Bending method and bending apparatus

Abstract

The present application relates to the technical field of automatic processing equipment, and particularly relates to a bending method and a bending device, the method proposes a bending device, the bending device comprises a first bending unit and a second bending unit, the first bending unit has a first bending part, and the second bending unit has a second bending part, and the method comprises the following steps: moving a flexible structure to the first bending unit; driving the first bending part to make a jacking movement in a first direction, so as to jack up a first bending position of the flexible structure, so that the flexible structure forms a first bending structure at the first bending position; moving the flexible structure after the first bending to the second bending unit; and driving the second bending part to make a translation movement in a second direction, so as to push the flexible structure to a position close to a second bending position, so that the flexible structure forms a second bending structure at the second bending position. The main purpose of the present application is to provide a bending method, which aims to realize secondary bending of the flexible structure.

Description

Technical Field

[0001] This invention relates to the field of automated processing equipment technology, and in particular to a bending method and bending equipment. Background Technology

[0002] As one of the core vibrating components of a loudspeaker, the centering support plays a crucial role in ensuring the voice coil moves precisely axially within the magnetic gap of the magnetic circuit system, while preventing lateral displacement. This is essential for the loudspeaker's acoustic performance and power handling capacity. With the increasing demands for superior sound quality in consumer electronics, centering supports are often pre-bent into specific angles or curved surfaces to optimize acoustic performance and assembly space utilization, thus meeting the functional requirements of product design.

[0003] However, in practical applications, it is not limited to centering supports that need to be bent into specific angles or curved structures. Various flexible structural components (such as flexible wires, flexible flat cables, flexible circuit boards, etc.) also face the need for bending processing in electronic products. Summary of the Invention

[0004] The main objective of this invention is to provide a bending method that enables secondary bending of flexible structures.

[0005] To achieve the above objectives, the present invention proposes a bending method for bending flexible structures, the flexible structures having a first bending position and a second bending position to be bent, and providing a bending device, the bending device including a first bending unit and a second bending unit, the first bending unit having a first bending portion, the second bending unit having a second bending portion, and the bending method comprising:

[0006] Transfer the flexible structure to the first bending unit;

[0007] The first bending part is driven to perform a lifting movement along the first direction to lift the first bending position of the flexible structure so that the flexible structure forms a first bending structure at the first bending position;

[0008] The flexible structure that has completed the first bend is transferred to the second bending unit;

[0009] The second bending portion is driven to translate along the second direction to push the flexible structure closer to the position of the second bending point, so that the flexible structure forms a second bending structure at the position of the second bending point;

[0010] Wherein, the first direction intersects with the second direction.

[0011] The present invention also proposes a bending device for implementing the bending method described in any one of the above-mentioned methods, the bending device comprising:

[0012] frame;

[0013] A first bending unit, disposed on the frame, has at least one first bending portion, which is vertically oriented along a first direction and configured to receive the flexible structure and lift the flexible structure to a first bending position, so that the flexible structure forms a first bending structure at the first bending position; and

[0014] The second bending unit is disposed on the frame and has at least one second bending portion. The second bending portion is translatably disposed along a second direction and is configured to receive a flexible structure from the first bending unit and push the flexible structure closer to the position of the second bending position so that the flexible structure forms a second bending structure at the second bending position.

[0015] Wherein, the first direction intersects with the second direction.

[0016] In this technical solution, the bending method provided by the present invention solves the problems of low bending efficiency and difficulty in ensuring accuracy when bending a centering support into a specific angle or curved surface structure by adopting a step-by-step bending method in which a first bending unit performs lifting bending and a second bending unit performs translation bending. Specifically, the method first transfers a flexible structure with a first bending position and a second bending position to the first bending unit, and then drives the first bending part to perform lifting movement along a first direction. By lifting the first bending position, the flexible structure forms a first bending structure at that position. Subsequently, the flexible structure that has completed the first bending is transferred to the second bending unit, and then the second bending unit is driven to perform translation bending. The second bending section moves in a translational motion along a second direction intersecting the first direction. By pushing the flexible structure close to the second bending position, the flexible structure forms a second bending structure at that location. Thus, through two consecutive bending processes, the flexible structure is precisely bent at two different positions in intersecting directions. This not only achieves automated forming of complex bending shapes, but also avoids material interference or positioning inaccuracies that may occur with simultaneous bending by bending in sequence. At the same time, the combination of lifting and translation makes the force distribution during the bending process more reasonable, significantly improving production efficiency and bending consistency, and ensuring the assembly accuracy and acoustic performance of the centering support in the loudspeaker. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the overall layout of an embodiment of the bending equipment provided by the present invention;

[0019] Figure 2 A schematic diagram of a structure of an embodiment of the bending device provided by the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of an embodiment of the first bending upper die provided by the present invention;

[0021] Figure 4 for Figure 3 Enlarged view of point A;

[0022] Figure 5 This is a schematic diagram of a structure of an embodiment of the first bending lower die provided by the present invention;

[0023] Figure 6 A schematic diagram of the first bending unit provided by the present invention in a bent state;

[0024] Figure 7 This is a schematic diagram of a structure of an embodiment of the second bending die provided by the present invention;

[0025] Figure 8 A schematic diagram showing the partial structure of the second bending unit provided by the present invention in a bent state;

[0026] Figure 9 A schematic diagram of a structure of an embodiment of the bending and handling module provided by the present invention;

[0027] Figure 10 A schematic diagram of an embodiment of the flexible structure provided by the present invention;

[0028] Figure 11 A schematic diagram of the bending changes of the flexible structure provided by the present invention;

[0029] Figure 12 This is a schematic flowchart of an embodiment of the bending method provided by the present invention.

[0030] Explanation of icon numbers:

[0031] 100. Bending equipment;

[0032] 10. Rack;

[0033] 20. First bending unit; 21. First upper bending die; 211. First bending forming part; 211a. Bending contour groove; 211b. First bending pressing part; 22. First lower bending die; 221. First bending platform; 221a. First accommodating space; 221b. Lifting channel; 2211. First limiting protrusion; 222. First bending part; 223. First bending block; 2231. First main body; 2232. Lifting arm;

[0034] 30. Second bending unit; 31. Second bending upper die; 311. Bending forming protrusion; 311a. Bending forming wall; 311b. Second bending pressing part; 32. Second bending lower die; 321. Second bending platform; 321a. Second receiving space; 321b. Moving channel; 3211. Second limiting protrusion; 322. Second bending part; 322a. Second bending groove; 323. Second bending block; 3231. Second main body; 3232. Push arm;

[0035] 40. Transfer module; 41. Loading and handling module; 42. First transfer fixture; 43. Bending and handling module; 44. Second transfer fixture; 45. Unloading and handling module;

[0036] 200. Flexible structure; 201. First bending position; 202. Second bending position; 203. Fixed section.

[0037] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0040] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0041] The main objective of this invention is to provide a bending method that enables secondary bending of flexible structures.

[0042] To achieve the above objectives, the present invention proposes a bending method for bending a flexible structure 200. The flexible structure 200 has a first bending position 201 and a second bending position 202 to be bent. A bending device 100 is provided, which includes a first bending unit 20 and a second bending unit 30. The first bending unit 20 has a first bending portion 222, and the second bending unit 30 has a second bending portion 322. Please refer to [link / reference]. Figure 12 Bending methods include:

[0043] S10: Transfer the flexible structure 200 to the first bending unit 20;

[0044] S20: Drive the first bending part 222 to perform a lifting movement along the first direction to lift the first bending position 201 of the flexible structure 200 so that the flexible structure 200 forms a first bending structure at the first bending position 201.

[0045] S30: The flexible structure 200 that has completed the first bend is transferred to the second bending unit 30;

[0046] S40: Drive the second bending part 322 to translate along the second direction to push the flexible structure 200 closer to the position of the second bending position 202, so that the flexible structure 200 forms a second bending structure at the second bending position 202;

[0047] The first direction intersects with the second direction.

[0048] The bending device 100 proposed in this invention is used to bend a flexible structure 200. The flexible structure 200 has a certain degree of flexibility. For example, the flexible structure 200 is a centering support plate. The centering support plate can be applied to the speaker of a sound-generating device such as a mobile phone or tablet, thereby playing a role in vibration centering. That is to say, the bending device 100 proposed in this invention can at least bend the centering support plate in the speaker. It can be understood that, based on the working principle and bending operation of the bending device 100 proposed in this invention, any parts that need to form a bent structure after being bent by the bending device 100 proposed in this invention can be bent and processed by the bending device 100 proposed in this invention, such as flexible wires, soft flat cables, etc., without specific limitations.

[0049] Specifically, the flexible structure 200 is transferred to the first bending unit 20. This step can be achieved manually or automatically. For example, a vacuum suction nozzle combined with a multi-axis motion guide rail can be used. The nozzle is installed on a mechanism that can move in both horizontal and vertical directions. After the flexible structure 200 is transported to the designated position by the preceding conveyor belt, the nozzle moves with the mechanism to the top of the support plate and descends to suction the flexible structure 200. Then it rises back to its original position and moves horizontally to the top of the first bending platform 221 of the first bending unit 20. The nozzle releases the support plate so that it is precisely positioned, thereby achieving automatic feeding.

[0050] Subsequently, the flexible structure 200 is bent for the first time, and the first bending part 222 is driven to move upward along the first direction. The first bending part 222 is located in the first bending unit 20 and is set to move up and down along the first direction. When the flexible structure 200 is placed on the first bending part 222, the part between the second bending position 202 and the first bending position 201 in the flexible structure 200 and the part of the first bending position 201 away from the second bending position 202 are not constrained, while the other parts are fixed. At this time, the first bending part 222 is driven to rise upward, and its end presses against the first bending position 201 of the flexible structure 200 and pushes upward, so that the structures on both sides of the first bending position 201 rise with the first bending part 222, thereby forming the first bending structure at the first bending position 201.

[0051] The flexible structure 200, after completing the first bend, is transferred to the second bending unit 30. This step can be done manually or automatically. For example, it can be achieved through a transfer mechanism located between the first bending unit 20 and the second bending unit 30. This transfer mechanism can also use an adsorption nozzle combined with a motion guide rail. After the first bend is completed, the nozzle of the transfer mechanism moves to the first bending unit 20 to adsorb and pick up the support piece, and then moves to the second bending platform 321 of the second bending unit 30 to release the support piece and accurately place it on the second bending platform 321, thus completing the automatic transfer between processes.

[0052] Subsequently, the flexible structure 200 is bent a second time, driving the second bending part 322 to translate along the second direction. The second bending part 322 is disposed in the second bending unit 30 and translated along the second direction. After the flexible structure 200 that has completed the first bend is placed on the second bending part 322, the part of the flexible structure 200 away from the first bending position 201 from the second bending position 202 is fixed, while the part located between the first bending position 201 and the second bending position 202 is in a free state. At this time, the second bending part 322 is driven to move along the second direction, and its end abuts against and pushes the area of ​​the flexible structure 200 located between the first bending position 201 and the second bending position 202 and close to the second bending position 202, so that the area deflects with the second bending position 202 as the rotation fulcrum until the part of the structure is attached to the forming surface on the second bending unit 30, thereby forming a second bending structure at the second bending position 202.

[0053] In this technical solution, the bending method provided by the present invention, by adopting a step-by-step bending method in which the first bending unit 20 performs lifting bending and the second bending unit 30 performs translation bending, can solve the problems of low bending efficiency and difficulty in ensuring accuracy when bending the centering support into a specific angle or curved surface structure in the prior art. Specifically, the method first moves the flexible structure 200 with the first bending position 201 and the second bending position 202 to the first bending unit 20, and then drives the first bending part 222 to perform lifting movement along the first direction. By lifting the first bending position 201, the flexible structure 200 forms a first bending structure at that position. Subsequently, the flexible structure 200 that has completed the first bending is moved to the second bending unit 30. Unit 30 then drives the second bending part 322 to translate along the second direction intersecting the first direction. By pushing the flexible structure 200 close to the second bending position 202, the flexible structure 200 forms a second bending structure at that location. Thus, through two consecutive bending processes, the flexible structure 200 is precisely bent at two different positions in mutually intersecting directions. This not only achieves automated forming of complex bending shapes, but also avoids material interference or inaccurate positioning problems that may occur with simultaneous bending by bending in sequence. At the same time, the combination of lifting and translation makes the force distribution during the bending process more reasonable, significantly improving production efficiency and bending consistency, and ensuring the assembly accuracy and acoustic performance of the centering support in the loudspeaker.

[0054] In one embodiment of the present invention, the first bending unit 20 includes a first upper bending die 21 and a first lower bending die 22. The first upper bending die 21 is provided with a bending contour groove 211a, and the first lower bending die 22 is provided with a first bending portion 222. S20 includes:

[0055] S21: Drive the first bending upper die 21 to move along the first direction toward the first bending lower die 22 and close with the first bending lower die 22;

[0056] S22: Drive the first bending part 222 to rise along the first direction toward the bending contour groove 211a, so as to drive the first bending position 201 of the flexible structure 200 into the bending contour groove 211a, so that the part of the flexible structure 200 on both sides of the first bending position 201 fits into the groove wall of the bending contour groove 211a to form the first bending structure.

[0057] In S21, the first bending upper die 21, as a movable module, moves downward in the first direction (i.e., the vertical direction) through the driving components such as cylinders and linear motors combined with the guidance of the guide rail. When the first bending upper die 21 moves down to the position where it fits with the first bending lower die 22, the two complete the mold closing action. At this time, the bending contour groove 211a of the first bending upper die 21 and the first bending part 222 on the first bending lower die 22 form an alignment relationship in the vertical direction. At the same time, the first bending upper die 21 and the first bending lower die 22 jointly clamp and fix the other parts of the flexible structure 200, providing a stable positioning foundation for subsequent lifting and bending.

[0058] In S22, after the mold is closed, the first bending part 222 is lifted upward in the first direction by manual operation or the driving component. Since the first bending part 222 is set directly opposite the bending contour groove 211a, it will press against the first bending position 201 of the flexible structure 200 during its rise and push the position upward into the bending contour groove 211a. As the first bending part 222 continues to rise, the material on both sides of the flexible structure 200 at the first bending position 201 is gradually pressed into the gap between the first bending part 222 and the bending contour groove 211a, and finally fits against the groove wall surface of the bending contour groove 211a. Since the groove shape of the bending contour groove 211a is preset according to the required bending angle (for example, set as an inverted V-shaped structure), the support material is precisely bent into a shape consistent with the groove wall during the process of fitting the groove wall, thereby forming the first bending structure at the first bending position 201.

[0059] By first fixing the mold and then lifting and bending, the flexible structure 200 is ensured not to shift as a whole during the bending process, thus guaranteeing the accuracy of the bending position. At the same time, the guiding and shaping function of the bending contour groove 211a is utilized to ensure that the first bent structure after forming has a high degree of consistency and repeatability.

[0060] In one embodiment of the present invention, the first bending die 22 is provided with a first bending platform 221, a first bending block 223 and a first driving member. The output end of the first driving member is connected to the first bending block 223. The upper surface of the first bending platform 221 is used to support the flexible structure 200. The first bending block 223 is movably disposed in the first bending platform 221 along a first direction. S22 includes:

[0061] The first driving component is controlled to drive the first bending block 223 to rise along the first direction, so that the first bending part 222 is exposed from the first bending platform 221 and the first bending position 201 of the flexible structure 200 is lifted until the first bending part 222 is inserted and engaged with the bending contour groove 211a. Parts of the flexible structure 200 on both sides of the first bending position 201 are pressed against the groove wall of the bending contour groove 211a to form the first bending structure.

[0062] Specifically, the first bending lower die 22 adopts a split structure design, in which the first bending platform 221 serves as a fixed load-bearing base and has an internal accommodating space. The first bending block 223 is movably installed within this accommodating space. The output end of the first driving component (e.g., a cylinder, linear motor, or hydraulic cylinder) is connected to the first bending block 223 to provide lifting power. The upper end of the first bending block 223 protrudes with a first bending portion 222. In the initial state, the first bending portion 222 can be lower than or flush with the upper surface of the first bending platform 221 to facilitate the placement of the flexible structure 200. After the first bending upper die 21 and the first bending lower die 22 complete mold closing, the control system sends a command to the first driving component. The first driving component drives the first bending block 223 to rise smoothly in a first direction. The first bending block 223 drives the first bending portion 222 at its end to move upward, so that the first bending portion 222 gradually emerges from the first bending platform 221. Since the first bending position 201 of the flexible structure 200 is pre-placed directly above the first bending part 222, the rising first bending part 222 first contacts and lifts the first bending position 201. As the first bending block 223 continues to rise, the first bending part 222 carries the first bending position 201 of the flexible structure 200 to continue to enter the bending contour groove 211a of the first bending upper die 21.

[0063] When the first bending block 223 rises to the preset position, the first bending part 222 and the bending contour groove 211a are fully engaged. At this time, part of the material of the flexible structure 200 on both sides of the first bending position 201 is squeezed between the outer surface of the first bending part 222 and the groove wall of the bending contour groove 211a. Under the joint constraint of the two, it gradually conforms to the curved surface of the groove wall of the bending contour groove 211a, and finally forms a first bending structure that is completely consistent with the shape of the bending contour groove 211a. By directly driving the first bending block 223 with the first driving component, the independent and precise control of the first bending part 222 is achieved. This not only ensures the stability and controllability of the lifting action, but also allows the stroke of the first bending part 222 to be adjusted according to the flexible structure 200 of different specifications, improving the applicability of the equipment. At the same time, the embedded installation structure of the first bending block 223 and the first bending platform 221 also provides good guidance and support for the movement of the first bending part 222, ensuring the accuracy and repeatability of the bending process.

[0064] In one embodiment of the present invention, the first bending upper die 21 further includes a first displacement detection module, which includes a first displacement sensor and a first detection element. The first displacement sensor and the first detection element are spaced apart on the first bending upper die 21 along a first direction. The first detection element is movably disposed along the first direction. Before the step of controlling the first driving member to drive the first bending block 223 to rise along the first direction, so that the first bending portion 222 is exposed from the first bending platform 221 and the first bending position 201 of the flexible structure 200 is raised, the following steps are also included:

[0065] S211: After the first bending upper die 21 and the first bending lower die 22 are closed, the first actual distance value of the first detection piece relative to the first displacement sensor is obtained after the first detection piece is lifted by the flexible structure 200.

[0066] S211: When the first actual distance value is within the preset range, a lifting signal is generated and transmitted to the first driving component.

[0067] Specifically, the first displacement detection module is mounted on the first bending upper die 21. The first displacement sensor can be a high-precision measuring element such as a laser displacement sensor, optical grating ruler, or magnetic grating ruler, and is fixedly set at a certain reference position on the first bending upper die 21. The first detection element is movably set along the first direction, with its lower end extending to the vicinity of the lower surface of the first bending upper die 21. When the first bending upper die 21 moves downward along the first direction and closes with the first bending lower die 22, the lower surface of the first bending upper die 21 abuts against the upper surface of the flexible structure 200. At this time, the first detection element moves upward relative to the first bending upper die 21 due to the reverse pushing action of the flexible structure 200. Its displacement directly reflects the actual thickness of the flexible structure 200 at that position. The first displacement sensor monitors the position change of the first detection element in real time and outputs the first actual distance value of the first detection element relative to the first displacement sensor. This distance value actually characterizes the thickness information of the flexible structure 200 at the detection position.

[0068] When the first actual distance value is within a preset range, a lifting signal is generated and transmitted to the first driving component. Specifically, the control system has a preset theoretical distance range corresponding to the standard thickness, which is set based on the normal thickness of the single-layer flexible structure 200 plus a reasonable tolerance. When the first actual distance value falls within this preset range, it indicates that the currently placed flexible structure 200 is single-layered and of normal thickness, and there are no abnormalities such as material stacking or foreign matter mixing. At this time, the control system determines that bending processing can continue and generates a lifting signal to send to the first driving component, triggering the subsequent lifting action of the first bending block 223. Conversely, if the first actual distance value exceeds the preset range, for example, if the distance value is too small, it indicates that the support sheet thickness is too thin (possibly due to material shortage), or if the distance value is too large, it indicates that the support sheet thickness is too thick (possibly due to material stacking or excess sheet mixing), the control system determines that there is an abnormality, immediately stops the subsequent actions, and issues an alarm signal to prompt the operator to check and handle the situation.

[0069] By integrating a displacement detection module into the first bending unit 20 and adding a thickness detection step before lifting and bending, online real-time monitoring of the status of the flexible structure 200 is achieved. This enables effective identification of abnormal conditions such as material stacking, material shortage, or foreign matter contamination before bending, avoiding problems such as mold damage or the generation of a large number of scrap products caused by continuing bending under abnormal conditions. This significantly improves the safety of equipment operation and the yield rate of products, while also providing a reliable technical means for quality control of automated production lines.

[0070] In one embodiment of the present invention, the second bending unit 30 includes a second bending upper die 31 and a second bending lower die 32. The second bending upper die 31 is provided with a bending forming protrusion 311, and the second bending unit 30 has a second bending portion 322. S40 includes:

[0071] S41: Drive the second bending upper die 31 to move along the first direction toward the second bending lower die 32 and close with the second bending lower die 32;

[0072] S42: Drive the second bending portion 322 to move along the second direction toward the bending protrusion 311, so as to drive the portion of the flexible structure 200 located between the first bending position 201 and the second bending position 202 to rotate toward the bending protrusion 311, so that the portion of the flexible structure 200 located between the first bending position 201 and the second bending position 202 can fit against the outer surface of the bending protrusion 311, so that the flexible structure 200 forms a second bending structure at the second bending position 202.

[0073] Specifically, the second bending upper die 31, as a movable module, moves downward in the first direction (i.e., the vertical direction) through the driving components such as cylinders and linear motors combined with the guidance of guide rails. When the second bending upper die 31 descends to the position where it fits against the second bending lower die 32, the two complete the mold closing action. At this time, the bending forming protrusion 311 of the second bending upper die 31 and the second bending portion 322 on the second bending lower die 32 are spatially aligned. At the same time, the second bending upper die 31 and the second bending lower die 32 jointly clamp and fix the part of the flexible structure 200 that is away from the first bending position 201 from the second bending position 202 (e.g., the fixed section 203), providing a stable positioning basis for subsequent side-push bending and ensuring that the flexible structure 200 will not undergo overall displacement during the bending process.

[0074] Subsequently, after mold closing, the second bending portion 322 moves along the second direction (i.e., the horizontal direction) toward the bending protrusion 311 under the action of manual operation or a driving component. Since the second bending portion 322 is positioned directly opposite the area in the flexible structure 200 located between the first bending position 201 and the second bending position 202, it will first abut against the side of this area near the second bending position 202 during its movement. As the second bending block 323 continues to advance, the second bending portion 322 applies a continuous pushing force to this area. Since the portion of the flexible structure 200 away from the first bending position 201 from the second bending position 202 has been fixed by mold closing and cannot move, this pushing force causes the area located between the first bending position 201 and the second bending position 202 to deflect with the second bending position 202 as the rotation fulcrum, causing this area to gradually rotate toward the bending protrusion 311.

[0075] When the second bending block 323 moves to the preset position, the portion of the flexible structure 200 located between the first bending position 201 and the second bending position 202 completely adheres to the outer surface of the bending forming protrusion 311. This outer surface is a bending forming wall 311a pre-set according to the required second bending angle. During the adhesion process, the support material is precisely bent into a shape consistent with the forming wall, thereby forming a second bending structure at the second bending position 202.

[0076] By first fixing the mold and then pushing it to the side to bend, the positioning accuracy of the flexible structure 200 during the bending process is ensured. At the same time, the forming wall of the bending forming protrusion 311 is used for limiting and shaping, so that the second bending structure after forming has a high degree of consistency and repeatability, avoiding forming errors caused by material springback or positioning deviation.

[0077] In one embodiment of the present invention, the second bending die 32 is provided with a second bending platform 321, a second bending block 323, and a second driving member. The output end of the second driving member is connected to the second bending block 323. The upper surface of the second bending platform 321 is used to support the flexible structure 200 after one bending. The second bending block 323 is movably disposed in the second bending platform 321 along a second direction. The end of the second bending block 323 near the bending forming protrusion 311 is provided with a second bending portion 322. The step of driving the second bending portion 322 to move along the second direction toward the bending forming protrusion 311 to drive the portion of the flexible structure 200 located between the first bending position 201 and the second bending position 202 to rotate toward the bending forming protrusion 311 includes:

[0078] The second driving member is controlled to drive the second bending block 323 to move toward the bending protrusion 311 along the second direction, so that the end of the second bending portion 322 away from the second bending platform 321 can abut against the flexible structure 200, thereby driving the portion of the flexible structure 200 located between the first bending position 201 and the second bending position 202 to rotate toward the bending protrusion 311.

[0079] Specifically, the second bending die 32 adopts a split structure design, in which the second bending platform 321 serves as a fixed load-bearing base and has an internal accommodating space. The second bending block 323 is movably installed within this accommodating space. The output end of the second driving component (e.g., a cylinder, linear motor, or hydraulic cylinder) is connected to the second bending block 323, providing it with the power for horizontal movement. The end of the second bending block 323 protrudes to form a second bending portion 322. In the initial state, the second bending portion 322 can be located at the edge of the second bending platform 321 or slightly recessed to facilitate the placement and positioning of the flexible structure 200 for the first bending.

[0080] After the second bending upper die 31 and the second bending lower die 32 complete mold closing, the control system sends a command to the second driving component. The second driving component drives the second bending block 323 to move smoothly along the second direction, so that the second bending portion 322 at the end of the second bending block 323 gradually moves toward the bending forming protrusion 311. Since the area in the flexible structure 200 located between the first bending position 201 and the second bending position 202 is pre-placed on the moving path of the second bending portion 322, the moving second bending portion 322 first abuts against the side of this area near the second bending position 202 with its end away from the second bending platform 321 (i.e., the second bending end).

[0081] As the second driving member continues to apply force, the second bending block 323 continues to advance, and the second bending portion 322 applies a stable pushing force to the area. Since the portion of the flexible structure 200 that is away from the first bending position 201 from the second bending position 202 has been fixed by the mold, the pushing force forces the area located between the first bending position 201 and the second bending position 202 to deflect with the second bending position 202 as the rotation fulcrum, thereby driving the area to gradually rotate toward the bending forming protrusion 311 until it fits against the outer surface of the bending forming protrusion 311.

[0082] By directly driving the second bending block 323 with the second driving component, independent and precise control of the second bending section 322 is achieved. This not only ensures the smoothness and controllability of the lateral pushing action, but also allows the travel of the second bending section 322 to be adjusted according to the flexible structure 200 of different specifications, improving the applicability of the equipment. At the same time, the embedded installation structure of the second bending block 323 and the second bending platform 321 provides good guidance and support for the movement of the second bending section 322, ensuring the precise transmission of the driving force and the precise control of the bending angle during the bending process.

[0083] In one embodiment of the present invention, the second bending upper die 31 further includes a second displacement detection module, which includes a second displacement sensor and a second detection element. The second displacement sensor and the second detection element are spaced apart on the second bending upper die 31 along a first direction. The second detection element is movably disposed along the first direction. Before the step of controlling the second driving member to drive the second bending block 323 to move along the second direction toward the bending forming protrusion 311, the following is also included:

[0084] S411: After the second bending upper die 31 and the second bending lower die 32 are closed, obtain the second actual distance value of the second detection piece relative to the second displacement sensor after it is lifted by the flexible structure 200;

[0085] S412: When the second actual distance value is within the preset range, generate and transmit a translation signal to the second drive unit.

[0086] After the second bending upper die 31 and the second bending lower die 32 are closed, the second actual distance value of the second detection element relative to the second displacement sensor after being lifted by the flexible structure 200 is obtained. Specifically, the second displacement detection module is installed on the second bending upper die 31, wherein the second displacement sensor can be a high-precision measuring element such as a laser displacement sensor, an optical grating ruler, or a magnetic grating ruler, and is fixedly set at a certain reference position of the second bending upper die 31. The second detection element is movably set along the first direction, and its lower end extends to the vicinity of the lower surface of the second bending upper die 31. When the second bending upper die 31 moves down along the first direction and closes with the second bending lower die 32, the lower surface of the second bending upper die 31 will abut against the upper surface of the flexible structure 200 after the first bend. At this time, the second detection element moves upward relative to the second bending upper die 31 due to the reverse pushing action of the flexible structure 200, and its displacement directly reflects the actual thickness of the flexible structure 200 at the detection position.

[0087] Since the flexible structure 200 has already undergone its first bend, its thickness should theoretically be consistent with that of a single-layer material. However, if abnormalities such as material stacking or foreign matter adhesion occur after the first bend or during transport, the thickness will change. The second displacement sensor monitors the positional changes of the second detection element in real time and outputs the second actual distance value of the second detection element relative to the second displacement sensor. This distance value represents the thickness information of the flexible structure 200 at the detection position.

[0088] When the second actual distance value is within a preset range, a translation signal is generated and transmitted to the second driving component. Specifically, the control system has a preset theoretical distance range corresponding to the standard thickness, which is set based on the normal thickness of the single-layer flexible structure 200 plus a reasonable tolerance. When the second actual distance value falls within this preset range, it indicates that the thickness of the currently placed flexible structure 200 is normal, and there are no abnormalities such as material stacking or foreign matter mixing. At this time, the control system determines that the second bending process can continue and generates a translation signal to send to the second driving component, triggering the subsequent lateral pushing operation of the second bending block 323.

[0089] Conversely, if the second actual distance value exceeds the preset range, for example, if the distance value is too small, it indicates that the support sheet is too thin (there may be missing or damaged material), or if the distance value is too large, it indicates that the support sheet is too thick (there may be overlapping material or mixed with excess sheet material), the control system will determine that there is an abnormality, immediately stop subsequent actions and issue an alarm signal to prompt the operator to check and handle it.

[0090] By integrating a displacement detection module into the second bending unit 30 and adding a thickness detection step before side-push bending, this invention achieves online real-time monitoring of the state of the flexible structure 200 after the first bending. It can effectively identify abnormalities such as material stacking, material shortage, or foreign matter mixing before the second bending process, avoiding problems such as damage to the second bending mold, product scrapping, or equipment failure caused by continuing bending under abnormal conditions. This significantly improves the safety of equipment operation and the yield rate of products, while providing reliable technical support for the whole-process quality control of automated production lines.

[0091] In one embodiment of the present invention, the bending device 100 further includes a bending conveying module 43, S30 including:

[0092] S31: Control the bending and transporting module 43 to move to the first bending unit 20 and pick up the flexible structure 200 that has completed the first bending.

[0093] S32: Control the bending and transporting module 43 to move the flexible structure 200 to the second bending unit 30, and release the flexible structure 200 at the preset position of the second bending unit 30.

[0094] Specifically, the bending and conveying module 43 can be implemented by combining an adsorption nozzle with a multi-axis motion guide rail. This module is installed on the frame 10 and can move horizontally along the length and width of the frame 10, and can move up and down along the first direction (i.e., the vertical direction). After the first bending process is completed, the control system sends a command to the bending and conveying module 43 to move it along a preset path to above the first bending unit 20. Then, it drives the adsorption nozzle to descend along the first direction to contact the flexible structure 200 that has completed the first bending. The flexible structure 200 is firmly picked up by vacuum adsorption. The adsorption nozzle then rises back up along the first direction to reset, so that the flexible structure 200 is detached from the first bending unit 20.

[0095] After the bending and transporting module 43 picks up the flexible structure 200, it moves horizontally to above the second bending unit 30 and precisely adjusts its position according to the preset positioning marks or limiting structures on the second bending unit 30, so that the flexible structure 200 carried by the suction nozzle is aligned with the target placement area on the second bending platform 321. Then, the suction nozzle descends along the first direction, releases the flexible structure 200 and places it in the preset position of the second bending platform 321, such as in the second bending station formed by multiple second limiting protrusions 3211. After the vacuum of the suction nozzle is cut off, it rises and resets along the first direction, completing the automatic transfer between processes.

[0096] By adopting an automatic transfer method combining suction nozzles and multi-axis motion guides, the flexible structure 200 is quickly and accurately transferred from the first bending unit 20 to the second bending unit 30, avoiding positioning deviations, bumps, damage, or inefficiency that may be caused by manual transfer. It also ensures the consistency of position for each transfer, providing a reliable guarantee for the accuracy of the second bending process. At the same time, it achieves seamless connection between the first bending unit 20 and the second bending unit 30, significantly improving the overall production cycle and automation level.

[0097] In one embodiment of the present invention, the bending equipment 100 further includes a loading and handling module 41, a first transfer fixture 42, a second transfer fixture 44, and a unloading and handling module 45. S10 includes:

[0098] S11: Control the loading and handling module 41 to transfer the flexible structure 200 to be bent to the first transfer fixture 42;

[0099] S12: Control the bending and transporting module 43 to pick up the flexible structure 200 from the first transfer fixture 42 and transfer the flexible structure 200 to the first bending unit 20.

[0100] Specifically, the loading and handling module 41 can be implemented using a combination of suction nozzles and multi-axis motion guides. It is mounted on the frame 10 and can move in the horizontal and first directions. When the flexible structure 200 to be bent is transported to the preset loading position by the preceding workpiece input conveyor belt, the control system sends a command to the loading and handling module 41 to move it above the conveyor belt and descend. The flexible structure 200 is picked up by vacuum suction, then it rises to reset and moves horizontally above the first transfer fixture 42. It then descends to release the flexible structure 200 and accurately place it on the bearing surface of the first transfer fixture 42. The first transfer fixture 42 serves as a temporary buffer and positioning platform. Its surface can be provided with positioning structures (such as limiting protrusions or positioning grooves) adapted to the shape of the flexible structure 200 to ensure that the flexible structure 200 maintains the correct posture and position during the waiting period, providing a precise picking benchmark for subsequent processes.

[0101] Subsequently, the bending and transporting module 43 picks up the flexible structure 200 from the first transfer fixture 42 and transfers the flexible structure 200 to the first bending unit 20. Specifically, the bending and transporting module 43 can also be implemented by using an adsorption nozzle combined with a multi-axis motion guide rail, and it is set independently of the loading and transporting module 41. After the flexible structure 200 is placed on the first transfer fixture 42, the control system sends a command to the bending and transporting module 43 to move it above the first transfer fixture 42, lower it to adsorb and pick up the flexible structure 200, then rise to reset and move it horizontally above the first bending platform 221 of the first bending unit 20, and then lower it to release the flexible structure 200 and accurately place it in the preset position of the first bending platform 221 (for example, within the first bending station formed by multiple first limiting protrusions 2211), thereby completing the precise transfer from the buffer station to the processing station.

[0102] Following S40 are:

[0103] S50: Control the bending and transporting module 43 to pick up the flexible structure 200 that has completed two bends from the second bending unit 30, and transfer the flexible structure 200 to the second transfer fixture 44.

[0104] S60: Control the unloading and handling module 45 to pick up the flexible structure 200 that has undergone two bends from the second transfer fixture 44, and move the flexible structure 200 out.

[0105] Specifically, after the second bending of the flexible structure 200 is completed, the bending and transporting module 43 operates again, moving above the second bending platform 321 of the second bending unit 30. It descends to pick up the flexible structure 200 that has undergone two bends, then rises to reset and moves horizontally above the second transfer fixture 44. It then descends again to release the finished flexible structure 200 and precisely place it on the bearing surface of the second transfer fixture 44. The second transfer fixture 44 also has a positioning structure adapted to the shape of the finished product for temporary buffering, awaiting unloading.

[0106] Subsequently, the unloading and handling module 45 picks up the flexible structure 200 that has undergone two bends from the second transfer fixture 44 and removes the flexible structure 200. Specifically, the unloading and handling module 45 can adopt a structure similar to the loading and handling module 41. It moves above the second transfer fixture 44, descends to adsorb and pick up the finished flexible structure 200, then rises to reset and moves horizontally above the workpiece output conveyor belt, and then descends to release the finished product onto the conveyor belt. The conveyor belt then transports the finished product to the next process or a collection container, completing the material output of the entire processing flow.

[0107] By setting up a material handling module 41, a first transfer fixture 42, a bending handling module 43, a second transfer fixture 44, and a material unloading handling module 45, and controlling the process according to the above steps, this invention achieves fully automated flow from material loading of the sheet to be bent, buffering, first bending, inter-process transfer, second bending, finished product buffering to finished product unloading. This not only significantly reduces manual intervention and waiting time, improving production efficiency, but also ensures the positional accuracy of the flexible structure 200 during the flow between processes through the precise positioning of the transfer fixture and the accurate transfer of the handling modules. This avoids collisions, deformations, or positioning deviations caused by manual handling. At the same time, the division of labor and cooperation among multiple handling modules makes the entire flow process more efficient and reliable, further improving the stability of the overall bending process and product consistency.

[0108] Please see Figures 2 to 8 The bending equipment 100 includes:

[0109] Rack 10;

[0110] A first bending unit 20 is mounted on a frame 10. The first bending unit 20 has at least one first bending portion 222, which is vertically oriented along a first direction and configured to receive the flexible structure 200 and lift the flexible structure 200 to a first bending position 201, thereby forming a first bending structure at the first bending position 201.

[0111] The second bending unit 30 is disposed on the frame 10. The second bending unit 30 has at least one second bending portion 322. The second bending portion 322 is arranged to translate along the second direction and is configured to receive the flexible structure 200 from the first bending unit 20 and push the flexible structure 200 close to the position of the second bending position 202 so that the flexible structure 200 forms a second bending structure at the second bending position 202.

[0112] The first direction intersects with the second direction.

[0113] Specifically, the frame 10 is the supporting structure of the bending equipment 100 and is the basic load-bearing component of the entire equipment. It is used to bear the weight of the first bending unit 20, the second bending unit 30 and other related functional components, and to ensure the stability and relative positional accuracy of these components during equipment operation. The upper surface of the frame 10 is a flat mounting plane for fixing the first bending unit 20 and the second bending unit 30, so that the first bending unit 20 and the second bending unit 30 can achieve precise spatial layout and stable working cooperation on the frame 10. In addition, the frame 10 may also be equipped with a control unit, which is electrically connected to the first bending unit 20 and the second bending unit 30 respectively. It is used to precisely control the lifting and lowering timing and stroke parameters of the first bending part 222, and the translational timing and stroke parameters of the second bending part 322. This enables automated sequential control of the flexible structure 200 to first bend to form the first bending structure and then bend to form the second bending structure. At the same time, the control unit can also integrate a human-machine interface, which makes it easy for operators to set process parameters and monitor the equipment operating status, ensuring the reliable execution of the entire bending process.

[0114] The first bending unit 20 is used to perform the first bending of the flexible structure 200. Specifically, the first bending unit 20 has at least a first bending portion 222. Each first bending portion 222 can move up and down along a first direction. The first direction can be understood as the height direction of the frame 10. That is, after the bending device 100 is fixed to a fixed surface, such as the ground, tabletop, etc., each first bending portion 222 can move closer to or away from the fixed surface. Please refer to... Figure 10 and Figure 11When the unbent flexible structure 200 is placed on the first bending portion 222, a portion of the flexible structure 200 is fixed in the first bending unit 20. At this time, the portion of the flexible structure 200 between the second bending position 202 and the first bending position 201 is not constrained in its degrees of freedom, and the portion of the flexible structure 200 away from the first bending position 201 and away from the second bending position 202 is not constrained in its degrees of freedom. Thus, when the flexible structure 200 is placed on the first bending portion 222, each first bending portion 222 approaches each first bending position 202 of the flexible structure 200 along the first direction. 01. A lifting motion is performed, and the end of each first bending part 222 can lift a first bending position 201 of the flexible structure 200. As the first bending part 222 performs the lifting motion, the first bending part 222 drives the structures on both sides of the first bending position 201 to move upward. However, other parts of the flexible structure 200 are constrained. That is to say, only the structures located on both sides of the first bending position 201 in the flexible structure 200 can perform the lifting motion, thereby realizing the bending of the flexible structure 200 at the first bending position 201, so that the flexible structure 200 forms a first bending structure at the first bending position 201.

[0115] After one bending, the flexible structure 200 is transferred to the second bending unit 30. The second bending unit 30 is used to perform a second bending on the flexible structure 200. Specifically, the second bending unit 30 has at least one second bending portion 322. Each second bending portion 322 can move up and down along a second direction. The second direction can be understood as the length or width direction of the frame 10, that is, the second bending portion 322 can move linearly back and forth in a straight line direction. When the flexible structure 200 after one bending is placed in the second bending portion 322, part of the flexible structure 200 is fixed in the second bending unit 30. At this time, the part of the flexible structure 200 between the second bending position 202 and the first bending position 201 is not constrained in its degrees of freedom. The part of the flexible structure 200 away from the second bending position 202 from the first bending position 201 is not constrained in its degrees of freedom. The part of the flexible structure 200 away from the first bending position 201 from the second bending position 202 is constrained in its degrees of freedom. Please refer to... Figure 10 and Figure 11When the flexible structure 200 is placed on the second bending portion 322, as each second bending portion 322 translates along the second direction towards each second bending position 202 of the flexible structure 200, the second bending portion 322 can abut against the structure in the flexible structure 200 located at the first bending position 201 and the second bending position 202, and close to the second bending position 202. As the second bending portion 322 translates, the second bending portion 322 can apply a force to the structure in the flexible structure 200 located at the first bending position 201 and the second bending position 202, and close to the second bending position 202. The driving force is based on the constrained degrees of freedom of the part of the flexible structure 200 that is away from the first bending position 201 from the second bending position 202. That is, for the flexible structure 200, the second bending position 202 can form a rotation fulcrum. As the second bending part 322 moves, the structures on both sides of the flexible structure 200 located at the first bending position 201 tilt relative to each other with the second bending position 202 as the rotation fulcrum, thereby realizing the bending of the flexible structure 200 at the second bending position 202, so that the flexible structure 200 forms a second bending structure at the second bending position 202.

[0116] In this technical solution, the bending device 100 provided by the present invention, by employing a step-by-step bending method in which a first bending unit 20 and a second bending unit 30 cooperate, can solve the problems of low bending efficiency and difficulty in ensuring accuracy when bending a centering support into a specific angle or curved surface structure in the prior art. Specifically, the bending device 100 includes a frame 10, a first bending unit 20 disposed on the frame 10 and having at least one first bending part 222, the first bending part 222 being raised and lowered along a first direction, which is used to receive the flexible structure 200 and lift the first bending position 201 of the flexible structure 200, thereby performing a first bending of the flexible structure 200 to form a first bent structure; subsequently, the second bending unit 30 is disposed on the frame 10. It also has at least one second bending portion 322, which is arranged to translate along a second direction intersecting the first direction. It is used to receive the flexible structure 200 after the first bending and to push the flexible structure 200 close to the second bending position 202 to perform a second bending of the flexible structure 200 to form a second bent structure. Thus, by performing two bending processes in successive directions to precisely bend two different positions of the flexible structure 200, it is possible to achieve automated forming of the bent shape. Moreover, by bending sequentially, it avoids material interference or inaccurate positioning problems that may be caused by simultaneous bending, which significantly improves production efficiency and bending consistency, and ensures the assembly accuracy and acoustic performance of the centering support in the loudspeaker.

[0117] In one embodiment of the present invention, please refer to Figure 4 , Figure 5 as well as Figure 6The first bending unit 20 includes a first bending upper die 21 and a first bending lower die 22. The first bending upper die 21 is movable along a first direction. The first bending upper die 21 and the first bending lower die 22 are aligned along the first direction. The first bending upper die 21 is provided with a first bending forming part 211. The first bending forming part 211 is provided with bending contour grooves 211a in a number that are adapted to the number of first bending parts 222. The first bending lower die 22 is provided with a first bending platform 221 and a first bending part 222. The first bending part 222 is vertically and vertically disposed in the first bending platform 221 along the first direction. Each bending contour groove 211a is aligned with a first bending part 222 along the first direction. The surface of the first bending platform 221 facing the first bending upper die 21 is used to receive the flexible structure 200.

[0118] Each first bend 222 can be inserted into a bend contour groove 211a so that the two sides of the flexible structure 200 at each first bend position 201 can fit against the groove wall of the bend contour groove 211a.

[0119] In this embodiment, the first bending unit 20 adopts a structure with upper and lower dies working together to achieve the first bending of the flexible structure 200. The first bending upper die 21, as a movable module, integrates a drive component and a guide component, and can move up and down along a first direction. A first bending forming part 211 is provided on the side of the first bending upper die 21 facing the first bending lower die 22. Multiple bending contour grooves 211a are formed on the side of the first bending forming part 211 facing the first bending lower die 22. The number of bending contour grooves 211a is adapted to the number of first bending positions 201 required for the flexible structure 200 to be processed. The shape of each bending contour groove 211a can be customized according to the final bending angle required by the product design, for example, it can be set as an inverted "V" shape, thereby providing precise forming space and guidance for the support material during the bending process.

[0120] The first bending lower die 22 serves as a fixed module, comprising a fixedly disposed first bending platform 221 and a movably disposed first bending part 222. The surface of the first bending platform 221 facing the first bending upper die 21 is used to receive and initially position the flexible structure 200 to be processed. Multiple first bending parts 222 are movably embedded in the first bending platform 221 along a first direction. The number of these first bending parts 222 corresponds one-to-one with the number of bending contour grooves 211a, and each first bending part 222 is aligned with a bending contour groove 211a in the vertical direction.

[0121] During operation, after the flexible structure 200 is placed on the first bending platform 221, the first bending upper die 21 moves downward along the first direction and closes with the first bending lower die 22. Subsequently, the first bending part 222 is lifted upward along the first direction, so that the first bending position 201 of the flexible structure 200 is lifted by the first bending part 222 and enters the corresponding bending contour groove 211a. Through the insertion and cooperation of the first bending part 222 and the bending contour groove 211a, part of the material on both sides of the first bending position 201 of the flexible structure 200 is constrained and shaped by the groove wall of the bending contour groove 211a, thereby accurately forming a first bending structure that is consistent with the shape of the bending contour groove 211a. By adopting a structure with upper and lower dies working together, the first bending unit 20 can simultaneously bend and form multiple first bending positions 201, which not only improves production efficiency, but also ensures that the bending angle and shape height of each bending position are consistent through the precise guiding and limiting function of the bending contour groove 211a, avoiding forming errors caused by material springback or positioning deviation, and providing a precise semi-finished product foundation for the subsequent second bending process.

[0122] It is understandable that the movement of the first bending forming part 211 and the first bending part 222 can be achieved by a cylinder combined with a guide rail, or by a linear motor and a guide rail; no limitation is made here.

[0123] Further, please refer to Figure 5 The first bending die 22 also includes a first bending block 223. The first bending platform 221 has a first accommodating space 221a and a lifting channel 221b communicating with the first accommodating space 221a. The first bending block 223 includes a first main body 2231 and a lifting arm 2232 connected to each other. The end of the lifting arm 2232 away from the first main body 2231 has a first bending portion 222. The first main body 2231 is movably disposed in the first accommodating space 221a, and the lifting arm 2232 is movably disposed in the lifting channel 221b, so that the first bending portion 222 can expose the lifting channel 221b to insert and cooperate with the bending contour groove 211a.

[0124] In this embodiment, the first bending lower die 22 achieves the liftable installation and precise guidance of the first bending part 222 by setting a first bending block 223. Specifically, the first bending platform 221 has a first receiving space 221a inside, which is used to receive and install the main body of the first bending block 223, namely the first main body 2231. At the same time, the upper surface of the first bending platform 221 also has a lifting channel 221b that communicates with the first receiving space 221a. The lifting channel 221b penetrates the upper surface of the first bending platform 221 and provides a guide path for the lifting arm 2232 of the first bending block 223 to move up and down.

[0125] The first bending block 223 can be a block structure that is integrally formed or assembled separately. It includes a first main body 2231 and a lifting arm 2232 that are connected to each other. The first main body 2231 serves as a force-bearing support part and is connected to a driving component (such as a cylinder, linear motor, etc.) to obtain lifting power. The lifting arm 2232 extends upward from the first main body 2231, and its free end forms a first bending part 222 for directly contacting and lifting the flexible structure 200.

[0126] In the assembled state, the first main body 2231 is housed in the first accommodating space 221a and can move up and down in the first direction. The lifting arm 2232 is correspondingly inserted in the lifting channel 221b. The inner wall of the lifting channel 221b guides and limits the lifting arm 2232 to prevent it from swaying during movement. When the driving component drives the first main body 2231 to rise, the lifting arm 2232 rises synchronously along the lifting channel 221b, so that the first bent part 222 is exposed from the opening of the lifting channel 221b on the upper surface of the first bending platform 221, thereby engaging with the bending contour groove 211a of the upper first bending die 21 to complete the lifting and bending of the flexible structure 200; when the driving component resets, the first main body 2231 drives the lifting arm 2232 to descend, and the first bent part 222 retracts into the lifting channel 221b or below the upper surface of the first bending platform 221, making it easier to pick up and put down the flexible structure 200.

[0127] By embedding the first bending block 223 into the first bending platform 221, not only is the independent lifting function of the first bending part 222 realized, but also a dual guiding mechanism is formed through the cooperation of the first main body 2231 and the first accommodating space 221a and the cooperation of the lifting arm 2232 and the lifting channel 221b. This significantly improves the stability and alignment accuracy of the lifting movement of the first bending part 222, thereby ensuring the repeatability accuracy and forming quality of each bending action. It also facilitates the individual replacement or maintenance of the first bending part 222, reducing the maintenance cost and usage threshold of the mold.

[0128] In one embodiment of the present invention, please refer to Figure 6 The cross-section of the first bending portion 222 gradually increases from the direction close to the first bending upper die 21 to the direction away from the first bending upper die 21. The end of the first bending portion 222 close to the first bending upper die 21 forms a first bending end. The first bending end is used to lift the first bending position 201 of the flexible structure 200 so that the two sides of the flexible structure 200 at the first bending position 201 fit into the groove wall of the bending contour groove 211a.

[0129] The shape of the bending contour groove 211a is adapted to the shape of the first bending part 222.

[0130] In this embodiment, the first bending portion 222 adopts a gradually changing cross-section design to optimize its fit with the bending contour groove 211a. The overall shape of the first bending portion 222 is designed such that its cross-sectional area gradually changes along a first direction. Specifically, from the end near the first bending upper die 21 to the end away from the first bending upper die 21, the cross-section of the first bending portion 222 gradually increases. For example, it can be set as a cone, pyramid, or columnar structure with a draft angle. This structural design, on the one hand, makes the first bending portion 222 have better guidance when entering the bending contour groove 211a, and on the other hand, it can reduce stress concentration when in contact with the support material. The top of the first bending portion 222 closest to the first bending upper die 21 is designated as the first bending end. This first bending end directly contacts the first bending position 201 of the flexible structure 200 and applies a lifting force. Since the first bending end has a relatively small cross-sectional area, the lifting force can be more concentrated on a local area of ​​the first bending position 201, which is beneficial for forming a clear bending line or bending angle at that position. Correspondingly, the bending contour groove 211a of the first bending upper die 21 is set to a shape that matches the shape of the first bending portion 222. That is, the groove shape of the bending contour groove 211a matches the gradient cross-sectional shape of the first bending portion 222. For example, when the first bending portion 222 is conical, the bending contour groove 211a is also set to a conical groove or a V-shaped groove accordingly.

[0131] During operation, when the first bending part 222 rises and enters the bending contour groove 211a, the first bending position 201 of the flexible structure 200 is lifted by the first bending end. As the first bending part 222 continues to rise, the support material is gradually pressed into the gap between the bending contour groove 211a and the first bending part 222. Since the shapes of the first bending part 222 and the bending contour groove 211a are compatible, some of the material on both sides of the first bending position 201 of the flexible structure 200 can be evenly squeezed and adhered to the groove wall surface of the bending contour groove 211a, thereby forming a bending surface or bending angle that is consistent with the shape of the groove wall. By adopting this shape-adaptive structure, not only is a precise fit between the first bending section 222 and the bending contour groove 211a achieved, avoiding material wrinkles or poor forming caused by shape mismatch, but also the progressive extrusion effect brought about by the gradient cross-section structure makes the support material more uniformly stressed during the bending process, and the surface of the first bending structure after forming is smoother and the angle is more accurate, significantly improving the bending quality.

[0132] In one embodiment of the present invention, please refer to Figure 7 and Figure 8 The second bending unit 30 includes a second bending upper die 31 and a second bending lower die 32. The second bending upper die 31 is movable along a first direction, and the second bending upper die 31 and the second bending lower die 32 are aligned along the first direction.

[0133] The second bending upper die 31 is provided with a number of bending forming protrusions 311 adapted to the number of the second bending portion 322. Each bending forming protrusion 311 has a bending forming wall 311a on its outer surface. The second bending lower die 32 is provided with a second bending platform 321 and a second bending portion 322. The second bending portion 322 exposes the second bending platform 321. The second bending portion 322 can move closer to or away from the bending forming wall 311a along the second direction. The surface of the second bending platform 321 facing the second bending upper die 31 is used to receive the flexible structure 200 from the first bending unit 20.

[0134] Each second bend 322 can drive the portion of the flexible structure 200 located between the first bend position 201 and the second bend position 202 to rotate, so that the portion of the flexible structure 200 located between the first bend position 201 and the second bend position 202 can fit into a bend-formed wall 311a.

[0135] In this embodiment, the second bending unit 30 also adopts a structure with upper and lower dies working together to perform a second bending on the flexible structure 200 after the first bending. The second bending upper die 31, as a movable module, integrates a drive component and a guide component, and can move up and down along the first direction. The side of the second bending upper die 31 facing the second bending lower die 32 is provided with multiple bending forming protrusions 311. The number of these bending forming protrusions 311 is adapted to the number of second bending positions 202 required for the flexible structure 200 to be processed. The outer surface of each bending forming protrusion 311 forms a bending forming wall 311a of a specific shape, which is used to provide the final forming reference surface for the support material during the second bending process.

[0136] The second bending die 32 serves as a fixed module, with a flat second bending platform 321 on its upper part. The surface of this platform is used to receive and position the flexible structure 200 after the first bending. The second bending platform 321 has multiple second bending portions 322, which are exposed on the surface of the second bending platform 321 and can reciprocate linearly along the second direction. The position of each second bending portion 322 corresponds to the bending forming wall 311a of a bending forming protrusion 311, and the movement direction of the second bending portion 322 is towards or away from the corresponding bending forming wall 311a.

[0137] When bending the flexible structure 200 at the second bending position 202, after the flexible structure 200 has undergone the first bending, it is placed on the second bending platform 321. The second bending upper die 31 then moves down along the first direction to a predetermined position, so that the bending forming wall 311a of the bending forming protrusion 311 corresponds to the area to be bent in the flexible structure 200. At this time, the part of the flexible structure 200 that is away from the first bending position 201 from the second bending position 202 is constrained and fixed by the second bending platform 321 (for example, the second bending platform 321 is equipped with a negative pressure suction nozzle) or other clamping mechanism, while the part of the structure located between the first bending position 201 and the second bending position 202 is in a free and movable state. Subsequently, the second bending portion 322 moves toward the bending forming wall 311a along the second direction and abuts against the area in the flexible structure 200 located between the first bending position 201 and the second bending position 202 and close to the second bending position 202. As the second bending portion 322 continues to advance, this area is subjected to a pushing force and deflects with the second bending position 202 as the rotation fulcrum, thereby driving the entire part of the structure between the first bending position 201 and the second bending position 202 to rotate toward the bending forming wall 311a until this part of the structure fits against the surface of the bending forming wall 311a, forming a second bending structure that is consistent with the shape of the bending forming wall 311a.

[0138] By employing a structure with upper and lower dies working together and the second bending section 322 pushing laterally, the second bending unit 30 can selectively bend specific areas of the flexible structure 200. This not only ensures the precise forming of the second bending position 202, but also ensures that the angle and shape after bending meet the design requirements through the limiting effect of the bending forming wall 311a. At the same time, since the flexible structure 200 rotates around the second bending position 202 as a fulcrum during the bending process, unnecessary stretching or extrusion deformation of the material during the bending process is avoided, further improving the forming quality and consistency of the product.

[0139] In one embodiment of the present invention, the second bending die 32 further includes a second bending block 323, and the second bending platform 321 has a second accommodating space 321a and a moving channel 321b communicating with the second accommodating space 321a. The second bending block 323 includes a second body 3231 and a pushing arm 3232 connected to each other. The end of the pushing arm 3232 away from the second body 3231 has a second bending portion 322. The second body 3231 is movably disposed in the second accommodating space 321a, and the pushing arm 3232 is movably disposed in the moving channel 321b. The second bending portion 322 is disposed in the moving channel 321b.

[0140] In this embodiment, the second bending die 32 achieves the translatable installation and precise guidance of the second bending portion 322 by setting a second bending block 323. The second bending platform 321 has a second receiving space 321a inside, which is used to receive and install the main body of the second bending block 323, i.e., the second main body 3231. Simultaneously, the upper surface of the second bending platform 321 also has a moving channel 321b communicating with the second receiving space 321a. The moving channel 321b extends along a second direction, providing a guiding path for the translational movement of the pushing arm 3232 of the second bending block 323.

[0141] In some embodiments, the second bending die 32 includes two second bending blocks 323, which are symmetrically arranged in the second accommodating space 321a. The second bending platform 321 is provided with two independent moving channels 321b, each of which is connected to the second accommodating space 321a and is used to accommodate the push arm 3232 of one of the second bending blocks 323 respectively.

[0142] Each second bending block 323 adopts a split structure, including a second main body 3231 and a push arm 3232 connected to each other. The second main body 3231 serves as a force-bearing support part and is connected to a driving component (such as a cylinder, linear motor, etc.) to obtain translational force. The push arm 3232 extends from the second main body 3231 to the second bending upper die 31, and its free end forms a second bending part 322 for directly contacting and pushing the flexible structure 200.

[0143] In the assembled state, the second main body 3231 of the bending equipment 100 is housed in the second receiving space 321a and can move in a translational motion along the second direction. The push arm 3232 is correspondingly inserted in the moving channel 321b. The inner wall of the moving channel 321b can guide and limit the translational motion of the push arm 3232, preventing it from swaying during the movement and ensuring that the second bending part 322 can move accurately along the second direction.

[0144] Meanwhile, a reset element is provided between the two second bending blocks 323. The reset element can be an elastic element such as a spring, with its two ends abutting against the second body 3231 of one of the second bending blocks 323, providing a reset force to move the two second bending blocks 323 away from each other.

[0145] When bending the flexible structure 200 at the second bending position 202, after the flexible structure 200 has undergone the first bending, it is placed on the second bending platform 321. Each second bending block 323 is driven by an independent driving member. The driving member applies a thrust along the second direction to the second body 3231, causing the two second bending blocks 323 to overcome the elastic force of the reset member and move closer to each other in a straight line. The pushing arm 3232 moves synchronously along the moving channel 321b, causing the second bending part 322 to be exposed from the opening of the moving channel 321b and contact the area of ​​the flexible structure 200 located between the first bending position 201 and the second bending position 202. As the second bending part 322 continues to advance, the corresponding part of the flexible structure 200 is pushed and adhered to the bending forming wall 311a, completing the second bending.

[0146] After the second bending operation is completed, the driving component stops applying driving force to the second bending block 323. At this time, under the action of the elastic restoring force of the reset component, the two second bending blocks 323 are pushed to make a linear motion away from each other. The pushing arm 3232 moves in the opposite direction and resets along the moving channel 321b. The second bending part 322 also returns to the initial position to facilitate the removal of the completed flexible structure 200 or to carry out the next second bending operation.

[0147] By adopting this split-type second bending block 323 structure in conjunction with the reset component design, not only is independent driving and precise guidance of multiple second bending parts 322 achieved, but the automatic reset function of the reset component also simplifies the control logic, ensuring that the second bending part 322 can accurately return to the starting position after each bend, thus improving the automation level and repeatability of the equipment. At the same time, the independent moving channel 321b design also provides a precise motion trajectory for each second bending part 322, ensuring the synchronicity and consistency of the push on the flexible structure 200 during the second bend, further improving the quality of bending and forming.

[0148] In one embodiment of the present invention, the cross-section of the second bending portion 322 gradually decreases from near the second bending platform 321 to away from the second bending platform 321, and the end of the second bending portion 322 away from the second bending platform 321 forms a second bending end. The second bending portion 322 is provided with a second bending groove 322a on the side of the second bending portion 322 near the end of the second bending platform 321 and facing the bending protrusion 311.

[0149] The cross-section of the bending protrusion 311 gradually decreases from the direction close to the second bending platform 321 to the direction far away from the second bending platform 321, so as to form a bending wall 311a;

[0150] When the second bending portion 322 moves toward the bending protrusion 311 along the second direction, the second bending end can drive the part of the flexible structure 200 located between the first bending position 201 and the second bending position 202 to rotate, and the second bending groove 322a can be inserted into the end of the bending protrusion 311 near the second bending platform 321.

[0151] In this embodiment, the second bending portion 322 and the bending forming protrusion 311 are designed to be mutually compatible in shape to achieve precise pushing and forming of the flexible structure 200. The second bending portion 322 adopts a gradually changing cross-section design, with its overall shape constructed to have a gradually changing cross-sectional area along the first direction. Specifically, the cross-section gradually decreases from one end near the second bending platform 321 to the end away from the second bending platform 321. For example, it can be set as a conical, pyramidal, or columnar structure with a draft angle, without limitation.

[0152] The top of the second bending portion 322 furthest from the second bending platform 321 is designated as the second bending end. This second bending end has a relatively small cross-sectional area, which allows the driving force to be applied more concentratedly to a local area of ​​the flexible structure 200, facilitating precise rotation of that area. Simultaneously, a second bending groove 322a is formed on the side of the second bending portion 322 near the root of the second bending platform 321 and facing the bending protrusion 311. The groove shape of the second bending groove 322a can be customized according to the bending angle required by the product design. For example, the bottom of the groove can be set as an arc to accommodate curved surface bending requirements, or as an angled bottom to accommodate angled bending requirements. No specific limitation is made here. This groove structure is used to interlock with the bending protrusion 311 in the later stages of bending to finalize the support material.

[0153] Correspondingly, the bending protrusion 311 also adopts a gradually changing cross-section structure design. Its overall shape is constructed as a shape in which the cross-sectional area gradually changes along the first direction. Specifically, the cross-section gradually decreases from one end near the second bending platform 321 to the other end away from the second bending platform 321. For example, it can be set as a cone or pyramid shape. Its outer surface forms a bending forming wall 311a for the bonding of the support material. The curvature or angle of the bending forming wall 311a is adapted to the groove shape of the second bending groove 322a to ensure that the two can fit together precisely.

[0154] When the flexible structure 200 is bent at the second bending position 202, when the second bending part 322 moves toward the bending protrusion 311 in the second direction, the second bending end first contacts the area of ​​the flexible structure 200 located between the first bending position 201 and the second bending position 202 and close to the second bending position 202. Since the second bending end has a small cross-sectional area, it can concentrate the driving force on the area and drive the area to start rotating with the second bending position 202 as the rotation fulcrum. As the second bending section 322 continues to advance, the rotation angle of the support material gradually increases. When the second bending section 322 moves close to the bending protrusion 311, the second bending groove 322a begins to engage with the end of the bending protrusion 311 near the second bending platform 321. At this time, the structure in the flexible structure 200 located at the second bending position 202 is gradually pressed into the gap between the second bending groove 322a and the bending protrusion 311. Through the combined constraint of the groove wall of the second bending groove 322a and the bending wall 311a, the flexible structure 200 can be shaped into a bending structure that conforms to the shape of both.

[0155] By adopting this shape-adaptive gradient cross-section structure in conjunction with the groove design, not only is the step-by-step driving and shaping of the flexible structure 200 achieved by the second bending section 322—firstly, the second bending end provides initial pushing, and then the second bending groove 322a provides final shaping—material damage caused by a single, forceful bending is avoided. Furthermore, the progressive extrusion effect brought about by the gradient cross-section structure makes the support material more evenly stressed during the bending process, resulting in a smoother surface and more precise angles for the formed second bending structure. At the same time, the interlocking fit between the second bending groove 322a and the bending forming protrusion 311 ensures precise alignment of the bending position, significantly improving the forming quality and consistency of the second bending.

[0156] In one embodiment of the present invention, please refer to Figure 4 , Figure 8 as well as Figure 10 The flexible structure 200 also includes a fixed section 203. The first bending position 201, the second bending position 202, and the fixed section 203 are arranged along a second direction. The first bending position 201 is farther away from the fixed section 203 than the second bending position 202. The first bending forming part 211 is also provided with a first bending pressing part 211b. The bending forming protrusion 311 is provided with a second bending pressing part 311b. The first bending pressing part 211b is provided facing the first bending platform 221, and the second bending pressing part 311b is provided facing the second bending platform 321. Both the first bending pressing part 211b and the second bending pressing part 311b are used to abut against the fixed section 203 so that the fixed section 203 can be fixed on the first bending platform 221 and the second bending platform 321 respectively.

[0157] Specifically, the flexible structure 200 includes a frame, a fixed segment 203, a second bending position 202, and a first bending position 201. The fixed segment 203 is fixedly connected to the frame. The segment structure between the second bending position 202 and the first bending position 201, as well as the segment structure of the first bending position 201 away from the second bending position 202, are not connected to the frame. The second bending position 202 is located on one side of the fixed segment 203, and the first bending position 201 is located on the other side of the second bending position 202 and away from the fixed segment 203. That is, along the second direction, the segments are fixed segment 203, second bending position 202, and first bending position 201 in sequence.

[0158] To reliably fix the fixed segment 203, a first bending pressing part 211b is provided on the first bending forming part 211. The first bending pressing part 211b protrudes or extends towards the first bending platform 221. When the first bending upper die 21 moves down along the first direction and closes with the first bending lower die 22, the first bending pressing part 211b can abut against the upper surface of the fixed segment 203 of the flexible structure 200. Together with the first bending platform 221, it clamps and fixes the fixed segment 203, ensuring that the fixed segment 203 remains stationary during the first bending process, and avoiding deviation of the bending angle of the first bending position 201 due to displacement of the fixed segment 203.

[0159] Similarly, a second bending pressing part 311b is provided on the bending forming protrusion 311. The second bending pressing part 311b protrudes or extends towards the second bending platform 321. When the second bending upper die 31 moves down along the first direction and closes with the second bending lower die 32, the second bending pressing part 311b can abut against the upper surface of the fixed section 203 of the flexible structure 200. Together with the second bending platform 321, it clamps and fixes the fixed section 203 again, ensuring that the fixed section 203 remains stationary during the second bending process. This provides a stable positioning basis for the bending of the second bending position 202 with the fixed section 203 as the reference. By setting up a first bending pressing part 211b and a second bending pressing part 311b, the same fixed segment 203 of the flexible structure 200 is repeatedly positioned and clamped in the two bending processes. This not only ensures that the two bending processes are carried out with the same reference, avoiding the cumulative error caused by reference conversion, but also effectively prevents the fixed segment 203 from warping or slipping when subjected to bending force through the clamping cooperation between the pressing part and the platform. This significantly improves the positional accuracy and angle consistency of the two bending processes, ensuring that the final centering support can meet the strict dimensional requirements of speaker assembly.

[0160] In one embodiment of the present invention, please refer to Figure 5 and Figure 7The outer surface of the first bending platform 221 is provided with a plurality of first limiting protrusions 2211, and the outer surface of the second bending platform 321 is provided with a plurality of second limiting protrusions 3211. The plurality of first limiting protrusions 2211 are arranged around the first bending part 222 to form a first bending station, and the plurality of second limiting protrusions 3211 are arranged around the second bending part 322 to form a second bending station.

[0161] Both the first and second bending stations are used to limit the flexible structure 200.

[0162] In this embodiment, the first bending platform 221 and the second bending platform 321 achieve horizontal positioning and constraint of the flexible structure 200 by setting limiting protrusions. The upper surface of the first bending platform 221 is provided with multiple first limiting protrusions 2211, which are spaced apart around the first bending portion 222, collectively forming a region with a defined contour and boundary, namely the first bending station. The shape and size of the first bending station are adapted to the outer contour of the flexible structure 200 to be processed. When the flexible structure 200 is placed on the first bending platform 221, its edges or specific parts can abut or gap-fit ​​with the inner walls of the multiple first limiting protrusions 2211, thereby restricting the translational freedom of the flexible structure 200 on the first bending platform 221. This ensures that the flexible structure 200 is accurately located at the preset bending position each time it is placed, so that each first bending position 201 can be precisely aligned with the corresponding first bending portion 222. Similarly, the upper surface of the second bending platform 321 is provided with a plurality of second limiting protrusions 3211. These second limiting protrusions 3211 are distributed at intervals around the second bending portion 322, and together they enclose to form a second bending station. The shape and size of the second bending station are also adapted to the outer contour of the flexible structure 200 after the first bending. When the flexible structure 200 after the first bending is transferred to the second bending platform 321, its edges or specific parts can abut or gap fit with the inner sidewalls of the plurality of second limiting protrusions 3211, thereby restricting the translational freedom of the flexible structure 200 on the second bending platform 321, and ensuring that the second bending position 202 of the flexible structure 200 can be precisely aligned with the corresponding second bending portion 322.

[0163] By setting bending stations formed by multiple limiting protrusions on the first bending platform 221 and the second bending platform 321 respectively, not only is the flexible structure 200 quickly and accurately aligned in the two bending processes, avoiding bending position deviation caused by manual placement errors, but the surrounding limiting method can simultaneously constrain the flexible structure 200 in multiple directions, effectively preventing the flexible structure 200 from rotating or slipping during the bending stress process, further improving the positioning accuracy and forming stability of the two bending processes, while also simplifying the placement actions of the operators and improving production efficiency.

[0164] In one embodiment of the present invention, please refer to Figure 1 The bending equipment 100 also includes a transfer module 40, which includes a feeding and handling module 41, a first transfer fixture 42, a bending and handling module 43, a second transfer fixture 44, and a discharging and handling module 45.

[0165] The loading and handling module 41 is configured to transfer the flexible structure 200 to the first transfer fixture 42;

[0166] The first transfer fixture 42 is configured to receive the flexible structure 200 from the loading and handling module 41;

[0167] The bending and handling module 43 is configured to sequentially transfer the flexible structure 200 located on the first transfer fixture 42 to the first bending unit 20, the second bending unit 30 and the second transfer fixture 44.

[0168] The unloading and handling module 45 is configured to transfer the flexible structure 200 located on the second transfer fixture 44.

[0169] In this embodiment, the bending equipment 100 achieves automated transport of the flexible structure 200 between processing units by setting up a transfer module 40. The bending equipment 100 is equipped with a workpiece input conveyor belt and a workpiece output conveyor belt, wherein the workpiece input conveyor belt is used to transport the unbent flexible structure 200 to the loading station, and the workpiece output conveyor belt is used to transport the flexible structure 200 that has undergone two bends to the next process or a collection container. The loading and handling module 41, as a material handling mechanism, can move in the length or width direction of the frame 10 and can move up and down along the first direction (i.e., the height direction of the frame 10). After the workpiece input conveyor belt transports the flexible structure 200 to the preset position, the loading and handling module 41 first moves horizontally to the top of the workpiece input conveyor belt, and then moves downward along the first direction to approach the flexible structure 200. It picks up the flexible structure 200 by means of vacuum adsorption, electrostatic adsorption or mechanical clamping, and then resets upward along the first direction and moves horizontally to the top of the first transfer fixture 42. Finally, it releases the flexible structure 200 and accurately places it in the predetermined position on the first transfer fixture 42.

[0170] The first transfer fixture 42 serves as a temporary support and positioning platform. Its surface is provided with positioning structures (such as limiting protrusions or positioning grooves) that are adapted to the shape of the flexible structure 200. It is used to receive and fix the flexible structure 200 from the loading and handling module 41, ensuring that the flexible structure 200 maintains the correct posture and position while waiting for handling.

[0171] The bending and handling module 43 serves as a transfer mechanism between processes. It can move along a second direction or other set path. First, it moves to the first transfer fixture 42 to pick up the flexible structure 200, and then transfers it to the first bending unit 20 for the first bending. After the first bending is completed, the flexible structure 200 that has completed one bending is taken out from the first bending unit 20 and transferred to the second bending unit 30 for the second bending. After the second bending is completed, the flexible structure 200 that has completed two bendings is taken out from the second bending unit 30 and finally transferred to the second transfer fixture 44 for release and positioning.

[0172] The second transfer fixture 44 serves as a temporary carrying platform for the finished product. Its surface is also equipped with a positioning structure that matches the shape of the flexible structure 200 after bending, which is used to receive and fix the finished flexible structure 200 from the bending and handling module 43.

[0173] The unloading and handling module 45 serves as an unloading mechanism. Its structure is similar to that of the loading and handling module 41. It can move to the second transfer fixture 44 to pick up the flexible structure 200 that has been bent twice and transfer it to the workpiece output conveyor belt. The workpiece output conveyor belt will then output the finished product to the designated location.

[0174] By setting up a transfer module 40 consisting of multiple handling modules and transfer tooling, the bending equipment 100 achieves full automation from raw material input, two bending processes to finished product output. This not only significantly reduces manual intervention and waiting time, improving production efficiency, but also ensures the positional accuracy of the flexible structure 200 during its transfer between processes through the precise positioning of the transfer tooling and the accurate transfer of the handling modules. This avoids collisions, deformations, or positioning deviations caused by manual handling, further enhancing the stability of the overall bending process and product consistency.

[0175] In one embodiment, the bending equipment 100 includes a loading and transporting module 41, a first transfer fixture 42, a bending and transporting module 43, a second transfer fixture 44, a unloading and transporting module 45, a first bending unit 20, and a second bending unit 30. The bending and transporting module 43 is equipped with three sets of suction nozzles arranged side-by-side along a second direction. For clarity, the three sets of suction nozzles in the bending and transporting module 43 are defined as the first suction nozzle group, the second suction nozzle group, and the third suction nozzle group, respectively. When a set of unbent flexible structures 200 is input via the workpiece input conveyor belt, the loading and transporting module 41 transfers the flexible structure 200 located on the workpiece input conveyor belt to the first transfer fixture 42. Subsequently, the bending and transporting module 43 transports the flexible structure 200 to the first bending unit 20 for the first bending process via the first suction nozzle group. After the first bending process is completed, the bending and transporting module 43 transports the flexible structure 200 to the second bending unit 30 for the second bending process via the second suction nozzle group. After the second bending process is completed, the bending and transporting module 43 transports the flexible structure 200 to the second transfer fixture 44 via the third suction nozzle group. Then, the unloading and transporting module 45 transports the flexible structure 200 located on the second transfer fixture 44 to the workpiece output conveyor belt. Thus, the first flexible structure 200 has completed processing and is output.

[0176] During the first bending process of the first flexible structure 200, the second flexible structure 200 is transported to the first transfer fixture 42 via the workpiece input conveyor belt and the loading and handling module 41. While the second suction nozzle group of the bending and handling module 43 moves the first flexible structure 200 from the first bending unit 20 to the second bending unit 30, the first suction nozzle group of the bending and handling module 43 simultaneously moves the second flexible structure 200 from the first transfer fixture 42 to the first bending unit 20. The third suction nozzle group of the bending and handling module 43 moves the first flexible structure 200 from the second bending unit 30... During the process of moving to the second transfer fixture 44, the second suction nozzle group of the bending and conveying module 43 simultaneously moves the second flexible structure 200 from the first bending unit 20 to the second bending unit 30. At the same time, the third flexible structure 200 has been transported to the first transfer fixture 42 via the workpiece input conveyor belt and the loading and conveying module 41, and the first suction nozzle group of the bending and conveying module 43 simultaneously moves the third flexible structure 200 from the first transfer fixture 42 to the first bending unit 20. In this way, the bending equipment 100 can process three flexible structures 200 at the same time, thereby improving the processing efficiency of the bending equipment 100.

[0177] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

Claims

1. A bending method for bending a flexible structure, the flexible structure having a first bending position and a second bending position to be bent, characterized in that, A bending device is provided, comprising a first bending unit and a second bending unit. The first bending unit includes a first upper bending die and a first lower bending die. The first upper bending die is provided with a bending contour groove. The first lower bending die is provided with a first bending platform, a first bending block, and a first driving member. The output end of the first driving member is connected to the first bending block. The upper surface of the first bending platform is used to support the flexible structure. The first bending block is movably disposed in the first bending platform along a first direction. The end of the first bending block near the bending contour groove is provided with a first bending portion. The second bending unit includes a second upper bending die and a second lower bending die. The second upper bending die is provided with a bending forming protrusion. The second bending unit has a second bending portion. The bending method includes: Transfer the flexible structure to the first bending unit; Drive the first bending upper die to move toward the first bending lower die along the first direction, and close with the first bending lower die; The first driving component is controlled to drive the first bending block to rise along the first direction, so that the first bending part is exposed from the first bending platform and the first bending position of the flexible structure is lifted until the first bending part is inserted and engaged with the bending contour groove. Parts of the flexible structure on both sides of the first bending position are pressed against the groove wall of the bending contour groove to form the first bending structure. The flexible structure that has completed the first bend is transferred to the second bending unit; Drive the second bending upper die to move toward the second bending lower die along the first direction, and close with the second bending lower die; The second bending portion is driven to move toward the bending protrusion along the second direction, so as to drive the portion of the flexible structure located between the first bending position and the second bending position to rotate toward the bending protrusion, so that the portion of the flexible structure located between the first bending position and the second bending position can fit against the outer surface of the bending protrusion, so that the flexible structure forms a second bending structure at the second bending position; Wherein, the first direction intersects with the second direction.

2. The bending method as described in claim 1, characterized in that, The first bending upper die further includes a first displacement detection module, which includes a first displacement sensor and a first detection element. The first displacement sensor and the first detection element are spaced apart on the first bending upper die along the first direction. The first detection element is movably disposed along the first direction. Before the step of controlling the first driving member to drive the first bending block to rise along the first direction, so that the first bending portion is exposed from the first bending platform and the first bending position of the flexible structure is raised, the method further includes: After the first bending upper die and the first bending lower die are closed, the first actual distance value of the first detection piece relative to the first displacement sensor is obtained after the first detection piece is lifted by the flexible structure. When the first actual distance value is within a preset range, a lifting signal is generated and transmitted to the first drive unit.

3. The bending method as described in claim 1, characterized in that, The second bending die includes a second bending platform, a second bending block, and a second driving member. The output end of the second driving member is connected to the second bending block. The upper surface of the second bending platform is used to support the flexible structure after one bending. The second bending block is movably disposed in the second bending platform along the second direction. The end of the second bending block near the bending forming protrusion has a second bending portion. The step of driving the second bending portion to move along the second direction toward the bending forming protrusion, so as to drive the portion of the flexible structure located between the first bending position and the second bending position to rotate toward the bending forming protrusion, includes: The second driving member is controlled to drive the second bending block to move toward the bending protrusion along the second direction, so that the end of the second bending portion away from the second bending platform can abut against the flexible structure, thereby causing the portion of the flexible structure located between the first bending position and the second bending position to rotate toward the bending protrusion.

4. The bending method as described in claim 3, characterized in that, The second bending upper die further includes a second displacement detection module, which includes a second displacement sensor and a second detection element. The second displacement sensor and the second detection element are spaced apart on the second bending upper die along the first direction. The second detection element is movably disposed along the first direction. Before the step of controlling the second driving member to drive the second bending block to move toward the bending forming protrusion along the second direction, the following steps are also included: After the second bending upper die and the second bending lower die are closed, the second actual distance value of the second detection piece relative to the second displacement sensor is obtained after the second detection piece is lifted by the flexible structure. When the second actual distance value is within a preset range, a translation signal is generated and transmitted to the second driving component.

5. The bending method as described in claim 1, characterized in that, The bending equipment further includes a bending and conveying module, and the step of transferring the flexible structure after the first bending to the second bending unit includes: The bending and transporting module is controlled to move to the first bending unit and pick up the flexible structure that has completed the first bending. The bending and transporting module is controlled to carry the flexible structure to the second bending unit and release the flexible structure at a preset position in the second bending unit.

6. The bending method as described in claim 5, characterized in that, The bending equipment further includes a loading and handling module, a first transfer fixture, a second transfer fixture, and an unloading and handling module. The step of transferring the flexible structure to the first bending unit includes: The loading and handling module is controlled to transfer the flexible structure to be bent to the first transfer fixture; The bending and transporting module is controlled to pick up the flexible structure from the first transfer tooling and transfer the flexible structure to the first bending unit. After the step of driving the second bending portion to translate along the second direction to push the flexible structure closer to the second bending position, so that the flexible structure forms a second bending structure at the second bending position, the method further includes: The bending and transporting module is controlled to pick up the flexible structure that has undergone two bends from the second bending unit and transfer the flexible structure to the second transfer fixture. The unloading and handling module is controlled to pick up the flexible structure that has undergone two bends from the second transfer fixture and move the flexible structure out.

7. A bending device for implementing the bending method as described in any one of claims 1 to 6, characterized in that, The bending equipment includes: frame; A first bending unit, disposed on the frame, has at least one first bending portion, which is vertically oriented along a first direction and configured to receive the flexible structure and lift the flexible structure to a first bending position, so that the flexible structure forms a first bending structure at the first bending position; and The second bending unit is disposed on the frame and has at least one second bending portion. The second bending portion is translatably disposed along a second direction and is configured to receive a flexible structure from the first bending unit and push the flexible structure closer to the position of the second bending position so that the flexible structure forms a second bending structure at the second bending position. Wherein, the first direction intersects with the second direction.

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