CN111922150B - Ten-axis CNC bending equipment and bending method - Google Patents

Ten-axis CNC bending equipment and bending method Download PDF

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Publication number
CN111922150B
CN111922150B CN202010821953.XA CN202010821953A CN111922150B CN 111922150 B CN111922150 B CN 111922150B CN 202010821953 A CN202010821953 A CN 202010821953A CN 111922150 B CN111922150 B CN 111922150B
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China
Prior art keywords
axis
workpiece
base
linear module
motor
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CN111922150A (en
Inventor
陶初明
唐平
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Dongguan Fenggang Jiahui Plastic Hardware Co ltd
Guangdong Cuifeng Robotics Technology Ltd
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Dongguan Fenggang Jiahui Plastic Hardware Co ltd
Guangdong Cuifeng Robotics Technology Ltd
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Priority to CN202010821953.XA priority Critical patent/CN111922150B/en
Publication of CN111922150A publication Critical patent/CN111922150A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B21D11/22—Auxiliary equipment, e.g. positioning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

The invention discloses ten-axis numerical control bending equipment and a bending method, wherein the ten-axis numerical control bending equipment comprises a mounting plate, an X-axis linear module, two four-axis mechanisms and a workpiece jig; the X-axis linear module is arranged on the mounting plate, the X-axis linear module drives two four-axis mechanisms to move along the X-axis direction to form ten-axis linkage, each four-axis mechanism comprises a first base, a first rotating arm, a second base and a Y-axis linear module, the first base is driven by the X-axis linear module, one end of the first rotating arm is rotatably arranged on the first base and is driven by a first motor on the first base to rotate around the X-axis, the other end of the first rotating arm is rotatably arranged on one end of the second rotating arm and is driven by a second motor on the second rotating arm to rotate around the X-axis, and the second base is rotatably arranged on the other end of the second rotating arm and is driven by a third motor arranged on the second rotating arm to rotate around the X-axis. The invention has the advantage of larger bending range for the workpiece.

Description

Ten-axis numerical control bending equipment and bending method
Technical Field
The invention relates to the technical field of numerical control bending equipment, in particular to ten-axis numerical control bending equipment and a bending method.
Background
Along with the development of scientific technology, the automation technology is mature, and the automation equipment gradually replaces manual operation by virtue of the advantages of high efficiency, high precision, low manpower resource cost and the like, wherein the conventional bending operation is usually performed by adopting numerical control bending equipment.
The existing numerical control bending equipment generally comprises the steps that after a workpiece is clamped by a clamping device, a cylinder or an oil cylinder drives a bending punch to do linear motion so as to bend the workpiece; the existing numerical control bending equipment is simple in structure, is only suitable for bending operation of simple workpieces, and cannot adjust bending angles.
Accordingly, there is a need in the art for improvements and enhancements.
Disclosure of Invention
The invention solves the technical problem of providing ten-axis numerical control bending equipment and a bending method aiming at the problems in the prior art.
According to the first aspect of the invention, the ten-axis numerical control bending device comprises a mounting plate, an X-axis linear module, two four-axis mechanisms and a workpiece jig, wherein the X-axis linear module is mounted on the mounting plate, the X-axis linear module drives the two four-axis mechanisms to move along the X-axis direction to form ten-axis linkage, each four-axis mechanism comprises a first base, a first rotating arm, a second base and a Y-axis linear module, the first base is driven by the X-axis linear module, one end of the first rotating arm is rotatably mounted on the first base and is driven by a first motor on the first base to rotate around the X-axis, the other end of the first rotating arm is rotatably mounted on one end of the second rotating arm and is driven by a second motor arranged on the second rotating arm to rotate around the X-axis, the second base is rotatably mounted on the other end of the second rotating arm and is driven by a third motor mounted on the second rotating arm to rotate around the X-axis, and the Y-axis linear module is mounted on the second base to move along the Y-axis direction.
As a further explanation of the above technical solution:
In the technical scheme, the workpiece jig comprises a transverse plate, first suction nozzles and positioning blocks, wherein eight first suction nozzles are arranged on the transverse plate in two rows and four columns, the two positioning blocks are arranged in parallel, and one column of the first suction nozzles is located between the two positioning blocks.
According to the technical scheme, the workpiece fixture further comprises a base, a guide rail, a first sliding block, a connecting plate, a guide rod mounting block, a guide rod, a reset block and a reset spring, wherein the base is driven by the Y-axis linear module, the guide rail is mounted on the upper portion of the base along the Y-axis direction, the first sliding block is mounted on the guide rail in a sliding mode, the connecting plate is mounted on the first sliding block and fixedly connected with the transverse plate, the guide rod mounting block is mounted at the bottom of the connecting plate, the guide rod is mounted on the guide rod mounting block and is parallel to the guide rail, the reset block is movably sleeved on the guide rod and is fixed on the base, the reset spring is sleeved on the guide rod, two ends of the reset spring respectively abut against the guide rod mounting block and the reset block, a limiting block used for limiting the sliding stroke of the connecting plate is further arranged on the base, and a limiting switch which is movably matched with the connecting plate is mounted on the limiting block close to the reset spring.
In the technical scheme, the X-axis linear module is a linear motor module, the linear motor module drives the two objective tables to move along the X-axis direction, and the first bases of the two groups of four-axis mechanisms are respectively arranged on one objective table.
The technical scheme includes that the automatic suction device further comprises a group of rotating mechanisms, wherein the rotating mechanisms comprise a bracket, a rotating cylinder, a suction nozzle mounting plate and a second suction nozzle, the bracket is mounted on one of the object stages, the rotating cylinder is mounted on the bracket and drives the suction nozzle mounting plate to rotate, and the second suction nozzle is mounted on the suction nozzle mounting plate.
According to the technical scheme, the Y-axis linear module comprises a machine case, a motor base, a fourth motor, a driving belt pulley, a driven belt pulley, a screw rod, a synchronous belt, a screw rod nut and a second sliding block, wherein the machine case is fixedly connected with the second base, the motor base is arranged at the end part of the machine case, the fourth motor is arranged on the motor base, the driving belt pulley is sleeved on an output shaft of the fourth motor, the driven belt pulley is arranged on the screw rod and is in transmission with the driving belt pulley through the synchronous belt, the screw rod is rotatably arranged on the machine case, the screw rod nut is screwed on the screw rod and is fixedly connected with the second sliding block, and the second sliding block is slidably arranged on the machine case and is fixedly connected with the base.
The technical scheme further comprises a pressing device and a six-axis manipulator, wherein the pressing device is used for clamping one end part of a workpiece positioned on the workpiece jig, and the six-axis manipulator is used for carrying the workpiece between an external loading and unloading area, the workpiece jig and the rotating mechanism.
According to a second aspect of the invention, another technical scheme adopted by the invention is that the ten-axis numerical control bending method comprises the ten-axis numerical control bending equipment according to the first aspect, and further comprises the following steps:
the method comprises the steps that firstly, an X-axis linear module drives two four-axis mechanisms to synchronously move to a bending operation position, a workpiece is clamped from an external loading and unloading area by the six-axis mechanical arm and conveyed to the four-axis mechanisms, and two ends of the workpiece are respectively sucked by two workpiece jigs;
Firstly, synchronously driving two workpiece jigs to move by a Y-axis linear module of the two workpiece jigs so that the end part of the workpiece stretches into the avoidance space;
Step three, the first rotating arms corresponding to the first motor driving of the two four-axis mechanisms synchronously rotate, the second rotating arms corresponding to the second motor driving of the two four-axis mechanisms synchronously rotate, and the second bases corresponding to the third motor driving of the two four-axis mechanisms synchronously rotate;
Step four, firstly, transferring the workpiece bent once in the step three onto the rotating mechanism by the six-axis mechanical arm; finally, the six-axis mechanical arm transfers the workpiece rotating at a certain angle to the workpiece jig and repeats the bending action of the third step to carry out secondary bending;
And fifthly, loosening the workpiece by the pressing device and the workpiece jig, and transferring the workpiece subjected to the secondary bending operation in the fourth step to an upper blanking area by the six-axis mechanical arm.
As a further explanation of the above technical solution:
In the above technical solution, before the six-axis manipulator in the first step clamps a workpiece from the external loading and unloading area and carries the workpiece to the four-axis mechanism, the X-axis linear module drives the two four-axis mechanisms to move relatively.
In the technical scheme, after the workpiece is loosened by the pressing device and before the workpiece is loosened by the workpiece jig in the step five, the workpiece is moved out of the avoidance space by the aid of two Y-axis linear modules, then the corresponding first rotating arms are driven by the first motors of the two four-axis mechanisms to rotate out of synchronization, the corresponding second rotating arms are driven by the second motors of the two four-axis mechanisms to rotate out of synchronization, the corresponding second bases are driven by the third motors of the two four-axis mechanisms to rotate out of synchronization, and the parts, which are sucked by the two workpiece jigs, of the workpiece are twisted relatively.
The invention has the beneficial effects that:
The invention drives two four-axis mechanisms to move by the X-axis linear module to form ten-axis linkage, and enlarges the operation range by the X-axis linear module and the Y-axis linear module in the operation process, and the linkage of the two groups of four-axis mechanisms not only ensures that the clamping of the workpiece is more stable, but also ensures that the angle range of the workpiece which can be bent is changeable, has better applicability, and simultaneously can realize the twisting of the end part of the workpiece clamped by two workpiece jigs by asynchronous operation between the two groups of four-axis mechanisms, thereby being more applicable to the bending forming operation of complex workpieces.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of a part of the structure of the present invention;
FIG. 3 is an exploded view of the Y-axis linear module of the present invention;
Fig. 4 is an exploded view of a portion of the components of the workpiece fixture of the present invention.
The reference numbers in the drawing are respectively 1, a mounting plate, 2, an X-axis linear module, 3, a four-axis mechanism, 4, a first base, 5, a first rotating arm, 6, a first motor, 7, a second rotating arm, 8, a second motor, 9, a second base, 10, a third motor, 11, a Y-axis linear module, 12, a workpiece jig, 13, a transverse plate, 14, a first suction nozzle, 15, a positioning block, 16, a base, 17, a guide rail, 18, a first sliding block, 19, a connecting plate, 20, a guide rod mounting block, 21, a guide rod, 22, a reset block, 23, a reset spring, 24, a limiting block, 25, a limit switch, 26, an objective table, 27, a rotating mechanism, 28, a machine case, 29, a motor seat, 30, a fourth motor, 31, a driving pulley, 32, a driven pulley, 33, a screw rod, 34, a synchronous belt, 35, a screw rod nut, 36, a second sliding block, 37, a pressing device, 38, a frame, 39, a moving assembly, 40, a fixed assembly, 41, a holding-up frame, 42, a bracket, 43, a rotating, 44, a mechanical suction nozzle, 45, a six-axis mounting plate and a six-axis.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
The embodiments described by referring to the drawings are exemplary and intended to be illustrative of the application and are not to be construed as limiting the application. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a number", "a plurality" or "a plurality" is two or more, unless specifically defined otherwise. In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances. In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.
Example 1
Fig. 1-4 illustrate a specific embodiment of a ten-axis numerical control bending device according to the present invention, and referring to fig. 1-4, a ten-axis numerical control bending device includes a mounting plate 1, an X-axis linear module 2, two four-axis mechanisms 3, and a workpiece fixture 12. The X-axis linear module 2 is arranged on the mounting plate 1, and the X-axis linear module 2 drives the two four-axis mechanisms 3 to move along the X-axis direction to form ten-axis linkage. Each four-axis mechanism 3 comprises a first base 4, a first rotating arm 5, a second rotating arm 7, a second base 9 and a Y-axis linear module 11. The first base 4 is driven by the X-axis linear module 2, and one end of the first rotating arm 5 is rotatably mounted on the first base 4 and is driven by a first motor 6 on the first base 4 to rotate around the X-axis. The other end of the first rotating arm 5 rotates on one end of a second rotating arm 7 and is driven by a second motor 8 arranged on the second rotating arm 7 to rotate around an X axis, the second base 9 is rotatably arranged on the other end of the second rotating arm 7 and is driven by a third motor 10 arranged on the second rotating arm 7 to rotate around the X axis, and the Y-axis linear module 11 is arranged on the second base 9 and drives the workpiece jig 12 to move along the Y axis direction.
Further, the workpiece fixture 12 includes a cross plate 13, a first suction nozzle 14, and a positioning block 15. The eight first suction nozzles 14 are arranged on the transverse plate 13 in two rows and four columns, and are all connected with an external air source. The two positioning blocks 15 are arranged in parallel, and one row of the first suction nozzles 14 is located between the two positioning blocks 15. The working principle of the workpiece fixture 12 is that firstly, after an external workpiece is placed on the transverse plate 13, the two positioning blocks 15 are matched with the positioning parts at the bottom of the workpiece, and then, an external air source drives the first suction nozzle 14 to suck the workpiece.
Preferably, the workpiece fixture 12 further includes a base 16, a guide rail 17, a first slider 18, a connecting plate 19, a guide rod mounting block 20, a guide rod 21, a reset block 22, and a reset spring 23. The base 16 is driven by the Y-axis linear module 11. The guide rail 17 is installed at an upper portion of the base 16 in the Y-axis direction. The first sliding block 18 is slidably mounted on the guide rail 17, and the connecting plate 19 is mounted on the first sliding block 18 and fixedly connected with the transverse plate 13. The guide rod installation block 20 is installed at the bottom of the connecting plate 19, the guide rod 21 is installed on the guide rod installation block 20 and is parallel to the guide rail 17, the reset block 22 is movably sleeved on the guide rod 21 and is fixed on the base 16, the reset spring 23 is sleeved on the guide rod 21, two ends of the reset spring are respectively abutted against the guide rod installation block 20 and the reset block 22, a limiting block 24 for limiting the sliding stroke of the connecting plate 19 is further arranged on the base 16, and a limit switch 25 which is movably matched with the connecting plate 19 is installed on the limiting block 24 close to the reset spring 23. In the actual use process, the invention also needs to cooperate with another clamping device to operate, when the Y-axis linear module 11 drives the workpiece fixture 12 to push one to-be-bent end of the clamped workpiece into the clamping position of the other clamping device, the Y-axis linear module 11 continues to operate after the workpiece touches the limiting part on the clamping device, the reset spring 23 is compressed, the connecting plate 19 slides on the base 16 towards the reset block 22 to play a buffering role so as to prevent the workpiece from being crushed, in addition, the distance that the Y-axis linear module 11 drives the base 16 to move is greater than the distance that the workpiece actually needs to move, the problem that the workpiece is not pushed into place due to the stroke error of the Y-axis linear module 11 can be avoided, and the precision of the invention is improved.
Furthermore, the X-axis linear module 2 is a linear motor module, and the linear motor module is a standard fitting in the prior art, and has the advantages of high positioning accuracy, high reaction speed, long service life and the like. The linear motor module drives the two object stages 26 to move along the X-axis direction, and the first bases 4 of the two groups of four-axis mechanisms 3 are respectively arranged on one object stage 26.
Further, the device also comprises a group of rotating mechanisms 27, wherein the rotating mechanisms 27 comprise a bracket 42, a rotating cylinder 43, a suction nozzle mounting plate 44 and a second suction nozzle 45. The bracket 28 is mounted on one of the stages 26, the rotary cylinder 29 is mounted on the bracket 28 and drives the nozzle mounting plate 30 to rotate, and the second nozzle 31 is mounted on the nozzle mounting plate 30. In the use process, after the workpiece is placed on the suction nozzle mounting plate 44, the second suction nozzle 45 is driven by an external air source to suck the workpiece, and then the rotary air cylinder 43 connected with the external air source drives the suction nozzle mounting plate 44 to synchronously rotate with the workpiece, so that the angle adjustment of the workpiece is completed.
Preferably, the Y-axis linear module 11 includes a chassis 28, a motor base 29, a fourth motor 30, a driving pulley 31, a driven pulley 32, a screw 33, a synchronous belt 34, a screw nut 35, and a second slider 36. The machine case 28 is fixedly connected with the second base 9, the motor base 29 is arranged at the end part of the machine case 28, the fourth motor 30 is arranged on the motor base 29, the driving belt wheel 31 is sleeved on an output shaft of the fourth motor 30, the driven belt wheel 32 is arranged on the screw rod 33 and is in transmission with the driving belt wheel 31 through the synchronous belt 31, the screw rod 33 is rotatably arranged on the machine case 28, the screw rod nut 35 is in threaded connection with the screw rod 33 and is fixedly connected with the first sliding block 18, the first sliding block 18 is slidably arranged on the machine case 28 and is fixedly connected with the base 16, when the fourth motor 30 is driven by an external power supply to start operation, the output shaft of the fourth motor 30 drives the screw rod 33 to rotate in a synchronous belt transmission mode, and when the screw rod 33 rotates, the second sliding block 36 is driven in a screw rod transmission mode to slide.
Preferably, a clamping device 37 is also included for clamping one end of a workpiece located on the workpiece fixture 12. The pressing device 37 includes a frame 38, a power unit (not shown), a moving assembly 39, and a fixed assembly 40. The middle part of the frame 38 is provided with a clearance gap 41 for workpiece movement, the fixed component 40 is arranged on the frame 38 and positioned at the end edge of the lower wall of the clearance gap 41, the movable component 39 is slidably arranged on the frame 1, and the power device is arranged on the frame 1 and used for driving the movable component 39 to linearly reciprocate towards the fixed component 40 so as to clamp or unclamp the workpiece. The mounting plate 1 is mounted on the frame 38 at the underside of the avoidance space 41.
Preferably, a six-axis manipulator 46 is further included for carrying the workpiece between the outer loading and unloading area, the workpiece fixture 12 and the rotating mechanism 27.
The working principle of the invention is that the six-axis mechanical arm 46 drives the workpiece to move between an external loading and unloading area, the workpiece fixture 12 and the rotating mechanism 27, when the workpiece is placed on the workpiece fixture 12, one end part of the workpiece is pushed into the clearance space 41 of the pressing device 37 by the Y-axis linear module 11, the pressing device 37 clamps the end part of the workpiece, and finally, the four-axis mechanism 3 drives the workpiece fixture 12 to bend the part of the workpiece clamped by the workpiece fixture 12 and the part of the workpiece pressed by the pressing device 37.
Example 2
A ten-axis numerical control bending method, comprising a ten-axis numerical control bending apparatus as described in embodiment 1, further comprising the steps of:
step one, the X-axis linear module 2 drives the two four-axis mechanisms 3 to synchronously move to a bending operation position, the six-axis manipulator 46 clamps a workpiece from an external loading and unloading area and conveys the workpiece to the four-axis mechanisms 3, and two workpiece jigs 12 respectively suck two ends of the workpiece.
Step two, firstly, the Y-axis linear modules 11 of the two workpiece jigs 12 synchronously drive the two workpiece jigs 12 to move so that the end parts of the workpieces extend into the avoidance spaces 41, and then, the pressing devices 37 clamp the end parts of the workpieces.
And thirdly, driving the corresponding first rotating arms 5 to synchronously rotate by the first motors 6 of the two four-axis mechanisms 3, driving the corresponding second rotating arms 7 to synchronously rotate by the second motors 8 of the two four-axis mechanisms 3, and driving the corresponding second bases 9 to synchronously rotate by the third motors 10 of the two four-axis mechanisms 3, wherein the two groups of workpiece jigs 12 bend the end parts of the workpiece clamped by the pressing devices 37 and the parts of the workpiece sucked by the two groups of workpiece jigs 12 relatively to obtain a bent workpiece.
And step four, firstly, transferring the workpiece bent once in the step three onto the rotating mechanism 27 by the six-axis manipulator 46, then, sucking the workpiece by the second suction nozzle 45 of the rotating mechanism 27, driving the workpiece to rotate by the rotating cylinder 43 of the second rotating mechanism 27, and finally, transferring the workpiece rotated by a certain angle onto the workpiece fixture 12 by the six-axis manipulator 46, and repeating the bending action of the step three for secondary bending.
And fifthly, loosening the workpiece by the pressing device 37 and the workpiece jig 12, and transferring the workpiece subjected to the secondary bending operation in the fourth step to the upper and lower material areas by the six-axis mechanical arm 46.
Preferably, in the first step, the six-axis manipulator 46 clamps a workpiece from the external loading and unloading area and carries the workpiece to the four-axis mechanism 3, and the X-axis linear module 2 drives the two four-axis mechanisms 3 to move relatively, so as to make an adaptive adjustment according to the size of the workpiece.
Further, after the workpiece is released by the pressing device 37 and before the workpiece is released by the workpiece fixture 12 in the step five, the method further comprises the steps that firstly, the two Y-axis linear modules 11 work to remove the workpiece from the avoidance space 41, then, the first motors 6 of the two four-axis mechanisms 3 drive the corresponding first rotating arms 5 to rotate asynchronously, the second motors 8 of the two four-axis mechanisms 3 drive the corresponding second rotating arms 7 to rotate asynchronously, the third motors 10 of the two four-axis mechanisms 3 drive the corresponding second bases 9 to rotate asynchronously, the parts of the workpiece sucked by the two workpiece fixtures 12 are twisted relatively, and when the parts of the workpiece sucked by the two workpiece fixtures 12 are twisted relatively, the X-axis linear modules 2 drive the two four-axis mechanisms 3 to move relatively.
The invention drives the two four-axis mechanisms 3 to move by the X-axis linear module 2 to form ten-axis linkage, the operation range of the X-axis linear module 2 and the Y-axis linear module 11 is enlarged in the operation process, the linkage of the two groups of four-axis mechanisms 3 not only ensures that the clamping of the workpiece is more stable, but also ensures that the bending angle range of the workpiece is changeable, the applicability is better, and simultaneously, the twisting between the ends of the workpiece clamped by the two workpiece jigs 12 can be realized by asynchronous operation between the two groups of four-axis mechanisms 3, so that the invention is more suitable for the full-automatic bending and forming operation of complex workpieces.
The above description should not be taken as limiting the scope of the invention, and any modifications, equivalent changes and modifications made to the above embodiments according to the technical principles of the present invention still fall within the scope of the technical solutions of the present invention.

Claims (10)

1.一种十轴数控折弯设备,其特征在于,包括安装板、X轴直线模组、两个四轴机构和工件治具；所述X轴直线模组安装在所述安装板上；所述X轴直线模组驱动两个所述四轴机构沿X轴方向运动组成十轴联动；每一所述四轴机构包括第一基座、第一旋转臂、第二旋转臂、第二基座和Y轴直线模组；所述第一基座受所述X轴直线模组驱动；所述第一旋转臂的一端转动安装在所述第一基座上，并受所述第一基座上的第一电机驱动绕X轴旋转；所述第一旋转臂的另一端转动在第二旋转臂的一个端部上，并受所述第二旋转臂上设置的第二电机驱动绕X轴旋转；所述第二基座转动安装在所述第二旋转臂的另一个端部上，并受安装在所述第二旋转臂上的第三电机驱动绕X轴旋转；所述Y轴直线模组安装在所述第二基座上，并驱动所述工件治具沿Y轴方向运动。1. A ten-axis CNC bending equipment, characterized in that it comprises a mounting plate, an X-axis linear module, two four-axis mechanisms and a workpiece fixture; the X-axis linear module is mounted on the mounting plate; the X-axis linear module drives the two four-axis mechanisms to move along the X-axis direction to form a ten-axis linkage; each of the four-axis mechanisms comprises a first base, a first rotating arm, a second rotating arm, a second base and a Y-axis linear module; the first base is driven by the X-axis linear module; one end of the first rotating arm is rotatably mounted on the first base and driven by a first motor on the first base to rotate around the X-axis; the other end of the first rotating arm is rotated on one end of the second rotating arm and driven by a second motor provided on the second rotating arm to rotate around the X-axis; the second base is rotatably mounted on the other end of the second rotating arm and driven by a third motor mounted on the second rotating arm to rotate around the X-axis; the Y-axis linear module is mounted on the second base and drives the workpiece fixture to move along the Y-axis direction. 2.根据权利要求1所述的一种十轴数控折弯设备,其特征在于,所述工件治具包括横板、第一吸嘴和定位块；八个所述第一吸嘴呈两行四列设置在所述横板上；两个所述定位块平行设置，其中一列所述第一吸嘴位于两个所述定位块之间。2. A ten-axis CNC bending equipment according to claim 1, characterized in that the workpiece fixture includes a horizontal plate, a first suction nozzle and a positioning block; eight first suction nozzles are arranged on the horizontal plate in two rows and four columns; two positioning blocks are arranged in parallel, and one column of the first suction nozzles is located between the two positioning blocks. 3.根据权利要求2所述的一种十轴数控折弯设备,其特征在于,所述工件治具还包括底座、导轨、第一滑块、连接板、导向杆安装块、导向杆、复位块和复位弹簧；所述底座受所述Y轴直线模组驱动；所述导轨沿Y轴方向安装在所述底座的上部；所述第一滑块滑动安装在所述导轨上；所述连接板安装在所述第一滑块上，并与所述横板固定连接；所述导向杆安装块安装在所述连接板的底部；所述导向杆安装在所述导向杆安装块上，与所述导轨平行设置；所述导向杆活动穿过所述复位块，所述复位块固定于所述底座上；所述复位弹簧套装在所述导向杆上，其两端分别抵靠在所述导向杆安装块和所述复位块上；所述底座上还设有用于限制所述连接板滑动行程的限位块；靠近所述复位弹簧的所述限位块上安装有与所述连接板活动配合的限位开关。3. A ten-axis CNC bending equipment according to claim 2, characterized in that the workpiece fixture also includes a base, a guide rail, a first slider, a connecting plate, a guide rod mounting block, a guide rod, a reset block and a reset spring; the base is driven by the Y-axis linear module; the guide rail is installed on the upper part of the base along the Y-axis direction; the first slider is slidably installed on the guide rail; the connecting plate is installed on the first slider and is fixedly connected to the cross plate; the guide rod mounting block is installed at the bottom of the connecting plate; the guide rod is installed on the guide rod mounting block and is arranged parallel to the guide rail; the guide rod movably passes through the reset block, and the reset block is fixed to the base; the reset spring is sleeved on the guide rod, and its two ends respectively abut against the guide rod mounting block and the reset block; the base is also provided with a limit block for limiting the sliding stroke of the connecting plate; the limit block close to the reset spring is installed with a limit switch that movably cooperates with the connecting plate. 4.根据权利要求3所述的一种十轴数控折弯设备,其特征在于,所述X轴直线模组为直线电机模组；所述直线电机模组驱动两个载物台沿X轴方向移动；两组所述四轴机构的第一基座分别安装在一个所述载物台上。4. A ten-axis CNC bending equipment according to claim 3, characterized in that the X-axis linear module is a linear motor module; the linear motor module drives the two stages to move along the X-axis direction; the first bases of the two groups of the four-axis mechanisms are respectively installed on one of the stages. 5.根据权利要求4所述的一种十轴数控折弯设备,其特征在于,还包括一组旋转机构；所述旋转机构包括有支架、旋转气缸、吸嘴安装板和第二吸嘴；所述支架安装在其中一个载物台上；所述旋转气缸安装在所述支架上，并驱动所述吸嘴安装板旋转；所述第二吸嘴安装在所述吸嘴安装板上。5. A ten-axis CNC bending equipment according to claim 4, characterized in that it also includes a set of rotating mechanisms; the rotating mechanism includes a bracket, a rotating cylinder, a nozzle mounting plate and a second nozzle; the bracket is installed on one of the worktables; the rotating cylinder is installed on the bracket and drives the nozzle mounting plate to rotate; the second nozzle is installed on the nozzle mounting plate. 6.根据权利要求5所述的一种十轴数控折弯设备,其特征在于,所述Y轴直线模组包括机箱、电机座、第四电机、主动带轮、从动带轮、丝杆、同步带、丝杆螺母、第二滑块；所述机箱与所述第二基座固定连接；所述电机座安装在所述机箱的端部；所述第四电机安装在所述电机座上；所述主动带轮套装在所述第四电机的输出轴上；所述从动带轮装在所述丝杆上，并与所述主动带轮通过所述同步带传动；所述丝杆转动安装在所述机箱上；所述丝杆螺母螺纹旋接在所述丝杆上，并与所述第二滑块固定连接；所述第二滑块滑动安装在所述机箱上，并与所述底座固定连接。6. A ten-axis CNC bending equipment according to claim 5, characterized in that the Y-axis linear module includes a chassis, a motor base, a fourth motor, a driving pulley, a driven pulley, a screw, a synchronous belt, a screw nut, and a second slider; the chassis is fixedly connected to the second base; the motor base is mounted on the end of the chassis; the fourth motor is mounted on the motor base; the driving pulley is sleeved on the output shaft of the fourth motor; the driven pulley is mounted on the screw and is transmitted to the driving pulley through the synchronous belt; the screw is rotatably mounted on the chassis; the screw nut is threadedly screwed on the screw and fixedly connected to the second slider; the second slider is slidably mounted on the chassis and fixedly connected to the base. 7.根据权利要求6所述的一种十轴数控折弯设备,其特征在于,还包括有压紧装置和六轴机械手；所述压紧装置用于夹紧位于所述工件治具上的工件的一个端部，所述压紧装置包括机架、动力装置、动组件和定组件，所述机架的中部设有一个供工件运动的避空位；所述定组件安装在所述机架上，位于所述避空位的下壁端缘；所述动组件滑动安装在所述机架上；所述动力装置安装在所述机架上，用于驱动所述动组件朝所述定组件方向做直线往复运动以夹紧或松开工件；所述六轴机械手用于工件在外部的上下料区、所述工件治具和所述旋转机构之间的搬运。7. A ten-axis CNC bending equipment according to claim 6, characterized in that it also includes a clamping device and a six-axis manipulator; the clamping device is used to clamp one end of the workpiece located on the workpiece fixture, the clamping device includes a frame, a power device, a moving component and a fixed component, and a clearance position for the movement of the workpiece is provided in the middle of the frame; the fixed component is installed on the frame and is located at the lower wall end edge of the clearance position; the moving component is slidably installed on the frame; the power device is installed on the frame, and is used to drive the moving component to perform a linear reciprocating motion toward the fixed component to clamp or release the workpiece; the six-axis manipulator is used for transporting the workpiece between the external loading and unloading area, the workpiece fixture and the rotating mechanism. 8.一种十轴数控折弯方法，其特征在于，包括如权利要求7所述的一种十轴数控折弯设备，还包括如下步骤：8. A ten-axis CNC bending method, characterized in that it comprises the ten-axis CNC bending device according to claim 7, and further comprises the following steps: 步骤一、所述X轴直线模组驱动两个所述四轴机构同步移动至折弯作业位置，由所述六轴机械手自外部的上下料区夹取一个工件并搬运至所述四轴机构，由两个所述工件治具分别吸紧工件的两个端部；Step 1: The X-axis linear module drives the two four-axis mechanisms to move synchronously to the bending operation position, and the six-axis manipulator clamps a workpiece from the external loading and unloading area and transports it to the four-axis mechanism, and the two workpiece fixtures respectively clamp the two ends of the workpiece; 步骤二、首先，两个所述工件治具的Y轴直线模组同步驱动两个所述工件治具移动，使得工件的端部伸入所述避空位内；然后，所述压紧装置夹紧工件的端部；Step 2: First, the Y-axis linear modules of the two workpiece fixtures synchronously drive the two workpiece fixtures to move, so that the end of the workpiece extends into the avoidance position; then, the clamping device clamps the end of the workpiece; 步骤三、两个所述四轴机构的第一电机驱动对应的所述第一旋转臂同步旋转，两个所述四轴机构的第二电机驱动对应的第二旋转臂驱动同步旋转，两个所述四轴机构的第三电机驱动对应的第二基座同步旋转；两组所述工件治具将工件被所述压紧装置夹持的端部与工件被两组所述工件治具吸紧的部分相对折弯得到一次折弯的工件；Step 3: The first motors of the two four-axis mechanisms drive the corresponding first rotating arms to rotate synchronously, the second motors of the two four-axis mechanisms drive the corresponding second rotating arms to rotate synchronously, and the third motors of the two four-axis mechanisms drive the corresponding second bases to rotate synchronously; the two groups of workpiece fixtures relatively bend the end of the workpiece clamped by the clamping device and the part of the workpiece sucked by the two groups of workpiece fixtures to obtain a once-bent workpiece; 步骤四、首先，所述六轴机械手将步骤三中进行一次折弯的工件转运至所述旋转机构上；然后，所述旋转机构的第二吸嘴吸紧工件，所述第二旋转机构的旋转气缸驱动工件旋转；最后，所述六轴机械手将旋转一定角度的工件转运至所述工件治具上并重复步骤三的折弯动作进行二次折弯；Step 4: First, the six-axis manipulator transfers the workpiece that has been bent once in step 3 to the rotating mechanism; then, the second suction nozzle of the rotating mechanism sucks the workpiece, and the rotating cylinder of the second rotating mechanism drives the workpiece to rotate; finally, the six-axis manipulator transfers the workpiece that has been rotated at a certain angle to the workpiece fixture and repeats the bending action in step 3 for a second bending; 步骤五、所述压紧装置与所述工件治具松开工件，所述六轴机械手将步骤四中完成二次折弯作业的工件转运至上下料区。Step 5: The clamping device and the workpiece fixture release the workpiece, and the six-axis manipulator transfers the workpiece that has completed the secondary bending operation in step 4 to the loading and unloading area. 9.根据权利要求8所述的一种十轴数控折弯方法，其特征在于，于步骤一中所述六轴机械手自外部的上下料区夹取一个工件并搬运至所述四轴机构前，所述X轴直线模组驱动两个所述四轴机构相对运动。9. A ten-axis CNC bending method according to claim 8, characterized in that in step one, the six-axis manipulator clamps a workpiece from the external loading and unloading area and transports it to the front of the four-axis mechanism, and the X-axis linear module drives the two four-axis mechanisms to move relative to each other. 10.根据权利要求9所述的一种十轴数控折弯方法，其特征在于，于步骤五中所述压紧装置松开工件后、所述工件治具松开工件前还包括如下步骤：首先，两个Y轴直线模组工作将工件自所述避空位中移出；然后，两个所述四轴机构的第一电机驱动对应的所述第一旋转臂不同步旋转，两个所述四轴机构的第二电机驱动对应的第二旋转臂驱动不同步旋转，两个所述四轴机构的第三电机驱动对应的第二基座不同步旋转；工件被两个所述工件治具吸紧的部分相对扭弯。10. A ten-axis CNC bending method according to claim 9 is characterized in that after the clamping device releases the workpiece in step five and before the workpiece fixture releases the workpiece, the following steps are also included: first, the two Y-axis linear modules work to move the workpiece out of the avoidance position; then, the first motors of the two four-axis mechanisms drive the corresponding first rotating arms to rotate asynchronously, the second motors of the two four-axis mechanisms drive the corresponding second rotating arms to rotate asynchronously, and the third motors of the two four-axis mechanisms drive the corresponding second bases to rotate asynchronously; the parts of the workpiece sucked by the two workpiece fixtures are relatively twisted.
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