Automatic bending machine for welding edge of rectangular strap

Abstract

The invention discloses an automatic bending machine for a rectangular strap welding edge, which comprises a rack, a streamline module, a three-axis manipulator, a carrier for bearing a workpiece, a welding edge bending mechanism and a control circuit, and is characterized in that the workpiece to be processed is a U-shaped steel strip and comprises a shorter bottom edge and two longer side edges; the streamline module comprises two stations, the stations comprise a feeding station and a discharging station, and the carriers are driven by the streamline module to move from the feeding station to the discharging station; the three-axis manipulator is arranged above the streamline module and the welding edge bending mechanism, clamps a workpiece from the feeding position, and places the workpiece on the welding edge bending mechanism for bending; and the bent workpiece is transferred to a discharging position by the three-axis manipulator. The streamline module and the three-axis manipulator are adopted for automatic feeding and discharging, the production efficiency is high, and the production cost is low.

Description

[Technical Field]

[0001] This invention relates to equipment for processing rectangular hoops, and more particularly to an automatic bending machine for the welded edges of rectangular hoops. [Background Technology]

[0002] A power battery module or energy storage battery module typically consists of a module body, two end plates, and two rectangular steel bands. The module body includes multiple cells arranged in a straight line, the two end plates are located at both ends of the module body, and the two bands are fitted around the outer perimeter of the two end plates.

[0003] The bending of the rectangular hoop welded edge is carried out on the basis of the prefabricated U-shaped steel strip. The traditional method is to manually feed the U-shaped steel strip into the bending machine. The two open ends of the U-shaped steel strip are bent inward by the bending machine to form overlapping welded edges. After the U-shaped steel strip is bent, it is taken out manually. The manual feeding and unloading process makes it difficult to control the bending accuracy of the U-shaped steel strip and has low bending efficiency. [Summary of the Invention]

[0004] The technical problem to be solved by the present invention is to provide an automatic bending machine for the welded edge of a rectangular hoop with high production efficiency.

[0005] To solve the above-mentioned technical problems, the present invention adopts an automatic bending machine for rectangular band welding edges, including a frame, a streamlined module, a three-axis robot, a carrier for carrying the workpiece, a welding edge bending mechanism, and a control circuit. The workpiece to be processed is a U-shaped steel strip, including a shorter bottom edge and two longer side edges. The streamlined module includes two stations, namely a loading station and a unloading station. The carrier is driven by the streamlined module to move from the loading station to the unloading station. The three-axis robot is arranged above the streamlined module and the welding edge bending mechanism. The three-axis robot picks up the workpiece from the loading station and places it on the welding edge bending mechanism for bending. The bent workpiece is then transferred to the unloading station by the three-axis robot.

[0006] The automatic bending machine described above includes a base as its frame, and a three-axis manipulator including an X-axis linear module, two Y-axis linear modules, a Z-axis moving mechanism, and a workpiece clamp. The two Y-axis linear modules are respectively mounted on the base via brackets. The two ends of the X-axis linear module are respectively fixed to the sliders of the two Y-axis linear modules. The Z-axis moving mechanism is fixed to the slider of the X-axis linear module, and the workpiece clamp is installed at the lower part of the Z-axis moving mechanism. The streamlined module is arranged along the X-axis direction.

[0007] The automatic bending machine described above includes a carrier comprising a rectangular carrier plate and a plurality of positioning blocks. The positioning blocks are fixed to the top surface of the carrier plate and include two short-side positioning blocks and four long-side positioning blocks. Each positioning block has a positioning groove in its center. The two short-side positioning blocks are respectively arranged near the two short sides of the rectangular carrier plate, and the positioning grooves of the short-side positioning blocks are orthogonal to the long axis of the carrier plate. The four long-side positioning blocks are divided into two groups, respectively arranged near the two long sides of the rectangular carrier plate. The two long-side positioning blocks in each group are arranged separately along the long axis of the carrier plate, and the positioning grooves of the long-side positioning blocks are parallel to the long axis of the carrier plate. On the streamlined module, the long axis of the carrier plate is parallel to the travel direction of the streamlined module. The workpiece fixture includes a fixture support and four finger cylinders. The four finger cylinders are arranged in a 2×2 matrix in the XY plane, and the cylinder bodies of the finger cylinders are fixed to the fixture support. The two fingers of each finger cylinder point downwards and open and close along the Y-axis. The fixture support is fixed to the lower end of the Z-axis moving mechanism.

[0008] The automatic bending machine described above includes a carrier blocking and lifting mechanism at each station of the streamlined module. The carrier blocking and lifting mechanism is located between two tracks of the streamlined module and includes a mounting plate, a lifting cylinder, a lifting plate, and a plurality of linear bearings. The two ends of the mounting plate along the Y-axis are respectively fixed on the two tracks of the streamlined module. The lifting plate is arranged above the mounting plate, the cylinder body of the lifting cylinder is fixed on the mounting plate, and the upper end of the piston rod of the lifting cylinder is connected to the lifting plate. The plurality of linear bearings are arranged separately around the periphery of the lifting cylinder, the guide sleeves of the linear bearings are fixed on the mounting plate, and the upper ends of the guide rods of the linear bearings are connected to the lifting plate.

[0009] The automatic bending machine described above includes a carrier blocking and lifting mechanism comprising a blocking cylinder, a carrier plate comprising a limiting hole, and when the piston rod of the blocking cylinder extends, the roller of the blocking cylinder extends into the limiting hole and abuts against the rear edge of the limiting hole; the control circuit includes two carrier positioning sensors, with one carrier positioning sensor installed at each station of the streamlined module; the carrier includes two wear-resistant strips, which are fixed to the bottom surface of the carrier plate and arranged along the two long sides of the carrier plate.

[0010] The automatic bending machine described above has a control circuit that includes two sets of first workpiece detection photoelectric sensors. Each station of the streamlined module includes one set of first workpiece detection photoelectric sensors. The first workpiece detection photoelectric sensors are through-beam photoelectric sensors, which are arranged along the Y-axis and installed above the outer side of the two tracks of the streamlined module.

[0011] The automatic bending machine described above has a lifting plate comprising a plurality of positioning pins, which are installed on the top surface of the lifting plate; the bottom surface of the carrier plate comprises a plurality of positioning holes corresponding to the positioning pins.

[0012] The automatic bending machine described above includes a welding edge bending mechanism comprising a worktable and two sets of bending devices. The worktable comprises a rectangular plate and five clamps. Each clamp includes a clamping cylinder and a clamping block. The clamping block comprises paired fixed blocks and moving blocks. The fixed blocks are fixed on the top surface of the plate, and the moving blocks are fixed on the piston rod of the clamping cylinder, which is fixed on the top surface of the plate. The first clamp is fixed at one end of the long axis of the plate and is used to clamp the bottom edge of the U-shaped steel strip. The remaining four clamps are divided into two groups, with two clamps in each group arranged separately along the long axis of the plate and used to clamp one side of the U-shaped steel strip. The long axis of the plate is the X-axis direction. The two sets of bending devices are fixed on the worktable and located on the outer sides of the two corners of the plate away from the first clamp.

[0013] The automatic bending machine described above includes a bending positioning pin and a bending mechanism. The vertically arranged bending positioning pin is fixed on the table and located on the outer side of the short side of the table away from the first fixture. The bending mechanism includes a servo motor, a planetary reducer, a mounting bracket, and a bending head. The planetary reducer is fixed on the worktable by the mounting bracket and is driven by the servo motor. The output shaft of the planetary reducer is located directly below the bending positioning pin and is coaxial with the bending positioning pin. The bending head includes a bending shaft, a bearing, and a support. The lower end of the bending shaft is mounted on the support through the bearing. The support is fixed on the output shaft of the planetary reducer, and the bending shaft and the output shaft of the planetary reducer are eccentrically mounted on the top of the support. The bending shaft and the planetary reducer are arranged side by side, and the gap between them is equal to the thickness of the U-shaped steel strip. The control circuit includes two sets of second workpiece detection photoelectric sensors. The second workpiece detection photoelectric sensors are through-beam photoelectric sensors and are mounted on the edge of the table along the Y-axis.

[0014] The automatic bending machine described above, when in operation, includes the following steps:

[0015] 1001) When the workpiece to be processed is carried on the carrier, the streamlined module's track leads the carrier to the loading position. When the carrier's position sensor detects the carrier, it sends a signal to the controller of the control circuit.

[0016] 1002) The piston rod of the blocking cylinder extends out, and the roller of the blocking cylinder extends into the limiting hole, pressing against the rear edge of the limiting hole; then, the lifting cylinder of the lifting mechanism is activated, the lifting plate rises, and the two positioning pins on the lifting plate are inserted into the positioning holes of the carrier plate positioning bushing; the lifting plate lifts the carrier, and the carrier is separated from the chain track of the streamline module and stops at the loading position;

[0017] 1003) The workpiece clamp of the three-axis robot moves to the loading position, clamps the workpiece to be processed, and removes the workpiece from the carrier; when the first workpiece detection photoelectric sensor at the loading position detects that the workpiece has left the carrier plate, it sends a signal to the controller, the carrier blocking lifting mechanism resets, the bottom surface of the carrier plate resumes contact with the chain track of the streamlined module, and continues to move towards the loading position; when the carrier reaches the unloading position, when the carrier position sensor at the unloading position detects the carrier, it sends a signal to the controller, the carrier blocking lifting mechanism at the unloading position activates, the carrier disengages from the chain track of the streamlined module, and stops at the unloading position;

[0018] 1004) The three-axis robot brings the workpiece to be processed from the loading position to the top of the welding edge bending mechanism. The workpiece fixture places the workpiece on the worktable of the welding edge bending mechanism. When the second workpiece detection photoelectric sensor on the worktable of the welding edge bending mechanism detects that the workpiece is in place, it sends a signal to the controller. The fixture on the worktable clamps the workpiece. The bending device of the welding edge bending mechanism bends the front ends of the two sides of the workpiece inward. The front ends of the two bent sides overlap to form a rectangular band for welding the edge to be welded.

[0019] 1005) After the bending action is completed, the bending device resets; the fixture on the worktable releases the finished workpiece; the three-axis robot takes the finished workpiece from the fixture of the welding edge bending mechanism and sends it to the carrier at the unloading position; when the photoelectric sensor of the first workpiece detection at the unloading position detects that the finished workpiece has reached the carrier plate, it sends a signal to the controller, the carrier blocking and lifting mechanism at the unloading position resets, the bottom surface of the carrier plate resumes contact with the chain track of the streamline module, and moves outward to complete the unloading.

[0020] The automatic bending machine of this invention adopts a streamlined module and a three-axis robot for automatic loading and unloading, resulting in high production efficiency and low production cost. [Image Description]

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0022] Figure 1 This is a front view of the automatic bending machine for the rectangular hoop welding edge according to an embodiment of the present invention.

[0023] Figure 2 This is a right view of the automatic bending machine for the rectangular hoop welding edge according to an embodiment of the present invention.

[0024] Figure 3 This is a top view of the automatic bending machine for the rectangular hoop welding edge according to an embodiment of the present invention.

[0025] Figure 4 This is a left view of the automatic bending machine for the rectangular hoop welding edge according to an embodiment of the present invention.

[0026] Figure 5This is a perspective view of an automatic bending machine for the rectangular hoop welding edge according to an embodiment of the present invention.

[0027] Figure 6 This is a perspective view of the streamlined module according to an embodiment of the present invention.

[0028] Figure 7 This is a perspective view of the three-axis robot arm according to an embodiment of the present invention.

[0029] Figure 8 This is a perspective view of the carrier plate in an embodiment of the present invention.

[0030] Figure 9 This is a perspective view of the vehicle blocking and lifting mechanism according to an embodiment of the present invention.

[0031] Figure 10 This is a perspective view of the welding edge bending mechanism according to an embodiment of the present invention.

[0032] Figure 11 This is a perspective view of the bending mechanism according to an embodiment of the present invention.

[0033] Figure 12 This is a perspective view of the U-shaped steel strip according to an embodiment of the present invention.

[0034] Figure 13 This is a perspective view of the rectangular hoop before welding, according to an embodiment of the present invention. [Detailed Implementation]

[0035] Figures 1 to 11 The automatic bending machine for rectangular band welding edges shown in this embodiment of the invention consists of two sets of identical automatic bending machines for rectangular band welding edges. This embodiment uses one set as an example for explanation. The automatic bending machine for rectangular band welding edges includes a base 10 as a frame, a streamlined module 20, a three-axis robot 30, a carrier 40 for carrying the workpiece, a welding edge bending mechanism 50, and a control circuit. The streamlined module 20 is arranged along the X-axis and includes two stations: the left station is the loading station 20A, and the right station is the unloading station 20B.

[0036] like Figure 12 and Figure 13 As shown, the workpiece 60 to be processed is a U-shaped steel strip. The U-shaped steel strip includes a shorter bottom edge 61 and two longer side edges 62. The front end 62A of the side edge 62 is bent by the automatic bending machine of this embodiment to form an overlapping welded edge 63.

[0037] The carrier 40 is driven by the streamlined module 20 to move from the loading position 20A to the unloading position 20B. A three-axis robot 30 is positioned above the streamlined module 20 and the welding edge bending mechanism 50. The three-axis robot 30 picks up the workpiece from the loading position 20A and places it on the welding edge bending mechanism 50 for bending. The bent workpiece is then transferred by the three-axis robot 30 to the unloading position 20B.

[0038] The three-axis robot 30 includes an X-axis linear module 31, two Y-axis linear modules 32, a Z-axis moving mechanism 33, and a workpiece fixture 30A. The two Y-axis linear modules 32 are respectively mounted on the base 10 via brackets 34. The two ends of the X-axis linear module 31 are respectively fixed on the sliders 35 of the two Y-axis linear modules 32. The Z-axis moving mechanism 33 is fixed on the slider (not shown in the figure) of the X-axis linear module 31.

[0039] The workpiece fixture 30A includes a fixture support 37 and four finger cylinders 36. The four finger cylinders 36 are arranged in a 2×2 matrix in the XY plane, and the cylinder bodies of the finger cylinders 36 are fixed to the fixture support 37. The two fingers of each finger cylinder 36 face downwards and open and close along the Y-axis. The fixture support 37 is fixed to the lower end of the Z-axis moving mechanism 33.

[0040] The carrier 40 includes a rectangular carrier plate 41, two wear-resistant strips, and six positioning blocks 42. The positioning blocks 42 are fixed to the top surface of the carrier plate 41, depending on their installation position. Each positioning block 42 includes two short-side positioning blocks 42A and four long-side positioning blocks 42B. Each positioning block 42 consists of two small blocks, with a U-shaped steel strip positioning groove between them. The two short-side positioning blocks 42A are positioned near the two short sides 41A of the rectangular carrier plate 41, with their positioning grooves orthogonal to the long axis of the carrier plate 41. The four long-side positioning blocks 42B are divided into two groups, positioned near the two long sides 41B of the rectangular carrier plate 41. The two long-side positioning blocks 42B in each group are separated along the long axis of the carrier plate 41, with their positioning grooves parallel to the long axis of the carrier plate 41. On the streamlined module 20, the long axis of the carrier plate 41 is parallel to the direction of travel of the streamlined module 20. Two wear-resistant strips 43 are fixed on the bottom surface of the carrier plate 41 and are arranged along the edges of the two long sides of the carrier plate 41 respectively, so as to reduce the wear of the contact parts between the carrier plate 41 and the streamlined module track.

[0041] Each station of the streamlined module 20 is equipped with a carrier blocking and lifting mechanism 20C. The carrier blocking and lifting mechanism 20C is located between the two tracks 28 of the streamlined module 20 and includes a mounting plate 23, a lifting cylinder 24, a lifting plate 25, a blocking cylinder 26, and four linear bearings 27. The two ends of the mounting plate 23 along the Y-axis are fixed to the two tracks 28 of the streamlined module 20, respectively. The lifting plate 25 is arranged above the mounting plate 23. The cylinder body of the lifting cylinder 24 is fixed to the mounting plate 23, and the upper end of the piston rod of the lifting cylinder 24 is connected to the middle of the lifting plate 25. The four linear bearings 27 are arranged in a rectangular shape around the lifting cylinder 24. The guide sleeves 271 of the linear bearings 27 are fixed to the mounting plate 23, and the upper ends of the guide rods 272 of the linear bearings 27 are connected to the lifting plate 25. The blocking cylinder 26 is fixed on the mounting plate 23. The lifting plate 25 has a clearance hole 251 for the blocking cylinder 26, and the roller 261 of the blocking cylinder 26 extends out from the clearance hole 251.

[0042] The carrier plate 41 has a limiting hole 411 in the middle. When the piston rod of the blocking cylinder 26 extends, the roller 261 of the blocking cylinder 26 extends into the limiting hole 411 and abuts against the rear edge 412 of the limiting hole 411. The control circuit includes two carrier positioning sensors 71 and two sets of first workpiece detection photoelectric sensors 72. Each station of the streamlined module 20 is equipped with one carrier positioning sensor 71. The carrier positioning sensor 71 is a through-beam photoelectric sensor, arranged along the Y-axis direction, and installed above the outer side of the two tracks 28 of the streamlined module 20. Each station of the streamlined module 20 is equipped with one set of first workpiece detection photoelectric sensors 72. The first workpiece detection photoelectric sensors 72 are through-beam photoelectric sensors, arranged along the Y-axis direction, and installed above the outer side of the two tracks 28 of the streamlined module 20.

[0043] The lifting plate 25 has two locating pins 251, which are fixed to the top surface of the lifting plate 25. The carrier plate 41 has two through holes, in which locating bushings 412 are installed. The bottom surface of the locating bushings 412 has locating holes (not shown in the figure). The locating holes of the locating bushings 412 correspond to the two locating pins 251.

[0044] The welding edge bending mechanism 50 includes a worktable 50A and two sets of bending devices 50B. The worktable 50A includes a rectangular table plate 51 and five clamps 52. Each clamp 52 includes a clamping cylinder 521 and a clamping block 522. The clamping block 522 includes paired fixed blocks and moving blocks. The fixed blocks are fixed to the top surface of the table plate 51, and the moving blocks are fixed to the piston rod of the clamping cylinder 521, which is fixed to the top surface of the table plate 51. One clamp 52 is fixed to the table plate 51 at one end along its long axis for clamping the bottom edge 61 of the U-shaped steel strip. The remaining four clamps 52 are divided into two groups, with two clamps 52 in each group arranged separately along the long axis of the table plate 51 for clamping one side 62 of the U-shaped steel strip. The long axis of the table plate 51 is the X-axis direction. Two bending devices 50B are fixed on the workbench 50A, located on the outer side of the two corners of the table 51 away from the first clamp 52.

[0045] The bending device 50B includes a bending positioning pin 53 and a bending mechanism. The vertically arranged bending positioning pin 53 is fixed to the outer edge of the table 51, located on the outside of the short side of the table 51 away from the first clamp 52. The bending mechanism includes a servo motor 54, a planetary reducer 55, a mounting bracket 56, and a bending head 57. The planetary reducer 55 is fixed to the worktable 50A via the mounting bracket 56 and is driven by the servo motor 54. The output shaft of the planetary reducer 55 is located directly below the bending positioning pin 53 and is coaxial with the bending positioning pin 53. The bending head 57 includes a bending shaft 571, a bearing 572, and a support 573. The support 573 is fixed to the output shaft of the planetary reducer 55, and the lower end of the bending shaft 571 is mounted on the top of the support 573 via the bearing 572. The bending shaft 571 is eccentric to the output shaft of the planetary reducer 55. The bending shaft 571 is arranged side by side with the planetary reducer 55, and the gap between them is equal to the thickness of the U-shaped steel strip.

[0046] The control circuit includes two sets of second workpiece detection photoelectric sensors 73. The second workpiece detection photoelectric sensors 73 are through-beam photoelectric sensors and are installed on the edge of the platform 51 along the Y-axis.

[0047] In this embodiment of the invention, the streamlined module 20 of the automatic bending machine with rectangular band welding edge, the three-axis robot 30, the carrier 40, and the welding edge bending mechanism 50 all have sensors, cylinders, and motors in their control circuits connected to the controller, feeding back signals to the controller and receiving control from the controller.

[0048] The working process of the automatic bending machine for the rectangular hoop welding edge according to an embodiment of the present invention is as follows:

[0049] 1) The track of the streamlined module 20 moves from left to right along the carrier 40, which carries the workpiece 60 (U-shaped steel strip) to be processed. When the carrier 40 reaches the loading position 20A, the carrier position sensor 71 at the loading position detects the carrier 40 and sends a signal to the controller.

[0050] 2) The piston rod of the blocking cylinder 26 extends, and the roller 261 of the blocking cylinder 26 extends into the limiting hole 411, pressing against the rear edge 412 of the limiting hole 411; then, the lifting cylinder 24 of the lifting mechanism 20C is activated, the lifting plate 25 rises, and the two positioning pins 251 on the lifting plate 25 are inserted into the positioning holes of the positioning bushing 412 of the carrier plate 41; the lifting plate 25 lifts the carrier 40, and the carrier 40 is separated from the chain track of the streamline module 20 and stops at the loading position 20A;

[0051] 3) The three-axis robot 30 moves the workpiece clamp 30A to the loading position 20A, clamps the workpiece 60 (U-shaped steel strip) to be processed, and removes the workpiece 60 (U-shaped steel strip) from the carrier 40; when the first workpiece detection photoelectric sensor 72 of the loading position detects that the workpiece 60 has left the carrier plate 41, it sends a signal to the controller, the carrier blocking lifting mechanism 20C resets, the bottom surface of the carrier plate 41 resumes contact with the chain track of the streamline module 20, and continues to move towards the lower loading position 20B; when the carrier 40 reaches the unloading position 20B, the carrier position sensor 71 of the unloading position detects the carrier 40 and sends a signal to the controller, the carrier blocking lifting mechanism 20C of the unloading position is activated, the carrier 40 disengages from the chain track of the streamline module 20 and stops at the unloading position 20B;

[0052] 4) The modules and mechanisms of the three-axis robot 30 operate, bringing the workpiece 60 (U-shaped steel strip) to be processed from the loading position 20A to above the welding edge bending mechanism 50. The workpiece clamp 30A places the U-shaped steel strip onto the table 51. When the second workpiece detection photoelectric sensor 73 detects that the workpiece is in place, it sends a signal to the controller; the piston rods of the five clamping cylinders 521 extend, and the five clamps 52 clamp the workpiece 60; at this time, the front end 62A of the side edge 62 of the U-shaped steel strip is located at the bending positioning pin of the bending device 50B. Between 53 and the bending shaft 571 of the bending mechanism; the servo motor 54 of the first bending device 50B works, driving the bending shaft 571 to swing inward by 90°, bending the front end 62A of one side 62 of the U-shaped steel strip inward; then, the servo motor 54 of the second bending device 50B works, driving the bending shaft 571 to swing inward by 90°, bending the front end 62A of the other side 62 of the U-shaped steel strip inward; the front ends 62A of the two bent sides 62 overlap to form the welding edge of the rectangular band to be welded.

[0053] 5) After the bending action is completed, the bending mechanism resets; the piston rods of the five clamping cylinders 521 retract, and the five clamps 52 release the workpiece 60 (finished product); the three-axis robot 30 takes the workpiece 60 (finished product) out of the clamp of the welding edge bending mechanism 50 and sends it to the carrier 40 of the unloading position 20B; when the first workpiece detection photoelectric sensor 72 of the unloading position detects that the workpiece 60 (finished product) has reached the carrier plate 41, it sends a signal to the controller, the carrier blocking lifting mechanism 20C of the unloading position resets, the bottom surface of the carrier plate 41 resumes contact with the chain track of the streamline module 20, and outputs to the right to complete the unloading.

[0054] The automatic bending machine for the rectangular hoop welding edge of this invention adopts a streamlined module and a three-axis robot for automatic loading and unloading. The front end of the side of the U-shaped steel strip is bent by the automatic bending machine to form an overlapping welding edge. It has high production efficiency, easy-to-control bending accuracy, and good finished product quality.

Claims

1. An automatic bending machine for a rectangular band with welded edges, comprising a frame and a welding edge bending mechanism, wherein the workpiece to be processed is a U-shaped steel band, comprising a shorter bottom edge and two longer side edges; characterized in that, The system includes a streamlined module, a three-axis robot, a workpiece carrier, and control circuitry. The streamlined module includes two workstations: a loading station and a unloading station. The carrier is driven by the streamlined module to move from the loading station to the unloading station. The three-axis robot is positioned above the streamlined module and the welding edge bending mechanism. The three-axis robot picks up the workpiece from the loading station and places it on the welding edge bending mechanism for bending. The bent workpiece is then transferred by the three-axis robot to the unloading station.

2. The automatic bending machine according to claim 1, characterized in that, The frame includes a base, and the three-axis robot includes an X-axis linear module, two Y-axis linear modules, a Z-axis moving mechanism, and a workpiece fixture. The two Y-axis linear modules are respectively mounted on the base via brackets. The two ends of the X-axis linear module are respectively fixed on the sliders of the two Y-axis linear modules. The Z-axis moving mechanism is fixed on the slider of the X-axis linear module, and the workpiece fixture is installed on the lower part of the Z-axis moving mechanism. The streamlined module is arranged along the X-axis direction.

3. The automatic bending machine according to claim 2, characterized in that, The carrier includes a rectangular carrier plate and a plurality of positioning blocks. The positioning blocks are fixed to the top surface of the carrier plate and include two short-side positioning blocks and four long-side positioning blocks. Each positioning block has a positioning groove in its center. The two short-side positioning blocks are respectively arranged near the two short sides of the rectangular carrier plate, and the positioning grooves of the short-side positioning blocks are orthogonal to the long axis of the carrier plate. The four long-side positioning blocks are divided into two groups and are respectively arranged near the two long sides of the rectangular carrier plate. The two long-side positioning blocks in each group are arranged separately along the long axis of the carrier plate, and the positioning grooves of the long-side positioning blocks are parallel to the long axis of the carrier plate. On the streamlined module, the long axis of the carrier plate is parallel to the travel direction of the streamlined module. The workpiece fixture includes a fixture support and four finger cylinders. The four finger cylinders are arranged in a 2×2 matrix in the XY plane, and the cylinder bodies of the finger cylinders are fixed to the fixture support. The two fingers of each finger cylinder face downwards and open and close along the Y-axis. The fixture support is fixed to the lower end of the Z-axis moving mechanism.

4. The automatic bending machine according to claim 3, characterized in that, Each station of the streamlined module includes a carrier blocking and lifting mechanism located between two tracks of the streamlined module. The carrier blocking and lifting mechanism includes a mounting plate, a lifting cylinder, a lifting plate, and a plurality of linear bearings. The two ends of the mounting plate along the Y-axis are fixed to the two tracks of the streamlined module, respectively. The lifting plate is arranged above the mounting plate. The cylinder body of the lifting cylinder is fixed to the mounting plate, and the upper end of the piston rod of the lifting cylinder is connected to the lifting plate. The plurality of linear bearings are arranged separately around the periphery of the lifting cylinder. The guide sleeves of the linear bearings are fixed to the mounting plate, and the upper ends of the guide rods of the linear bearings are connected to the lifting plate.

5. The automatic bending machine according to claim 4, characterized in that, The carrier blocking and lifting mechanism includes a blocking cylinder. The carrier plate includes a limiting hole. When the piston rod of the blocking cylinder extends, the roller of the blocking cylinder extends into the limiting hole and presses against the rear edge of the limiting hole. The control circuit includes two carrier positioning sensors. One carrier positioning sensor is installed at each station of the streamlined module. The carrier includes two wear-resistant strips, which are fixed to the bottom surface of the carrier plate and arranged along the two long sides of the carrier plate.

6. The automatic bending machine according to claim 5, characterized in that, The control circuit includes two sets of first workpiece detection photoelectric sensors. Each station of the streamlined module includes one set of first workpiece detection photoelectric sensors. The first workpiece detection photoelectric sensors are through-beam photoelectric sensors, which are arranged along the Y-axis and installed above the outer side of the two tracks of the streamlined module.

7. The automatic bending machine according to claim 4, characterized in that, The lifting plate includes a plurality of locating pins, which are installed on the top surface of the lifting plate; the bottom surface of the carrier plate includes a plurality of locating holes corresponding to the locating pins.

8. The automatic bending machine according to claim 1, characterized in that, The welding edge bending mechanism includes a worktable and two sets of bending devices. The worktable includes a rectangular plate and five clamps. Each clamp includes a clamping cylinder and a clamping block. The clamping block includes a pair of fixed blocks and moving blocks. The fixed blocks are fixed on the top surface of the plate, and the moving blocks are fixed on the piston rod of the clamping cylinder, which is also fixed on the top surface of the plate. The first clamp is fixed at one end of the long axis of the plate and is used to clamp the bottom edge of the U-shaped steel strip. The remaining four clamps are divided into two groups, with two clamps in each group arranged separately along the long axis of the plate to clamp one side of the U-shaped steel strip. The long axis of the plate is the X-axis direction. The two sets of bending devices are fixed on the worktable and located on the outer sides of the two corners of the plate away from the first clamp.

9. The automatic bending machine according to claim 8, characterized in that, The bending device includes a bending positioning pin and a bending mechanism. The vertically arranged bending positioning pin is fixed on the table and located on the outside of the short side of the table away from the first fixture. The bending mechanism includes a servo motor, a planetary reducer, a mounting bracket, and a bending head. The planetary reducer is fixed on the worktable by the mounting bracket and is driven by the servo motor. The output shaft of the planetary reducer is located directly below the bending positioning pin and is coaxial with the bending positioning pin. The bending head includes a bending shaft, a bearing, and a support. The lower end of the bending shaft is mounted on the support through the bearing. The support is fixed on the output shaft of the planetary reducer, and the bending shaft and the output shaft of the planetary reducer are eccentrically mounted on the top of the support. The bending shaft and the planetary reducer are arranged side by side, and the gap between them is equal to the thickness of the U-shaped steel strip. The control circuit includes two sets of second workpiece detection photoelectric sensors. The second workpiece detection photoelectric sensors are through-beam photoelectric sensors and are mounted on the edge of the table along the Y-axis.

10. The automatic bending machine according to claim 7, characterized in that, The automatic bending machine operates by including the following steps: 1001) When the workpiece to be processed is carried on the carrier, the streamlined module's track leads the carrier to the loading position. When the carrier's position sensor detects the carrier, it sends a signal to the controller of the control circuit. 1002) The piston rod of the blocking cylinder extends out, and the roller of the blocking cylinder extends into the limiting hole, pressing against the rear edge of the limiting hole; then, the lifting cylinder of the lifting mechanism is activated, the lifting plate rises, and the two positioning pins on the lifting plate are inserted into the positioning holes of the carrier plate positioning bushing; the lifting plate lifts the carrier, and the carrier is separated from the chain track of the streamline module and stops at the loading position; 1003) The workpiece clamp of the three-axis robot moves to the loading position, clamps the workpiece to be processed, and removes the workpiece from the carrier; when the first workpiece detection photoelectric sensor at the loading position detects that the workpiece has left the carrier plate, it sends a signal to the controller, the carrier blocking lifting mechanism resets, the bottom surface of the carrier plate resumes contact with the chain track of the streamlined module, and continues to move towards the loading position; when the carrier reaches the unloading position, when the carrier position sensor at the unloading position detects the carrier, it sends a signal to the controller, the carrier blocking lifting mechanism at the unloading position activates, the carrier disengages from the chain track of the streamlined module, and stops at the unloading position; 1004) The three-axis robot brings the workpiece to be processed from the loading position to the top of the welding edge bending mechanism. The workpiece fixture places the workpiece on the worktable of the welding edge bending mechanism. When the second workpiece detection photoelectric sensor on the worktable of the welding edge bending mechanism detects that the workpiece is in place, it sends a signal to the controller. The fixture on the worktable clamps the workpiece. The bending device of the welding edge bending mechanism bends the front ends of the two sides of the workpiece inward. The front ends of the two bent sides overlap to form a rectangular band for welding the edge to be welded. 1005) After the bending action is completed, the bending device resets; the fixture on the worktable releases the finished workpiece; the three-axis robot takes the finished workpiece from the fixture of the welding edge bending mechanism and sends it to the carrier at the unloading position; when the photoelectric sensor of the first workpiece detection at the unloading position detects that the finished workpiece has reached the carrier plate, it sends a signal to the controller, the carrier blocking and lifting mechanism at the unloading position resets, the bottom surface of the carrier plate resumes contact with the chain track of the streamline module, and moves outward to complete the unloading.

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