Automatic steel plate bending production equipment

Abstract

The invention discloses automatic steel plate bending production equipment which comprises a raw material storage rack, a walking executing mechanism, a bending machining mechanism, a grabbing and carrying mechanism and an auxiliary positioning mechanism, a to-be-machined steel plate is arranged on the raw material storage rack, and the to-be-machined steel plate is grabbed by the grabbing and carrying mechanism to move to the bending machining mechanism in the first direction to be bent and formed; the raw material shelf is used for bearing a to-be-processed steel plate; the walking executing mechanism is arranged between the raw material storage rack and the bending machining mechanism and comprises a linear walking assembly extending in the first direction. The grabbing and carrying mechanism is installed on the walking executing mechanism and comprises a carrying assembly, and when the grabbing and carrying mechanism moves to one side of the raw material storage rack, the carrying assembly is located above the raw material storage rack and used for sucking the steel plate to be machined from the raw material storage rack and carrying the steel plate to the bending machining mechanism along with the linear walking assembly. The full-process automation of the steel plate from feeding, positioning, carrying to bending is achieved, the production efficiency is improved, the surface damage risk is reduced, and flexible and continuous production is supported.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment, and in particular to an automatic steel plate bending production equipment. Background Technology

[0002] In many industries such as machinery manufacturing and building materials, U-shaped channel steel is a commonly used structural component. Its processing quality and production efficiency directly affect the assembly accuracy and production progress of subsequent products.

[0003] Existing mechanized bending equipment lacks positioning and motion control mechanisms, and mostly relies on fixed mechanical limits to achieve position constraints, resulting in insufficient bending accuracy. Furthermore, the connection between various processes of the equipment is not smooth, production efficiency is low, and it is difficult to adapt to the processing needs of U-shaped channel steel of different specifications, resulting in poor versatility.

[0004] With the increasing market demand for U-shaped channel steel and the ever-increasing requirements for product precision, production efficiency, and operational safety, traditional processing methods and existing equipment can no longer meet actual production needs. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problems of low efficiency, poor precision, and difficulty in achieving automated continuous production in existing bending equipment. This invention provides an automated steel plate bending production equipment that automates the entire process from steel plate feeding, positioning, and handling to bending, significantly improving production efficiency and product consistency, reducing labor intensity and surface damage risk, and supporting flexible and continuous production.

[0006] To address the aforementioned technical problems, embodiments of the present invention disclose an automatic steel plate bending production equipment, comprising a raw material storage rack, a traveling actuator, a bending processing mechanism, and a gripping and conveying mechanism. The steel plate to be processed is placed on the raw material storage rack and gripped by the gripping and conveying mechanism, moving it along a first direction to the bending processing mechanism for bending and forming.

[0007] The raw material rack is equipped with multiple support components to support the steel plates to be processed; The traveling actuator is disposed between the raw material storage rack and the bending processing mechanism, and includes a linear traveling component extending along a first direction. The linear traveling component is used to reciprocate between the raw material storage rack and the bending processing mechanism along the first direction. The gripping and conveying mechanism is mounted on the traveling actuator and includes a conveying component. When the gripping and conveying mechanism moves to one side of the raw material rack, the conveying component is located above the raw material rack and is used to pick up the steel plate to be processed from the raw material rack and convey it to the bending processing mechanism along with the linear traveling component. The bending processing mechanism includes processing components for bending and shaping the steel plate to be processed, which is transported onto it by the gripping and conveying mechanism. The auxiliary positioning mechanism is fixedly installed on the feeding side of the bending processing mechanism. The direction of movement of its drive end is towards the processing center of the bending processing mechanism. It is used to perform lateral position calibration of the steel plate before bending.

[0008] By adopting the above technical solution, the entire process of steel plate feeding, positioning, handling to bending is automated, which significantly improves production efficiency and product consistency, reduces labor intensity and surface damage risk, and supports flexible and continuous production.

[0009] According to another specific embodiment of the present invention, the carrier is disclosed as a universal ball bearing. The raw material storage rack includes a rectangular carrier platform. The upper surface of the carrier platform is a horizontal placement surface. A first side baffle, a second side baffle, and an end baffle are respectively provided on the three sides of the carrier platform. The first side baffle and the second side baffle are respectively located on the two long sides of the carrier platform, and the end baffle is located on one short side of the carrier platform. Universal ball bearings and locking bolts are provided between the first side baffle and the second side baffle and the carrier platform.

[0010] According to another specific embodiment of the present invention, the present invention discloses a linear travel assembly comprising two linear guide rails parallel to a first direction, a rack disposed between the two linear guide rails and parallel to the linear guide rails, a moving platform spanning the two linear guide rails, a slider fixedly installed at the bottom of the moving platform and slidingly engaged with the linear guide rails, and a drive device fixedly installed on the moving platform. The drive device comprises a servo motor and a gear driven to rotate by the servo motor. The gear meshes with the rack to drive the moving platform to reciprocate along the linear guide rails.

[0011] According to another specific embodiment of the present invention, the embodiment of the present invention discloses that a mounting platform is provided on the top of the mobile platform, and a plurality of threaded mounting holes are provided on the mounting platform for fixing the gripping and transporting mechanism. Protective cover plates are provided on both sides of the mobile platform, and cable drag chains are laid on the inner side of the protective cover plates.

[0012] According to another specific embodiment of the present invention, the present invention discloses a gripping and handling mechanism including a six-axis industrial robot. The base of the six-axis industrial robot is fixedly connected to the mounting platform by bolts. A steel plate gripping assembly is installed on the end flange of the six-axis industrial robot. The steel plate gripping assembly includes a connecting flange, a support frame and a vacuum adsorption unit. The support frame is connected to the end flange through the connecting flange.

[0013] According to another specific embodiment of the present invention, the vacuum adsorption unit includes a vacuum generator, a vacuum pressure sensor, an electromagnetic control valve, and multiple suction cup assemblies. The multiple suction cup assemblies are distributed in a matrix on the bottom plane of the support frame. Each suction cup assembly includes a suction cup base, a corrugated suction tube, and a vacuum suction cup. The vacuum generator is connected to the suction cup base of each suction cup assembly through a vacuum pipeline. The vacuum pressure sensor is installed on the vacuum pipeline to monitor the vacuum pressure value.

[0014] According to another specific embodiment of the present invention, the bending processing mechanism further includes a frame body with a C-shaped frame structure. The processing components include a worktable installed on the lower part of the frame body, a lower die assembly disposed on the worktable, an upper die assembly disposed above the worktable, and a hydraulic drive system. The upper die assembly is connected to the guide rail on the upper part of the frame body via a slider. The hydraulic drive system includes a hydraulic cylinder, a hydraulic pump station, and a control valve group. The piston rod of the hydraulic cylinder is connected to the upper die assembly.

[0015] According to another specific embodiment of the present invention, the lower die assembly includes a die base and a replaceable V-shaped lower die, and the upper die assembly includes an upper die base and a replaceable upper die punch. The die base is provided with a positioning pin hole, the V-shaped lower die is fixed on the die base by positioning pins and bolts, and the upper die punch is installed on the upper die base by a quick clamping device.

[0016] According to another specific embodiment of the present invention, the embodiment of the present invention discloses a finished product conveying vehicle for the steel plate to be processed, which is disposed between the gripping and conveying mechanism and the bending processing mechanism, and located below the worktable.

[0017] According to another specific embodiment of the present invention, the auxiliary positioning mechanism includes a cylinder mounting bracket, a linear guide mechanism, a pushing cylinder, and a positioning push head. The cylinder mounting bracket is fixedly connected to the side wall of the frame of the bending processing mechanism. The linear guide mechanism includes a guide rod and a guide sleeve. The piston rod of the pushing cylinder is connected to the positioning push head through a connecting block. The contact surface of the positioning push head is a plane or arc surface that fits against the side of the steel plate. A pressure sensor is provided on the positioning push head.

[0018] The beneficial effects of this application are as follows: 1. Achieve fully automated production: From loading, gripping, handling, positioning to bending and unloading, everything is completed automatically, greatly reducing manual intervention and significantly improving production efficiency.

[0019] 2. Improve bending accuracy and consistency: Through mechanical positioning, servo control and robot collaborative operation, high-precision positioning and stable bending of steel plates are achieved, thereby improving product quality and pass rate.

[0020] 3. Avoid damage to the workpiece surface: Vacuum suction cups are used for gripping, leaving no mechanical clamping marks and protecting the surface quality of the steel plate.

[0021] 4. Supports continuous and flexible production: The equipment can be connected with upstream and downstream processes, supports rapid changeover production of steel plates of various specifications, and adapts to the flexible manufacturing needs of small batches and multiple varieties.

[0022] 5. Reduce labor intensity and safety risks: Operators only need to monitor and assist with loading and unloading, reducing physical labor intensity and eliminating safety hazards in manual handling.

[0023] 6. Modular structure, easy to maintain and expand: Each functional module is designed independently, which facilitates maintenance, replacement and functional expansion, and the equipment has a low life cycle cost. Attached Figure Description

[0024] Figure 1 This diagram shows a structural schematic of an automatic steel plate bending production equipment according to an embodiment of the present invention. Figure 2 This diagram shows a structural schematic of the raw material storage rack in an automatic steel plate bending production equipment according to an embodiment of the present invention. Figure 3 Show Figure 1 Enlarged view of point A in the middle; Figure 4 A schematic diagram of the vacuum adsorption unit of the automatic steel plate bending production equipment according to an embodiment of the present invention is shown.

[0025] in: 1. Raw material storage rack; 11. Supporting component; 12. Horizontal placement surface; 13. First side baffle; 14. Second side baffle; 15. End baffle; 2. Traveling actuator; 21. Linear guide rail; 22. Rack; 23. Moving platform; 24. Slider; 3. Bending processing mechanism; 31. Processing components; 32. Main frame; 311. Worktable; 312. Lower die assembly; 313. Upper die assembly; 4. Gripping and conveying mechanism; 41. Vacuum adsorption unit; 411. Vacuum generator; 412. Electromagnetic control valve; 413. Suction cup assembly; 4131. Corrugated suction tube; 4132. Vacuum suction cup; 5. Auxiliary positioning mechanism; 6. Steel plates to be processed. Detailed Implementation

[0026] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0027] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0029] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0030] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0031] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0032] Reference Figures 1 to 4This application provides an automatic steel plate bending production equipment, including a raw material storage rack 1, a traveling actuator 2, a bending processing mechanism 3, and a gripping and conveying mechanism 4. The steel plate 6 to be processed is placed on the raw material storage rack 1 and is gripped by the gripping and conveying mechanism 4 and moved along a first direction to the bending processing mechanism 3 for bending and forming. The raw material rack 1 is equipped with multiple support components 11 for supporting the steel plate 6 to be processed; The walking actuator 2 is disposed between the raw material storage rack 1 and the bending processing mechanism 3, and includes a linear walking component extending along a first direction. The linear walking component is used to reciprocate between the raw material storage rack 1 and the bending processing mechanism 3 along the first direction. The gripping and conveying mechanism 4 is mounted on the walking execution mechanism 2. It includes a conveying component. When the gripping and conveying mechanism 4 moves to one side of the raw material rack 1, the conveying component is located above the raw material rack 1 and is used to pick up the steel plate 6 to be processed from the raw material rack 1 and convey it to the bending processing mechanism 3 along with the linear walking component. The bending processing mechanism 3 includes a processing component 31, which is used to bend and shape the steel plate 6 to be processed that is transported onto it by the gripping and conveying mechanism 4. The auxiliary positioning mechanism 5 is fixedly installed on the feeding side of the bending processing mechanism 3. The movement direction of its drive end is towards the processing center of the bending processing mechanism 3. It is used to perform lateral position calibration of the steel plate before bending.

[0033] In this embodiment, the present application mainly consists of a raw material storage rack 1, a traveling actuator 2, a bending processing mechanism 3, and a gripping and conveying mechanism 4. The steel plate 6 to be processed is placed on the raw material storage rack 1, and after being gripped by the gripping and conveying mechanism 4, it is moved along the first direction to the bending processing mechanism 3, where the bending processing mechanism 3 completes the bending and forming operation.

[0034] The first direction is the horizontal straight line direction from the raw material storage rack 1 to the bending processing mechanism 3. The mechanisms are arranged in sequence along the first direction to form a continuous steel plate bending processing production line, realizing the automated operation of steel plate loading, transfer and bending.

[0035] The raw material rack 1 is a load-bearing and positioning component for the steel plate 6 to be processed. It adopts a frame-type welded structure, and its top end face is a horizontal load-bearing surface for placing the steel plate 6 to be processed.

[0036] The traveling actuator 2 is located between the raw material storage rack 1 and the bending processing mechanism 3, driving the gripping and conveying mechanism 4 to reciprocate along a first direction, thereby transferring the steel plate between the raw material storage rack 1 and the bending processing mechanism 3. It mainly includes a linear traveling assembly and a mounting base.

[0037] The mounting base is a welded frame structure, fixedly installed on the ground, with its top end face at the same horizontal level as the bearing surface of the raw material storage rack 1. The length direction of the mounting base is consistent with the first direction, providing stable mounting support for the linear travel assembly.

[0038] The linear travel assembly extends along the first direction and is mounted on the top of the mounting base. It mainly consists of a guide rail, a sliding seat, and a drive component. Guide rails: Two parallel strip guide rails are used. The length of the guide rails covers the entire transfer distance from the raw material rack 1 to the bending processing mechanism 3. The guide rails are fixed to the top end face of the mounting base by bolts, and their extension direction is completely coincident with the first direction.

[0039] The bottom of the sliding seat is provided with a groove that matches the guide rail. The groove engages with the outside of the guide rail, allowing the sliding seat to slide freely along the length of the guide rail. The top end face of the sliding seat is a flat structure, used to install the gripping and handling mechanism 4.

[0040] The drive unit is connected to the sliding seat and provides power for the movement of the sliding seat. The drive unit can be a rack and pinion drive structure or a synchronous belt drive structure. If a gear and rack drive structure is adopted, the rack is fixed to the mounting base along the length of the guide rail, the gear is installed at the bottom of the sliding seat and meshes with the rack, the gear is driven to rotate by the motor, and the sliding seat is driven to reciprocate along the guide rail through the meshing transmission of the gear and rack. If a synchronous belt drive structure is adopted, the two ends of the synchronous belt are tensioned to the two ends of the mounting base through pulleys. The synchronous belt is fixedly connected to the sliding seat, and the pulleys are driven to rotate by the motor. Through the cyclic movement of the synchronous belt, the sliding seat is driven to move back and forth along the guide rail.

[0041] The gripping and handling mechanism 4 is installed on the sliding seat of the walking actuator 2 and moves along the first direction with the sliding seat. It mainly includes a mounting frame and a handling component. It picks up the steel plate 6 to be processed from the raw material rack 1 and transfers it to the bending processing mechanism 3.

[0042] The mounting frame is a metal frame structure, with its bottom fixedly connected to the top end face of the sliding seat. The top of the mounting frame extends towards the raw material storage rack 1, forming a cantilever structure spanning above the raw material storage rack 1, ensuring that when the walking actuator 2 drives the gripping and handling mechanism 4 to move to one side of the raw material storage rack 1, the handling component can be positioned directly above the raw material storage rack 1.

[0043] The handling assembly is installed at the cantilever end of the mounting frame and is used to pick up the steel plate 6 to be processed. It adopts a vacuum adsorption structure and mainly consists of an adsorption plate assembly, a vacuum generating component, and a lifting drive component. Adsorption plate assembly: The adsorption plate assembly includes multiple vacuum adsorption plates, which are evenly distributed along the cantilever length of the mounting frame. The adsorption end faces of the vacuum adsorption plates face the bearing surface of the raw material storage rack 1 below. When the gripping and conveying mechanism 4 moves above the raw material storage rack 1, the adsorption end faces of each vacuum adsorption plate can fully adhere to the top surface of the steel plate 6 to be processed.

[0044] Vacuum Generating Component: The vacuum generating component is installed inside the mounting frame and is connected to each vacuum adsorption plate via air pipes. After the vacuum generating component is activated, it can extract the air between the vacuum adsorption plate and the surface of the steel plate 6 to be processed, forming a negative pressure vacuum environment. Atmospheric pressure is then used to firmly adsorb the steel plate 6 to be processed onto the vacuum adsorption plate.

[0045] Lifting drive component: The lifting drive component is installed between the mounting frame and the transport assembly, and is used to drive the vacuum adsorption plate assembly to move up and down in the vertical direction. When it is necessary to grab the steel plate 6 to be processed, the lifting drive component drives the vacuum adsorption plate assembly to descend, so that the vacuum adsorption plate is in contact with the surface of the steel plate 6 to be processed; after the steel plate 6 to be processed is adsorbed, the lifting drive component drives the vacuum adsorption plate assembly to rise, lifting the steel plate 6 to be processed away from the bearing surface of the raw material storage rack 1; when it is transferred to the bending processing mechanism 3, the lifting drive component drives the vacuum adsorption plate assembly to descend again, placing the steel plate 6 to be processed in the designated position of the bending processing mechanism 3, and then the vacuum generating component stops working, releasing the adsorption state, and completing the transfer of the steel plate 6 to be processed.

[0046] The bending processing mechanism 3 is located on the side of the walking execution mechanism 2 away from the raw material storage rack 1. It mainly includes a processing frame and a processing component 31, which is used to bend the steel plate 6 to be processed by the gripping and conveying mechanism 4.

[0047] The processing frame is a heavy-duty frame structure with a horizontal processing platform on top. The height of the processing platform is adapted to the bearing surface height of the raw material storage rack 1 to ensure that the steel plate 6 to be processed remains horizontal during the transfer process. The processing frame is equipped with reinforcing beams and supporting columns to enhance structural stability and resist the impact force generated during bending operations.

[0048] The processing component 31 is mounted on the processing platform of the processing machine frame, and mainly consists of a lower die base, an upper die base, and a bending drive component. Lower die holder: The lower die holder is fixedly installed on the surface of the processing platform. A bending die is set on its top. The shape of the bending die is designed according to the bending requirements of the steel plate 6 to be processed. Different models of dies can be replaced according to the processing specifications. Positioning blocks are set on both sides of the lower die holder. The positioning blocks contact the end of the steel plate 6 to be processed, which is moved by the gripping and conveying mechanism 4, so as to achieve precise positioning of the steel plate 6 to be processed and ensure the consistency of the bending position.

[0049] Upper die holder: The upper die holder is located directly above the lower die holder, and a bending punch adapted to the bending die is installed at its bottom. The upper die holder is slidably connected to the processing frame and can move up and down in the vertical direction. When the steel plate 6 to be processed is placed on the die of the lower die holder, the upper die holder drives the punch to descend, and cooperates with the die to be processed the steel plate 6 to be bent.

[0050] Bending drive component: The bending drive component is mounted on the top of the processing frame, and its output end is connected to the upper die base for transmission, providing power for the lifting and lowering of the upper die base. The bending drive component can be a hydraulic drive structure or a servo motor drive structure. By controlling the descent stroke of the upper die base, precise control of the bending angle of the steel plate to be processed can be achieved.

[0051] Specifically, the bending process is as follows: The gripping and conveying mechanism 4 moves the steel plate 6 to be processed to the processing platform of the bending processing mechanism 3. The lifting drive component drives the adsorption plate group to descend and place the steel plate 6 to be processed on the bending die of the lower die base. The positioning block limits the end of the steel plate 6 to be processed to ensure accurate bending position.

[0052] The vacuum generating component stops working, the adsorption plate group releases the adsorption of the steel plate 6 to be processed, the lifting drive component drives the adsorption plate group to rise and reset, and then the walking actuator 2 drives the gripping and transporting mechanism 4 to return to one side of the raw material storage rack 1, ready to grip the next steel plate 6 to be processed.

[0053] When the bending drive unit is activated, it drives the upper die holder to move the bending punch downward. The punch and die cooperate to apply pressure to the steel plate 6 to be processed, causing the steel plate 6 to undergo plastic deformation and completing the bending operation.

[0054] After the bending operation is completed, the bending drive component drives the upper die base to rise and reset. The operator or subsequent conveying mechanism then removes the bent steel plate 6 from the lower die base, completing the entire processing flow.

[0055] The auxiliary positioning mechanism 5 is fixedly installed on the feeding side of the bending processing mechanism 3. Its installation position is adapted to the transfer path of the steel plate 6 to be processed, ensuring that the steel plate 6 to be processed corresponds to the drive end of the auxiliary positioning mechanism 5 after it is transferred to the bending station by the gripping and conveying mechanism 4. The drive end of the auxiliary positioning mechanism 5 moves horizontally towards the processing center of the bending processing mechanism 3. Its core function is to perform lateral position calibration of the steel plate 6 to be processed before the bending operation is officially started, compensating for any minor positional deviations that may occur during the transfer process.

[0056] After the steel plate 6 to be processed is placed in the preset position of the lower die assembly, the drive end of the auxiliary positioning mechanism 5 extends towards the lateral edge of the steel plate 6 and applies a steady pushing force, pushing the steel plate 6 to be processed to make slight adjustments in horizontal displacement until the bending reference line of the steel plate 6 coincides with the bending center line of the lower die assembly. This calibration process ensures that steel plates 6 of different batches and specifications can be bent with a uniform reference position, effectively avoiding processing defects such as inconsistent bending dimensions and bending angle deviations caused by positioning deviations, and significantly improving the accuracy and stability of bending processing. At the same time, the pushing stroke of the auxiliary positioning mechanism 5 can be adaptively adjusted according to the width specification of the steel plate 6 to be processed, adapting to the positioning requirements of various sizes of steel plates 6 to be processed, enhancing the versatility of the equipment.

[0057] By adopting the above technical solution, the entire process of steel plate feeding, positioning, handling to bending is automated, which significantly improves production efficiency and product consistency, reduces labor intensity and surface damage risk, and supports flexible and continuous production.

[0058] In one feasible embodiment, the support member 11 is a universal ball bearing, and the raw material storage rack 1 includes a rectangular support platform. The upper surface of the support platform is a horizontal placement surface 12. The three sides of the support platform are respectively provided with a first side baffle 13, a second side baffle 14 and an end baffle 15. The first side baffle 13 and the second side baffle 14 are respectively located on the two long sides of the support platform, and the end baffle 15 is located on one short side of the support platform. Locking bolts are provided between the first side baffle 13 and the second side baffle 14 and the support platform.

[0059] In this embodiment, the raw material rack 1 serves as the support and positioning component for the steel plate 6 to be processed. Its core is a rectangular support platform. The upper surface of the support platform is a horizontal placement surface 12. Multiple support components 11 are evenly embedded on the horizontal placement surface 12 to stably support the steel plate 6 to be processed, while also enabling flexible adjustment of the steel plate 6 to be processed.

[0060] The three sides of the support platform are respectively provided with a first side baffle 13, a second side baffle 14, and an end baffle 15, forming a three-sided limiting structure: The first side baffle 13 and the second side baffle 14 are located on the two long sides of the bearing platform, respectively, and the end baffle 15 is located on one short side of the bearing platform. The three together enclose a limiting space that is adapted to the shape of the steel plate 6 to be processed, restricting the circumferential displacement of the steel plate 6 before it is placed and grasped, preventing lateral slippage, and ensuring that the steel plate 6 to be processed is always within the preset limiting range.

[0061] Only locking bolts are provided between the first side baffle 13 and the second side baffle 14 and the bearing platform. The operator can manually adjust the distance between the first side baffle 13 and the second side baffle 14 according to the width of the steel plate 6 to be processed, so that it can be adapted to steel plates 6 of different widths. After adjusting to the preset position, the first side baffle 13, the second side baffle 14 and the bearing platform are firmly fixed by tightening the locking bolts to ensure the limiting stability of the side baffles and prevent the steel plate 6 to be processed from moving accidentally before being picked up.

[0062] The bearing components 11 are evenly distributed on the horizontal placement surface 12 of the bearing platform. When the steel plate 6 to be processed is placed on the horizontal placement surface 12 of the raw material rack 1, the bottom of the steel plate 6 to be processed abuts against the bearing component 11. The bearing component 11 can rotate flexibly. The operator can easily push the steel plate 6 to be processed to any angle and adjust it to the best gripping position according to the gripping requirements of the six-axis industrial robot, which greatly improves the gripping convenience and accuracy and reduces the labor intensity of manual adjustment.

[0063] The bottom of the support platform is equipped with a frame-type support structure. Several reinforcing ribs are intersecting along the length and width of the frame to enhance the overall structural strength of the support platform and prevent deformation when bearing multiple steel plates 6 to be processed. Leveling feet are installed at the four corners of the bottom of the raw material storage rack 1. The overall levelness of the raw material storage rack 1 can be adjusted by rotating the feet, ensuring that the horizontal placement surface 12 of the support platform and the supporting components 11 above it are in a horizontal state, providing reliable positioning for subsequent gripping operations.

[0064] In one feasible embodiment, the linear motion assembly includes two linear guide rails 21 parallel to a first direction, a rack 22 disposed between and parallel to the two linear guide rails 21, a moving platform 23 spanning the two linear guide rails 21, a slider 24 fixedly mounted on the bottom of the moving platform 23 and slidingly engaged with the linear guide rails 21, and a drive device fixedly mounted on the moving platform 23. The drive device includes a servo motor and a gear driven to rotate by the servo motor. The gear meshes with the rack 22 to drive the moving platform 23 to reciprocate along the linear guide rails 21. A mounting platform is provided on the top of the frame of the moving platform 23. The mounting platform has multiple threaded mounting holes for fixing the gripping and conveying mechanism 4. Protective covers are provided on both sides of the moving platform 23, and cable drag chains are laid on the inner side of the protective covers.

[0065] In this embodiment, the linear walking component is the transfer carrier of the gripping and conveying mechanism 4. It adopts a gear and rack transmission structure and specifically includes two linear guide rails 21 parallel to the first direction, a rack 22, a moving platform 23, a slider 24, and a driving device. The components work together to achieve smooth reciprocating movement of the moving platform 23.

[0066] Two linear guide rails 21 are arranged parallel to each other along the first direction and are fixed to the top end face of the mounting base by expansion bolts. The two ends of the linear guide rails 21 are limited and sealed by end plates to prevent the slider 24 from sliding out of the guide rail range. The rack 22 is set on the mounting base between the two linear guide rails 21. Its length is the same as that of the linear guide rails 21, and the extension direction of the rack 22 is completely parallel to that of the linear guide rails 21. The rack 22 is fixed to the mounting base by countersunk bolts. The bolt heads are recessed into the mounting groove of the rack 22 to avoid interference with other components.

[0067] The mobile platform 23 adopts a frame-type welded structure, which is straddled above the two linear guide rails 21. Two sets of sliders 24 are fixedly installed at the bottom of the platform corresponding to the positions of the two linear guide rails 21. The inner side of the slider 24 is provided with a sliding groove that matches the cross section of the linear guide rail 21. The slider 24 forms a sliding engagement with the linear guide rail 21 through the sliding groove, ensuring the linear motion trajectory of the mobile platform 23 when it moves along the guide rail. The two sets of sliders 24 are arranged at intervals along the length of the linear guide rail 21, which further improves the stability of the mobile platform 23 during movement and prevents tilting and shaking.

[0068] The drive unit is fixedly installed inside the frame of the mobile platform 23. It adopts a combination transmission structure of servo motor and gear. The servo motor is fixed on the mobile platform 23 through a motor mounting base. The motor output shaft is connected to the gear transmission through a coupling. The gear meshes with the rack 22. When working, the servo motor receives the command from the control system and starts to drive the gear to rotate. Through the meshing of the gear and the rack 22, the rotational motion is converted into linear motion, which in turn drives the mobile platform 23 to move smoothly back and forth along the linear guide rail 21. The speed regulation characteristics of the servo motor can realize the stepless speed regulation of the mobile platform 23, ensuring the position adaptation requirements when transferring the steel plate 6 to be processed.

[0069] The top of the mobile platform 23 is integrally formed with a horizontal mounting platform. The upper surface of the mounting platform is milled to ensure flatness. Multiple threaded mounting holes are evenly opened along its length and width. The threaded mounting holes are distributed in an array. According to the installation size requirements of the gripping and handling mechanism 4, the corresponding threaded mounting holes can be selected to achieve a detachable and fixed connection of the gripping and handling mechanism 4 through bolts. This not only ensures a stable connection but also adapts to the installation requirements of gripping and handling mechanisms 4 of different specifications.

[0070] Protective covers are fixedly installed on both sides of the frame of the mobile platform 23. The protective covers are made of bent metal sheets, and their height covers the height range of transmission components such as linear guide rail 21, rack 22, and gears. The two ends of the protective covers are sealed to the end structure of the mounting base, which can effectively prevent metal chips, dust and external debris generated during processing from entering the transmission structure, avoiding wear on the meshing surfaces of the guide rail, rack 22 and gears, and ensuring transmission stability and component service life. At the same time, cable drag chains are fixedly laid on the inner side wall of the protective covers by buckles. The power cables, control cables of the drive device and related cables of the gripping and handling mechanism 4 are all stored inside the cable drag chains. The cable drag chains extend and retract synchronously with the reciprocating movement of the mobile platform 23, which can prevent the cables from getting tangled, pulled and worn, and ensure the stability and safety of the electrical connection of the equipment.

[0071] In one feasible embodiment, the gripping and handling mechanism 4 includes a six-axis industrial robot. The base of the six-axis industrial robot is fixedly connected to the mounting platform by bolts. A steel plate gripping assembly is installed on the end flange of the six-axis industrial robot. The steel plate gripping assembly includes a connecting flange, a support frame, and a vacuum adsorption unit 41. The support frame is connected to the end flange through the connecting flange.

[0072] The vacuum adsorption unit 41 includes a vacuum generator 411, a vacuum pressure sensor, an electromagnetic control valve 412, and multiple suction cup assemblies 413. The multiple suction cup assemblies 413 are arranged in a matrix on the bottom plane of the support frame. Each suction cup assembly 413 includes a suction cup base, a corrugated suction tube 4131, and a vacuum suction cup 4132. The vacuum generator 411 is connected to the suction cup base of each suction cup assembly 413 through a vacuum pipeline. The vacuum pressure sensor is installed on the vacuum pipeline to monitor the vacuum pressure value.

[0073] In this embodiment, the gripping and handling mechanism 4 includes a six-axis industrial robot. The base of the six-axis industrial robot is fixedly connected to the threaded mounting holes on the mounting platform by bolts. Its installation position can be adjusted according to the transfer path requirements of the steel plate 6 to be processed, so as to adapt to the gripping operation of steel plates 6 of different specifications.

[0074] A steel plate gripping assembly is installed on the end flange of the six-axis industrial robot. The steel plate gripping assembly includes a connecting flange, a support frame and a vacuum adsorption unit 41. The support frame is fixedly connected to the end flange through the connecting flange. The support frame adopts a frame structure and its external dimensions are adapted to the size of the steel plate 6 to be processed, so as to ensure that stable support can be formed for steel plates 6 of different areas.

[0075] The vacuum adsorption unit 41 includes a vacuum generator 411, a vacuum pressure sensor, an electromagnetic control valve 412, and multiple suction cup assemblies 413. The multiple suction cup assemblies 413 are evenly distributed in a matrix on the bottom plane of the support frame. The density of the matrix arrangement can be adjusted according to the weight and size of the steel plate 6 to be processed, so as to ensure the uniformity of force during the adsorption process.

[0076] Each suction cup assembly 413 includes a suction cup base, a corrugated suction tube 4131, and a vacuum suction cup 4132. The suction cup base is fixedly installed at the bottom of the support frame. One end of the corrugated suction tube 4131 is connected to the suction cup base, and the other end is connected to the vacuum suction cup 4132. The corrugated suction tube 4131 can adaptively extend and retract according to the surface flatness of the steel plate 6 to be processed, so that the vacuum suction cup 4132 is in close contact with the surface of the steel plate 6 to be processed.

[0077] The vacuum generator 411 is connected to the suction cup base of each suction cup assembly 413 through a vacuum pipeline. The electromagnetic control valve 412 is connected in series in the vacuum pipeline to control the opening and closing of the vacuum pipeline. The vacuum pressure sensor is installed on the vacuum pipeline to monitor the vacuum pressure value in the pipeline in real time. When the pressure value reaches the preset threshold, a feedback signal is sent to the control system to confirm that the steel plate 6 to be processed has been stably adsorbed. Otherwise, a warning signal is issued to indicate that the adsorption is abnormal.

[0078] In one feasible embodiment, the bending processing mechanism 3 further includes a C-shaped frame structure frame body 32, and the processing component 31 includes a worktable 311 installed on the lower part of the frame body 32, a lower die component 312 disposed on the worktable 311, an upper die component 313 disposed above the worktable 311, and a hydraulic drive system. The upper die component 313 is connected to the guide rail on the upper part of the frame body 32 through a slider. The hydraulic drive system includes a hydraulic cylinder, a hydraulic pump station, and a control valve group. The piston rod of the hydraulic cylinder is connected to the upper die component 313.

[0079] The lower die assembly 312 includes a die base and a replaceable V-shaped lower die, and the upper die assembly 313 includes an upper die base and a replaceable upper die punch. The die base is provided with a positioning pin hole. The V-shaped lower die is fixed to the die base by positioning pins and bolts, and the upper die punch is installed on the upper die base by a quick clamping device.

[0080] In this embodiment, the processing frame of the bending processing mechanism 3 adopts a C-shaped frame structure frame body 32. The C-shaped frame structure can form an open processing space, which facilitates the feeding and unloading of the steel plate 6 to be processed, while improving the bending load resistance of the frame body 32 and ensuring the structural stability during the bending operation.

[0081] The processing component 31 is integrated on the frame body 32, specifically including a worktable 311 installed on the lower part of the frame body 32, a lower die component 312 set on the worktable 311, an upper die component 313 located directly above the worktable 311, and a hydraulic drive system that provides power to the upper die component 313; wherein, the upper die component 313 slides with a guide rail preset on the upper part of the frame body 32 through a slider, and the cooperation direction between the slider and the guide rail extends in the vertical direction, ensuring that the upper die component 313 can only move up and down in the vertical direction, thus ensuring the accuracy of the bending operation.

[0082] The hydraulic drive system includes a hydraulic cylinder, a hydraulic pump station, and a control valve group. The hydraulic cylinder is vertically mounted on the top crossbeam of the main frame 32, with its piston rod facing downward and fixedly connected to the top of the upper mold assembly 313. The hydraulic pump station is connected to the hydraulic cylinder through hydraulic pipelines, and the control valve group is connected in series on the hydraulic pipelines to control the extension and retraction of the hydraulic cylinder, thereby realizing the lifting and lowering drive of the upper mold assembly 313 and meeting the operational requirements of different bending strokes.

[0083] The lower die assembly 312 includes a die base and a replaceable V-shaped lower die. The die base is fixedly mounted on the worktable 311 by bolts, and a locating pin hole is provided on the upper surface of the die base. A locating pin is provided at the bottom of the V-shaped lower die corresponding to the locating pin hole. During installation, the locating pin is inserted into the locating pin hole to achieve quick positioning of the V-shaped lower die. Then, the V-shaped lower die is fixed to the die base by bolts to ensure the stability of the V-shaped lower die after installation. According to the bending angle and thickness requirements of the steel plate 6 to be processed, the bolts can be quickly removed and different specifications of V-shaped lower dies can be replaced, improving the versatility of the equipment.

[0084] The upper die assembly 313 includes an upper die base and a replaceable upper die punch. The upper die punch is mounted on the bottom of the upper die base via a quick-clamping device. The quick-clamping device adopts a lever-type clamping structure, which is easy to operate and allows for quick assembly and disassembly of the upper die punch without the need for additional tools, greatly improving the efficiency of upper die punch replacement. The shape of the upper die punch is adapted to the V-groove of the V-shaped lower die, ensuring that the two can form uniform bending pressure on the steel plate 6 to be processed when they are in contact, thus ensuring the bending forming effect.

[0085] In one feasible embodiment, a finished product conveyor for the steel plate 6 to be processed is also included, which is disposed between the gripping and handling mechanism 4 and the bending processing mechanism 3, and located below the worktable 311.

[0086] In this embodiment, the finished product conveyor serves as a temporary storage and transfer component for the steel plates 6 to be processed after bending. It adapts to the overall operation process of the equipment, enabling rapid collection and convenient transfer of finished products. This avoids the accumulation of finished products on the workbench 311 of the bending processing mechanism 3, which would affect subsequent bending operations, and also reduces the labor intensity of manual transfer. The finished product conveyor adopts a frame structure, with a horizontal storage surface on its top. The size of the storage surface is adapted to the dimensions of commonly sized bent finished products, allowing for the simultaneous storage of multiple bent steel plates 6. The edges of the storage surface are equipped with low guards to prevent the finished products from slipping and falling during transfer.

[0087] The installation position of the finished product conveyor is adapted to the equipment layout, located between the gripping and handling mechanism 4 and the bending processing mechanism 3, and close to the area below the workbench 311. It does not occupy the transfer path of the steel plate to be processed 6, nor does it interfere with the normal operation of the bending processing mechanism 3 and the auxiliary positioning mechanism 5. At the same time, this position is close to the working range of the gripping and handling mechanism 4, which makes it easy for the six-axis industrial robot (the core component of the gripping and handling mechanism 4) to quickly transfer the finished product to the storage surface of the finished product conveyor after completing the bending operation, without the need to adjust the excessively long stroke, thus improving the work efficiency.

[0088] The finished product conveyor is equipped with brakeable casters at the bottom. When finished products need to be stored, the conveyor is fixed in a preset position under the workbench 311, and the brakes on the casters are locked to ensure that the conveyor does not move during storage. Once the storage surface is full of finished products, the brakes are released, and the conveyor can be easily moved to the designated finished product stacking area to complete the finished product transfer, adapting to the transfer needs of the workshop assembly line. In addition, the height of the finished product conveyor can be finely adjusted according to the height of the workbench 311 and the working stroke of the gripping and handling mechanism 4 to ensure that the finished products are placed stably on the storage surface when the robot transfers them, avoiding collisions and deformations caused by height deviations.

[0089] In one feasible embodiment, an example is given: The bending processing mechanism 3 works in conjunction with the six-axis industrial robot of the gripping and handling mechanism 4. Taking the 90° right-angle bending operation of a 5mm thick, 1200mm×800mm rectangular steel plate 6 as an example, the specific collaborative working process is as follows: The walking actuator 2 is activated, and the servo motor drives the moving platform 23 to move along the linear guide rail 21 toward the raw material rack 1, bringing the six-axis industrial robot closer to the support platform. The vacuum adsorption unit 41 at the end of the robot descends, and the matrix-distributed vacuum suction cups 4132 adhere to the surface of the steel plate 6 to be processed. The vacuum generator 411 is activated to generate negative pressure, and the vacuum pressure sensor monitors the pipeline pressure in real time. When the pressure reaches the preset adsorption threshold, it feeds back a signal to the control system. The robot drives the adsorption unit to rise, and the six-axis joints coordinate to adjust their posture to keep the steel plate 6 to be processed in a horizontal state. Then, the walking actuator 2 drives the moving platform 23 to move toward the bending processing mechanism 3 in the reverse direction. The robot adjusts its posture synchronously and accurately transfers the steel plate 6 to be processed above the feeding side of the bending processing mechanism 3.

[0090] A six-axis industrial robot drives the steel plate 6 to be processed to descend and place it smoothly on the top of the V-shaped lower die of the bending processing mechanism 3. The robot briefly pauses in the adsorption state, and the auxiliary positioning mechanism 5 is activated, pushing the positioning push head driven by the hydraulic cylinder to smoothly push the steel plate 6 towards the lateral edge. Under the constraint of the linear guide mechanism, the positioning push head pushes the steel plate to make fine adjustments without deviation until the bending baseline of the steel plate coincides with the center line of the V-shaped lower die groove. After the pressure sensor detects that the pushing pressure has reached the preset threshold, it feeds back a signal to the control system, the auxiliary positioning mechanism 5 is reset, the electromagnetic control valve 412 at the robot end is activated, the vacuum pipeline is disconnected, the adsorption unit releases the adsorption of the steel plate, and the robot drives the adsorption component to rise and reset to a safe position.

[0091] The hydraulic drive system of the bending processing mechanism 3 is started, the control valve group switches the oil circuit, the hydraulic cylinder piston rod extends downward, driving the upper die assembly 313 to descend vertically along the guide rail of the main frame 32. The upper die punch presses the bending part of the steel plate 6 to be processed, causing it to undergo plastic deformation along the V-shaped lower die groove, completing a 90° bend. After the bend is completed, the hydraulic cylinder drives the upper die assembly 313 to rise and reset. At this time, the six-axis industrial robot moves again, driving the adsorption unit to descend above the bent finished product. The vacuum adsorption unit 41 restarts adsorbing the finished product. The robot adjusts its six-axis posture and removes the bent steel plate from the V-shaped lower die, transferring it to the finished product storage area. Then, the walking execution mechanism 2 drives the moving platform 23 back to the side of the raw material rack 1, preparing to grab the next steel plate 6 to be processed, and enter the next round of collaborative processing cycle.

[0092] When processing 8mm thick, 1500mm×1000mm steel plates with a 135° obtuse angle, only mold replacement and parameter fine-tuning are required to achieve collaborative adaptation: the operator quickly replaces the V-shaped lower die and upper die punch of the bending processing mechanism 3 and adjusts the pushing stroke of the auxiliary positioning mechanism 5; the gripping robot adjusts the adsorption posture of the vacuum suction cup 4132 matrix through the control system to adapt to the uniform force distribution of larger steel plates; the travel stroke of the walking execution mechanism 2 does not need to be adjusted, and the gripping, transfer and bending of the new specification steel plates can be completed through the robot's six-axis posture compensation, which has strong adaptability and high production changeover efficiency.

[0093] In one feasible embodiment, the steel plate 6 to be processed can also be bent on both sides: according to the requirement of 90° bending on both sides of the steel plate 6 to be processed, the walking actuator 2 drives the moving platform 23 to move towards the raw material rack 1, the six-axis industrial robot drives the vacuum adsorption unit 41 to descend, the suction cup matrix adheres to the surface of the steel plate 6 to be processed, after the vacuum generator 411 is started, the vacuum pressure sensor detects that the pressure has reached the preset threshold, confirming that the adsorption is stable; the robot drives the steel plate to rise and maintain a horizontal posture, and moves it with the moving platform 23 to the upper part of the feeding side of the bending processing mechanism 3.

[0094] The robot adjusts its posture, aligns the first bent side of the steel plate with the center line of the V-groove of the lower mold, and places it stably on the top of the lower mold; the auxiliary positioning mechanism 5 is activated, pushing the hydraulic cylinder to drive the positioning pusher to push the side edge of the steel plate, and resets after completing the position calibration of the first side; the robot releases its adsorption and rises to a safe position.

[0095] The hydraulic drive system is started, and the piston rod of the hydraulic cylinder drives the upper die punch to descend, pressing the first side of the steel plate, causing it to undergo plastic deformation along the V-shaped lower die groove, completing the 90° bend of the first side; after bending, the hydraulic cylinder drives the upper die to reset, and the auxiliary positioning mechanism 5 remains in standby state.

[0096] The six-axis industrial robot drives the vacuum adsorption unit 41 to descend again, re-adsorbing the steel plate that has been bent on one side, ensuring that the suction cup matrix fits the unbent area of ​​the steel plate and the force is even; the robot rotates the unbent second side of the steel plate to a position parallel to the center line of the V-groove of the lower mold through the coordinated rotation of the six-axis joints, and at the same time adjusts the position of the steel plate so that the second bent side is aligned with the reference line of the lower mold.

[0097] The robot smoothly places the steel plate on top of the lower mold. At this time, the auxiliary positioning mechanism 5 is activated according to the preset second side alignment parameters. The positioning push head pushes the other edge of the steel plate to complete the precise calibration of the second side. The robot then releases the adsorption and rises to a safe position.

[0098] The hydraulic drive system repeats the bending action. The hydraulic cylinder drives the upper die punch to descend and press the second side of the steel plate to complete the 90° bend on the second side. After the bend is completed, the upper die is reset, and the double-sided bending operation of the steel plate is completed.

[0099] The six-axis industrial robot drives the adsorption unit to descend, adsorbs the finished steel plate after double bending, adjusts its posture and moves it to the finished product storage area, releases the adsorption and completes the unloading; then the walking actuator 2 drives the robot back to the side of the raw material storage rack 1, ready to grab the next piece of steel plate 6 to be processed, and enters the next round of double bending cycle.

[0100] In one feasible embodiment, the auxiliary positioning mechanism 5 includes a cylinder mounting bracket, a linear guide mechanism, a push cylinder, and a positioning push head. The cylinder mounting bracket is fixedly connected to the side wall of the frame of the bending processing mechanism 3. The linear guide mechanism includes a guide rod and a guide sleeve. The piston rod of the push cylinder is connected to the positioning push head through a connecting block. The contact surface of the positioning push head is a plane or arc surface that fits against the side of the steel plate. A pressure sensor is provided on the positioning push head.

[0101] In this embodiment, the auxiliary positioning mechanism 5 specifically includes a hydraulic cylinder mounting bracket, a linear guide mechanism, a pushing hydraulic cylinder, and a positioning pusher. The components work together to achieve stable pushing and positioning of the steel plate 6 to be processed. Hydraulic cylinder mounting bracket: It is made of welded metal sheet and fixed to the side wall of the frame of the bending processing mechanism 3 by bolts. The installation height can be finely adjusted according to the thickness of the steel plate 6 to be processed, so as to ensure that the positioning push head can make precise contact with the lateral edge of the steel plate 6 to be processed.

[0102] Linear guide mechanism: includes guide rod and guide sleeve. The guide sleeve is fixedly installed on the cylinder mounting bracket. The guide rod passes through the guide sleeve and slides in cooperation with the guide sleeve. The extension direction of the guide rod is consistent with the extension and retraction direction of the piston rod of the cylinder. One end of the guide rod is fixedly connected to the positioning push head to provide guiding constraints for the movement of the positioning push head and prevent the positioning push head from deviating or tilting during the pushing process.

[0103] The hydraulic cylinder is horizontally mounted on the cylinder mounting bracket. Its piston rod is fixedly connected to the positioning push head through a connecting block, which can drive the positioning push head to move toward or away from the steel plate 6 to be processed. The contact surface of the positioning push head is a flat or curved surface that is adapted to the side of the steel plate 6 to be processed. The flat contact surface is adapted to the flat side of the steel plate 6 to be processed, and the curved contact surface is adapted to the steel plate 6 to be processed with a slightly curved side, ensuring that the two fit tightly and avoiding damage to the surface of the steel plate 6 to be processed when pushing.

[0104] Pressure sensing structure: A pressure sensor is integrated on the positioning push head, which is connected to the equipment control system. When the positioning push head pushes the steel plate 6 to be processed to the preset positioning position, the steel plate 6 generates a reaction force on the positioning push head. After the pressure value detected by the pressure sensor reaches the preset threshold, it immediately sends a signal to the control system. The control system then controls the push cylinder to stop moving, completes the positioning calibration, and prevents the steel plate 6 to be processed from deforming due to excessive pushing force.

[0105] While the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the invention to these descriptions. Various changes in form and detail can be made by those skilled in the art, including several simple deductions or substitutions, without departing from the spirit and scope of the invention.

Claims

1. An automatic steel plate bending production equipment, characterized in that, The system includes a raw material storage rack, a traveling actuator, a bending processing mechanism, a gripping and transporting mechanism, and an auxiliary positioning mechanism. The steel plate to be processed is placed on the raw material storage rack and gripped by the gripping and transporting mechanism, moved along a first direction, and bent into shape by the bending processing mechanism. The raw material rack is equipped with multiple support components for supporting the steel plates to be processed; The walking actuator is disposed between the raw material rack and the bending processing mechanism, and includes a linear walking component extending along a first direction. The linear walking component is used to reciprocate between the raw material rack and the bending processing mechanism along the first direction. The gripping and conveying mechanism is mounted on the walking execution mechanism and includes a conveying component. When the gripping and conveying mechanism moves to one side of the raw material rack, the conveying component is located above the raw material rack and is used to pick up the steel plate to be processed from the raw material rack and convey it to the bending processing mechanism along with the linear walking component. The bending processing mechanism includes a processing component for bending and shaping the steel plate to be processed, which is transported onto it by the gripping and handling mechanism. The auxiliary positioning mechanism is fixedly installed on the feeding side of the bending processing mechanism, and the movement direction of its driving end is toward the processing center of the bending processing mechanism, which is used to calibrate the lateral position of the steel plate before bending.

2. The automatic steel plate bending production equipment as described in claim 1, characterized in that, The supporting component is a universal ball bearing. The raw material storage rack includes a rectangular supporting platform with a horizontal upper surface. The three sides of the supporting platform are respectively provided with a first side baffle, a second side baffle, and an end baffle. The first side baffle and the second side baffle are located on the two long sides of the supporting platform, and the end baffle is located on one short side of the supporting platform. Locking bolts are provided between the first side baffle and the second side baffle and the supporting platform.

3. The automatic steel plate bending production equipment as described in claim 1, characterized in that, The linear motion assembly includes two linear guide rails parallel to the first direction, a rack disposed between the two linear guide rails and parallel to the linear guide rails, a moving platform spanning the two linear guide rails, a slider fixedly installed at the bottom of the moving platform and slidingly engaged with the linear guide rails, and a drive device fixedly installed on the moving platform. The drive device includes a servo motor and a gear driven to rotate by the servo motor. The gear meshes with the rack to drive the moving platform to reciprocate along the linear guide rails.

4. The automatic steel plate bending production equipment as described in claim 3, characterized in that, The mobile platform is equipped with an installation platform on top, and the installation platform has multiple threaded mounting holes for fixing the gripping and handling mechanism. Protective covers are provided on both sides of the mobile platform, and cable drag chains are laid on the inner side of the protective covers.

5. The automatic steel plate bending production equipment as described in claim 4, characterized in that, The gripping and handling mechanism includes a six-axis industrial robot. The base of the six-axis industrial robot is fixedly connected to the mounting platform by bolts. A steel plate gripping assembly is installed on the end flange of the six-axis industrial robot. The steel plate gripping assembly includes a connecting flange, a support frame, and a vacuum adsorption unit. The support frame is connected to the end flange through the connecting flange.

6. The automatic steel plate bending production equipment as described in claim 5, characterized in that, The vacuum adsorption unit includes a vacuum generator, a vacuum pressure sensor, an electromagnetic control valve, and multiple suction cup assemblies. The multiple suction cup assemblies are distributed in a matrix on the bottom plane of the support frame. Each suction cup assembly includes a suction cup base, a corrugated suction tube, and a vacuum suction cup. The vacuum generator is connected to the suction cup base of each suction cup assembly through a vacuum pipeline. The vacuum pressure sensor is installed on the vacuum pipeline to monitor the vacuum pressure value.

7. The automatic steel plate bending production equipment as described in claim 1, characterized in that, The bending processing mechanism also includes a C-shaped frame structure main body. The processing components include a worktable installed on the lower part of the main body, a lower die assembly set on the worktable, an upper die assembly set on the upper part of the worktable, and a hydraulic drive system. The upper die assembly is connected to the guide rail on the upper part of the main body of the main body through a slider. The hydraulic drive system includes a hydraulic cylinder, a hydraulic pump station, and a control valve group. The piston rod of the hydraulic cylinder is connected to the upper die assembly.

8. The automatic steel plate bending production equipment as described in claim 7, characterized in that, The lower die assembly includes a die base and a replaceable V-shaped lower die. The upper die assembly includes an upper die base and a replaceable upper die punch. The die base is provided with a positioning pin hole. The V-shaped lower die is fixed to the die base by positioning pins and bolts. The upper die punch is installed on the upper die base by a quick clamping device.

9. The automatic steel plate bending production equipment as described in claim 7, characterized in that, It also includes a finished product conveyor for the steel plates to be processed, which is located between the gripping and handling mechanism and the bending processing mechanism, and below the worktable.

10. The automatic steel plate bending production equipment as described in claim 1, characterized in that, The auxiliary positioning mechanism includes a cylinder mounting bracket, a linear guide mechanism, a push cylinder, and a positioning push head. The cylinder mounting bracket is fixedly connected to the side wall of the bending processing mechanism frame. The linear guide mechanism includes a guide rod and a guide sleeve. The piston rod of the push cylinder is connected to the positioning push head through a connecting block. The contact surface of the positioning push head is a flat or arc-shaped surface that fits against the side of the steel plate. A pressure sensor is provided on the positioning push head.

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