Metal plate bending forming equipment

Abstract

The invention relates to metal plate bending forming equipment in the technical field of elevator production. The metal plate bending forming equipment comprises a controller, a storage table, a positioning frame, a reversing frame, a fixing device and a universal manipulator. The universal manipulator is located between the positioning frame and the storage table, the reversing frame is located between the fixing device and the universal manipulator, and the connecting line of the reversing frame and the fixing device is perpendicular to the connecting line of the positioning frame and the storage table; a sucker frame is fixed on the universal manipulator; the positioning frame and the reversing frame are obliquely arranged; the fixing device comprises a base and a hydraulic lifting part fixedly connected to the top of the base, the bottom of the hydraulic lifting part is fixedly connected with an extrusion block, the top of the base is further provided with a supporting table and a position sensor, and the supporting table is located under the extrusion block; the controller is in electric signal connection with the universal manipulator, the hydraulic lifting part and the position sensor; the controller is used for receiving signals of the position sensor and controlling the manipulator and the hydraulic lifting part to operate. According to the equipment, automatic bending forming of the metal plate can be achieved.

Description

Technical Field

[0001] This invention relates to the field of elevator manufacturing technology, specifically to a sheet metal bending and forming equipment. Background Technology

[0002] In the elevator manufacturing industry, some sheet metal needs to be bent into U-shapes. Currently, the most common sheet metal bending method in the industry relies on hydraulic bending machines.

[0003] The most common type of bending machine is the hydraulic bending machine. Its working principle is as follows: the upper die (punch) is actively pressed down under hydraulic drive, forcing the steel plate placed on the lower die (concave die) into the concave die groove, causing the steel plate to plastically bend around the edges of the lower die. While this technology is mature, reliable, and suitable for various sheet metal thicknesses, it still has the following limitations in practical applications: First, for different bending angles, sheet metal, and plate thicknesses, corresponding upper and lower dies need to be equipped and replaced, resulting in high die costs, complex management, and time-consuming die replacement processes, making it difficult to adapt to the flexible production needs of small-batch, multi-specification products. Second, for bending large or extra-long plates, positioning and operation require multiple people or auxiliary equipment, limiting automation and production efficiency. Third, the traditional bending machine-centric equipment layout makes it difficult to seamlessly integrate into automated production lines centered around industrial robots. Summary of the Invention

[0004] The present invention aims to provide a sheet metal bending and forming equipment to realize the automated bending and forming of sheet metal.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a sheet metal bending and forming device, comprising a controller, a placement table, a positioning frame, a reversing frame, a fixing device, and a universal robot; the universal robot is located between the positioning frame and the placement table, the reversing frame is located between the fixing device and the universal robot, and the line connecting the reversing frame and the fixing device is perpendicular to the line connecting the positioning frame and the placement table; the universal robot is fixed with a suction cup frame for adsorbing and bending sheet metal; the positioning frame and the reversing frame are inclined; the fixing device includes a base and a hydraulic lifting part fixedly connected to the top of the base, the bottom of the hydraulic lifting part is fixedly connected to an extrusion block, and the top of the base is also provided with a support platform and a position sensor, the support platform being located directly below the extrusion block; the controller is electrically connected to the universal robot, the hydraulic lifting part, and the position sensor; the controller is used to receive signals from the position sensor and control the operation of the robot and the hydraulic lifting part.

[0006] Preferably, as an improvement, the positioning frame includes a bracket and multiple guide rods fixedly connected to the bracket, the multiple guide rods forming an inclined plane.

[0007] Preferably, as an improvement, the top of the guide rod is evenly distributed with rubber rollers. The positioning frame adopts an inclined plane design, which, together with the rubber rollers on the guide rod, enables rapid automatic positioning of the sheet metal using gravity, reducing positioning time. Furthermore, the rubber rollers reduce sliding friction between the sheet metal and the guide rod, preventing scratches on the sheet metal surface and ensuring product appearance quality. Simultaneously, rolling friction is easier to control than sliding friction in terms of sheet metal sliding speed, improving positioning stability; the cushioning effect of the rubber material also reduces impact damage between the sheet metal and equipment components, extending the equipment's service life.

[0008] Preferably, as an improvement, the commutator includes a support frame with an inclined top, and a support rod is fixedly connected to the top of the support frame, with multiple support rods forming an inclined plane.

[0009] Preferably, as an improvement, the top of each support rod is equipped with rubber rollers. The reversing frame adopts an inclined plane design, which, together with the rubber rollers on the support rods, enables rapid automatic positioning of the sheet metal using gravity, reducing positioning time. Furthermore, the rubber rollers reduce sliding friction between the sheet metal and the support rods, preventing scratches on the sheet metal surface and ensuring product appearance quality. Simultaneously, rolling friction is easier to control than sliding friction in terms of sheet metal sliding speed, improving positioning stability; the cushioning effect of the rubber material also reduces impact damage between the sheet metal and equipment components, extending the equipment's service life.

[0010] The method for bending sheet metal using the above-mentioned sheet metal bending and forming equipment includes the following steps: Step 1: The robotic arm uses a suction cup to pick up the sheet metal on the shelf and transfer it to the positioning frame. The sheet metal slides to the bottom of the positioning frame under its own gravity to achieve automatic positioning. Step 2: After the suction cup holder has adsorbed and positioned the sheet metal, it is transferred to the support platform until the position sensor detects that the sheet metal has reached the preset position. At this time, the suction cup holder is located below the sheet metal. The controller controls the hydraulic lifting unit to descend, and the hydraulic lifting unit drives the extrusion block to press down on the sheet metal to fix it. The controller controls the universal robot arm to work, and through the suction cup holder, it drives one side of the sheet metal to bend upward until the preset bending degree is reached, completing the first bending of the sheet metal. Step 3: The controller controls the hydraulic lifting unit to rise and controls the robot arm to pick up the sheet metal after the first bend and attach it to the reversing frame through the suction cup frame. The controller then controls the robot arm to achieve a 180° rotation of the suction cup frame. Step 4: The controller controls the suction cup holder to pick up the sheet metal and place it on the support platform until the position sensor detects that the sheet metal has reached the preset position. At this time, the suction cup holder is located below the sheet metal. The controller controls the hydraulic lifting part to descend, and the hydraulic lifting part drives the extrusion block to press down on the sheet metal to fix it. The controller controls the universal robot arm to work, and through the suction cup holder, it drives the other side of the sheet metal to bend upward until the preset bending degree is reached, so as to realize the bending and shaping of the sheet metal. Step 5: The controller controls the suction cup holder to transfer the bent sheet metal to a specific position.

[0011] The beneficial effects of this plan are: 1. This solution coordinates the operation of the omnidirectional robotic arm, hydraulic lifting unit, and position sensors through a controller, constructing a fully automated closed loop from sheet metal loading, automatic positioning, two-stage bending forming, to finished product transfer. Compared to traditional hydraulic bending machines that rely on manual positioning, mold changing, and auxiliary operations, this solution eliminates the need for manual intervention in core processes. This not only avoids errors caused by manual operation and ensures the consistency of bending dimensions and angles for each batch of sheet metal, but also significantly improves output efficiency per unit time, making it particularly suitable for the processing needs of batch elevator sheet metal parts.

[0012] 2. This solution utilizes the flexible adjustment of the omnidirectional robotic arm and the adsorption bending structure of the suction cup frame, combined with the fixing method of the extrusion block and support table. Through preset parameters via the controller, it can adapt to the U-shaped bending requirements of sheet metal parts of different sizes and thicknesses, eliminating the need for dedicated upper and lower dies for different product specifications, unlike traditional bending machines. This not only saves on the procurement, storage, and management costs of dies but also avoids the time lost during die changes. It enables rapid switching of production specifications, perfectly adapting to flexible production scenarios with small batches and multiple varieties, and improving the company's responsiveness to changes in market demand.

[0013] 3. Addressing the issues of high operational risks and the need for multiple personnel to coordinate positioning when using traditional bending machines to handle large or extra-long sheet metal, this solution utilizes a universal robotic arm to achieve stable adsorption and transfer of the sheet metal throughout the entire process. Combined with a tilted positioning frame, it enables automatic gravity positioning of the sheet metal, eliminating the need for close-range manual handling and positioning calibration. Simultaneously, the precise sensing by position sensors ensures accurate positioning during each bend, preventing sheet metal scrap or equipment malfunctions caused by manual positioning errors. This significantly reduces operational risks in large sheet metal processing and enhances production safety.

[0014] 4. This solution, through the rational planning of the relative positions of the storage platform, positioning frame, reversing frame, fixing device, and omnidirectional robot, forms a coherent workflow layout. The core execution components are the omnidirectional robot and controller, which can directly interface with industrial robot systems and seamlessly integrate into automated production lines centered around industrial robots. Compared to the limitations of traditional bending machines that are difficult to integrate with automated production lines, this equipment can achieve automated connection with upstream sheet metal cutting, downstream sheet metal welding, and painting processes, reducing material transfer costs between processes, improving the overall production line's capacity integration efficiency, and helping enterprises build an integrated elevator component production system. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a sheet metal bending and forming equipment according to Embodiment 1 of the present invention.

[0016] The reference numerals in the accompanying drawings include: positioning frame 1, reversing frame 2, base 3, support platform 4, extrusion block 5, hydraulic lifting unit 6, position sensor 7, suction cup frame 8, universal robot arm 9, and storage platform 10. Detailed Implementation

[0017] The following detailed description illustrates the specific implementation method: Implementation 1 is as follows (attached) Figure 1 As shown: A sheet metal bending and forming equipment includes a controller, a platform 10, a positioning frame 1, a reversing frame 2, a fixing device, and a universal robot 9; the universal robot 9 is located between the positioning frame 1 and the platform 10, and the reversing frame 2 is located between the fixing device and the universal robot 9, with the line connecting the reversing frame 2 and the fixing device perpendicular to the line connecting the positioning frame 1 and the platform 10; the universal robot 9 is fixed with a suction cup frame 8 for adsorbing and bending sheet metal; the positioning frame 1 and the reversing frame 2 are inclined; the positioning frame 1 includes a bracket and multiple guide rods fixedly connected to the bracket, the multiple guide rods forming an inclined plane; the reversing frame 2 includes a support frame inclined at the top, with support rods fixedly connected to the top of the support frame, the multiple support rods forming an inclined plane; multiple rubber rollers are installed on the top of both the guide rods and the support rods.

[0018] The fixing device includes a base 3 and a hydraulic lifting part 6 fixedly connected to the top of the base 3. A pressing block 5 is fixedly connected to the bottom of the hydraulic lifting part 6. Specifically, the hydraulic lifting part 6 includes a hydraulic cylinder and a pressing block 5 fixedly connected to the lifting end of the hydraulic cylinder. The top of the base 3 is also provided with a support platform 4 and a position sensor 7. The support platform 4 is located directly below the pressing block 5. The controller is electrically connected to the universal robot 9, the hydraulic cylinder, and the position sensor 7. The controller is used to receive the signal from the position sensor 7 and control the operation of the robot and the hydraulic cylinder.

[0019] Example 2: A method for bending sheet metal using the sheet metal bending and forming equipment of Example 1, comprising the following steps: Step 1: The controller controls the robotic arm to pick up the sheet metal on the platform 10 and transfer it to the positioning frame 1 through the suction cup frame 8. The sheet metal slides to the bottom of the positioning frame 1 under its own gravity and the drive of the rubber rollers to achieve automatic positioning. Step 2: The suction cup holder 8 adheres to and positions the sheet metal, placing it at the midpoint of the sheet metal's length. The suction cup holder 8 then transfers the sheet metal to the support platform 4 until the position sensor 7 detects that the sheet metal has reached the preset position. At this point, the suction cup holder 8 is positioned below the sheet metal. The controller then extends the telescopic rod of the hydraulic cylinder, causing the pressing block 5 to press down on the sheet metal, thus fixing it in place. The controller then controls the universal robotic arm 9 to work, using the suction cup holder 8 to bend one side of the sheet metal upwards until the preset bending degree is reached, completing the first bending of the sheet metal. Step 3: The controller controls the extension rod of the hydraulic cylinder to retract and controls the robot arm to pick up the sheet metal after the first bend through the suction cup frame 8 and attach it to the reversing frame 2. The controller then controls the robot arm to achieve a 180° rotation of the suction cup frame 8. Step 4: The controller controls the suction cup to suction the sheet metal to the support platform 4 until the position sensor 7 detects that the sheet metal has reached the preset position. At this time, the suction cup 8 is located below the sheet metal. The controller controls the extension rod of the hydraulic cylinder to extend, driving the extrusion block 5 to press down on the sheet metal to fix it. The controller controls the universal robot arm 9 to work, driving the other side of the sheet metal to bend upward through the suction cup 8 until the preset bending degree is reached, thus realizing the bending and shaping of the sheet metal. Step 5: The controller controls the suction rack to transfer the bent sheet metal to a specific position.

[0020] This process is repeated to automate the sheet metal bending and forming process.

[0021] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A sheet metal bending forming device, comprising a controller, a placing table, a positioning frame, a reversing frame, a fixing device and a universal mechanical hand; characterized in that: The universal mechanical hand is located between the positioning frame and the placing table, the reversing frame is located between the fixing device and the universal mechanical hand, and the connection line between the reversing frame and the fixing device is perpendicular to the connection line between the positioning frame and the placing table; the universal mechanical hand is fixed with a suction disc frame for adsorbing and bending sheet metal; the positioning frame and the reversing frame are arranged obliquely; the fixing device comprises a base and a hydraulic lifting part fixedly connected to the top of the base, and the bottom of the hydraulic lifting part is fixedly connected with an extrusion block; the top of the base is further provided with a supporting table and a position sensor, and the supporting table is located directly below the extrusion block; the controller is electrically connected with the universal mechanical hand, the hydraulic lifting part and the position sensor; the controller is used for receiving the signal of the position sensor and controlling the operation of the mechanical hand and the hydraulic lifting part.

2. The sheet metal bending forming apparatus according to claim 1, wherein: The positioning frame comprises a support and a plurality of guide rods fixedly connected to the support, and the plurality of guide rods form an inclined plane.

3. A sheet metal bending forming apparatus according to claim 2, wherein: The top of each guide rod is provided with a rubber roller.

4. A sheet metal bending forming apparatus according to claim 3, wherein: The reversing frame comprises a supporting frame arranged obliquely at the top, and the top of the supporting frame is fixedly connected with supporting rods, and the plurality of supporting rods form an inclined plane.

5. A sheet metal bending forming apparatus according to claim 4, wherein: The top of each supporting rod is provided with a rubber roller.

6. The sheet metal bending forming apparatus according to any one of claims 1 to 5, wherein the sheet metal bending forming apparatus bends and forms the sheet metal. The method comprises the following steps: Step one: the mechanical hand adsorbs the sheet metal on the placing table through the suction disc frame and transfers it to the positioning frame, and the sheet metal slides to the bottom of the positioning frame under the action of its own gravity to realize automatic positioning; Step two: the suction disc frame adsorbs the positioned sheet metal and transfers it to the supporting table until the position sensor senses that the sheet metal reaches the preset position, at this time, the suction disc frame is located below the sheet metal; the controller controls the hydraulic lifting part to descend, the hydraulic lifting part drives the extrusion block to press down the sheet metal to realize the fixation of the sheet metal, the controller controls the universal mechanical hand to work, and the suction disc frame drives one side of the sheet metal to bend upward until the preset bending degree is reached, and the first bending of the sheet metal is completed; Step three: the controller controls the hydraulic lifting part to ascend, and controls the mechanical hand to adsorb the sheet metal after the first bending to the reversing frame through the suction disc frame, and the controller controls the mechanical hand to realize the 180° overturning of the suction disc frame; Step four: the controller controls the suction disc frame to adsorb the sheet metal to the supporting table until the position sensor senses that the sheet metal reaches the preset position, at this time, the suction disc frame is located below the sheet metal; the controller controls the hydraulic lifting part to descend, the hydraulic lifting part drives the extrusion block to press down the sheet metal to realize the fixation of the sheet metal, the controller controls the universal mechanical hand to work, and the suction disc frame drives the other side of the sheet metal to bend upward until the preset bending degree is reached, and the bending forming of the sheet metal is realized; Step five: the controller controls the suction disc frame to transfer the sheet metal after the bending forming to a specific position.

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