first limiting column 930 and the second limiting column 940 are vertically opposite to each other, so that the upper die 910 stops moving downward when the first limiting column 930 abuts against the second limiting column 940, thereby avoiding excessive or insufficient stamping. When the mold is closed, the instantaneous impact force of the upper die 910 on the lower die 920 is easily 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), which can cause the core forming surface to wear and deform. When the first limiting column 930 and the second limiting column 940 abut against each other, most of the stamping impact force is transmitted to the upper plate 911 and the lower plate 922 through the first limiting column 930 and the second limiting column 940, rather than being concentrated on the forming protrusion 914 and the forming groove 925.

[0083] In one embodiment, the lower plate 922 is fixedly installed with a third limiting column 950, the upper plate 911 is installed with a sliding sleeve 960 which is slidingly sleeved with the third limiting column 950, the third limiting column 950 is sleeved with a mold closing elastic member 970, and the mold closing elastic member 970 abuts against the sliding sleeve 960. The sliding sleeve connection of the third limiting column 950 and the sliding sleeve 960 provides a vertical guide reference for the up-and-down movement of the upper die 910. The mold closing elastic member 970 abuts against the sliding sleeve 960, absorbs the impact force at the moment of mold closing through elastic deformation, and avoids rigid collision damage. The mold closing elastic member 970 is usually a compression spring.

[0084] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

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. 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. 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.

2. The double-acting multi-linear transfer mechanism according to claim 1, 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.

3. The double-acting multi-linear transfer mechanism according to claim 1, 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.

4. 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.

5. 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.

6. The double-acting multi-linear transfer mechanism according to claim 5, 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.

7. The double-acting multi-linear transfer mechanism according to claim 5, characterized in that: The second clamp includes a clamping drive, a first clamping plate, and a second clamping plate, which are distributed vertically. The clamping drive drives 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.

8. 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 7, which are sequentially and spaced apart along a first direction on the frame.

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