CN112496198B

CN112496198B - Bending mechanism and automatic bending machine

Info

Publication number: CN112496198B
Application number: CN202011217064.9A
Authority: CN
Inventors: 梁耀棠; 向兴要; 欧阳威
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2022-08-09
Anticipated expiration: 2040-11-04
Also published as: CN112496198A

Abstract

The invention relates to the technical field of construction machinery, and discloses a bending mechanism and an automatic bending machine. Wherein, bending mechanism includes: the bending die is provided with a bending groove for the workpiece to be bent to penetrate out along the X direction, and the side wall of the bending groove limits the degree of freedom of the workpiece to be bent in the Z direction; bending the motor; the bending head is provided with a first initial position and a second initial position which are respectively positioned at two opposite sides of the workpiece to be bent, and the bending motor can drive the bending head to rotate around the Y direction, so that the initial position of the bending head is switched when the workpiece to be bent does not pass through the rotation path of the bending head, or the bending head presses and bends the workpiece to be bent when the workpiece to be bent passes through the rotation path of the bending head; the X direction, the Z direction and the Y direction are mutually vertical in pairs. The bending mechanism provided by the invention can be used for selectively bending the workpiece to be bent from one side of the two opposite sides of the workpiece to be bent to the other side, has high universality, and is simple and compact in structure and low in cost.

Description

Bending mechanism and automatic bending machine

Technical Field

The invention relates to the technical field of construction machinery, in particular to a bending mechanism and an automatic bending machine.

Background

In the building industry, a plurality of bar-shaped workpieces such as bars, wires, pipes and the like need to be bent, steel bars are one of the workpieces, and steel bar meshes are widely applied in the building industry and generally comprise a plurality of transverse bars and a plurality of longitudinal bars which are respectively arranged at certain intervals and welded at the lap joint of the transverse bars and the longitudinal bars to finally form the steel bar meshes.

The reinforcing mesh is welded to receive the reinforcing steel bars extending out of the edge part, and the reinforcing steel bars are generally called as 'beard bars'. In practical application, the beard ribs need to be bent, such as laminated floor meshes, shear wall meshes, stair meshes and the like.

The existing reinforcing steel bar mesh bending equipment is used for directly bending a single transverse beard rib in the mesh welding process, the equipment is generally applied to upward bending, one set of same equipment needs to be added during downward bending, the structure is complex, and the equipment cost is high.

Therefore, a bending mechanism and an automatic bending machine are needed to solve the above technical problems.

Disclosure of Invention

Based on the above, the present invention aims to:

1. the bending mechanism can selectively bend the workpiece to be bent from one of two opposite sides of the workpiece to be bent to the other side, has high universality, and is simple and compact in structure and low in cost;

2. the utility model provides an automatic bender possesses higher degree of automation.

In order to achieve the purpose, the invention adopts the following technical scheme:

in a first aspect, a bending mechanism is provided, including: the bending die is provided with a bending groove for a workpiece to be bent to penetrate out along the X direction, and the side wall of the bending groove limits the degree of freedom of the workpiece to be bent in the Z direction; bending the motor; the bending motor can drive the bending head to rotate around the Y direction, so that the bending head switches the initial position when the workpiece to be bent does not pass through the rotating path of the workpiece to be bent, or presses and bends the workpiece to be bent when the workpiece to be bent passes through the rotating path of the workpiece to be bent.

The bending mechanism provided by the invention can be used for bending the workpiece to be bent by driving the bending head to rotate, and the bending head has a first initial position and a second initial position which are respectively arranged at two opposite sides of the workpiece to be bent, so that the bending head can be used for selectively bending the workpiece to be bent from one side to the other side of the two opposite sides of the workpiece to be bent, and the bending mechanism has high universality.

As an optional scheme of the bending mechanism, the bending mechanism further comprises a driven gear, the bending head is mounted at a position on the driven gear, which is not a rotation center, and the bending motor can drive the driven gear to rotate around the Y direction.

As an optional scheme of the bending mechanism, a yielding notch is arranged on the driven gear, and when the bending head is located at the first initial position or the second initial position, a straight line where the diameter of the driven gear in the Z direction is located penetrates through the yielding notch. On one hand, the dead weight of the driven gear can be reduced, and the output efficiency of the bending motor is improved; on the other hand, in any initial state, the abdicating notch always covers one end of the driven gear in the Y direction, when the bending mechanism moves along the Y direction away from the end to avoid a workpiece to be bent, the minimum stroke of the bending mechanism needing to move is smaller, the operation efficiency is improved, the working face height of the whole machine is reduced, and the stability of the whole structure is improved.

As an optional scheme of the bending mechanism, the bending mechanism further comprises a driving gear, the driving gear is in transmission connection with an output end of the bending motor, the driven gear is in meshing transmission with the driving gear, and when the bending head rotates to a first limit bending position, the driving gear is meshed with a tooth part of the driven gear, which is close to a first end of the abdicating notch; when the bending head rotates to the second limit bending position, the driving gear is meshed with the tooth part of the driven gear close to the second end of the abdicating notch, and the mechanical protection limiting effect is achieved.

As an optional scheme of the bending mechanism, the bending mechanism further comprises: compressing the driving member; and the pressing arm is connected with the output end of the pressing driving piece, and the pressing driving piece can drive the pressing arm to move along the Y direction so as to limit the workpiece to be bent in the bending groove. When the workpiece to be bent enters the limiting groove, the pressing driving piece drives the pressing arm to move along the Y direction and press the workpiece to be bent, the workpiece to be bent is prevented from being separated from the limiting groove in the bending operation process, and the failure rate is effectively reduced.

In a second aspect, there is provided an automatic bending machine comprising: the bending mechanism as described above; the lifting mechanism can drive the bending mechanism to lift along the Z direction; a transverse moving mechanism capable of driving the lifting mechanism to move along the Y direction; a longitudinal moving mechanism capable of driving the bending mechanism to move along the X direction; and the clamping mechanism is used for clamping the workpiece to be bent.

The automatic bending machine provided by the invention can drive the bending mechanism to freely move in space, so that the bending mechanism can move to each bending point on a workpiece to be bent or to different bending points on different workpieces to be bent, and can also provide abdicating when the workpiece to be bent moves, thereby improving the automation degree of bending operation.

As an alternative to the automatic bending machine, the longitudinal moving mechanism includes: the longitudinal sliding rail extends along the X direction, and the transverse moving mechanism is arranged on the longitudinal sliding rail in a sliding manner; the longitudinal movement driving piece can drive the transverse movement mechanism to move along the longitudinal sliding rail; and the protection plate is arranged side by side with the longitudinal slide rail, a limiting groove is formed in the protection plate, the limiting groove and the longitudinal slide rail extend in the same direction, the transverse moving mechanism is inserted into the limiting groove to limit the degree of freedom of the transverse moving mechanism in the Z direction, the transverse moving mechanism is ensured not to float or overturn in the bending operation and moving process, and the stability of the automatic bending machine is improved.

As an alternative to the automatic bending machine, the lateral moving mechanism includes: a cross brace assembly; the transverse sliding rail extends along the Y direction and is arranged on the transverse support component, and the lifting mechanism is arranged on the transverse sliding rail in a sliding manner; the transverse driving piece can drive the lifting mechanism to move along the transverse sliding rail; the transmission gear is connected with the output end of the transverse moving driving piece, the transmission rack is in meshing transmission with the transmission gear, one of the transverse moving driving piece and the transmission rack is arranged on the transverse support assembly, and the other one of the transverse moving driving piece and the transmission rack is arranged on the lifting mechanism. Through the meshing transmission of the transmission rack and the transmission gear, the accuracy, the stability and the reliability of the transverse movement of the lifting mechanism can be effectively improved.

As an alternative to the automatic bending machine, the lateral moving mechanism further includes: and the support rod extends towards the Z direction and is used for supporting the workpiece to be bent. Because the both ends of the workpiece to be bent have certain drooping amount under the action of dead weight, the supporting rod can be used for supporting the position, close to the end part, of the workpiece to be bent, and the consistency of the bending height is guaranteed.

As an alternative to the automatic bending machine, the lifting mechanism includes: the bottom plate is arranged on the transverse moving mechanism in a sliding mode; the lifting cylinder is arranged on the bottom plate, the bending mechanism is arranged at the output end of the lifting cylinder, and the lifting cylinder can drive the bending mechanism to lift along the Z direction; and the pneumatic control assembly is arranged on the bottom plate and comprises an electromagnetic valve arranged on an air supply pipeline of the lifting cylinder. The pneumatic control assembly is directly arranged on the bottom plate, the distance from the lifting cylinder to the electromagnetic valve can be shortened, the reaction time of the lifting cylinder is shortened, action delay can be reduced, and the action synchronism of the lifting cylinder can be guaranteed when a plurality of lifting mechanisms synchronously act.

As an alternative to the automatic bending machine, the clamping mechanism comprises: a main frame; the clamping hand cylinders are arranged on the main frame in a sliding mode and used for grabbing the workpiece to be bent; the longitudinal movement driving assembly is used for driving the clamping cylinder to move along a first direction; the transverse moving driving assembly is used for driving the clamping cylinder to move along a second direction; the Z direction, the first direction and the second direction are mutually vertical in pairs. The longitudinal movement driving assembly and the transverse movement driving assembly can adjust the distance between the clamping hand cylinders, so that the clamping hand cylinders can be aligned to the centers of the clamping hand cylinders to grab workpieces to be bent in different specifications and sizes, and the flexibility degree and the grabbing success rate are improved.

As an alternative to the automatic bending machine, the clamping mechanism further comprises: and the output end of the rotation driving component is connected with the main frame and used for driving the main frame to rotate around the axis in the Z direction. When the workpiece to be bent is a reinforcing mesh or other workpieces requiring a plurality of ends to be bent, the rotary driving assembly can drive the workpiece to be bent to rotate around the vertical axis so as to switch the ends to be bent.

The invention has the beneficial effects that:

1. the bending mechanism provided by the invention can be used for bending the workpiece to be bent by driving the bending head to rotate, and the bending head has a first initial position and a second initial position which are respectively arranged at two opposite sides of the workpiece to be bent, so that the bending head can be used for selectively bending the workpiece to be bent from one side to the other side of the two opposite sides of the workpiece to be bent, and the bending mechanism has high universality.

2. The automatic bending machine provided by the invention can drive the bending mechanism to freely move in space, so that the bending mechanism can move to each bending point on a workpiece to be bent or to different bending points on different workpieces to be bent, and can also provide abdicating when the workpiece to be bent moves, thereby improving the automation degree of bending operation.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings may be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a schematic structural view of an automatic bending machine provided by the present invention;

FIG. 2 is a schematic structural view of a bending mechanism provided by the present invention;

FIG. 3 is a cross-sectional view of a bending mechanism provided by the present invention;

FIG. 4 is a schematic structural diagram of a longitudinal moving mechanism provided in the present invention;

FIG. 5 is an enlarged schematic view of area A of FIG. 4;

FIG. 6 is an enlarged schematic view of region B of FIG. 4;

FIG. 7 is an enlarged schematic view of region C of FIG. 4;

FIG. 8 is a schematic structural view of a lateral shifting mechanism provided in the present invention;

FIG. 9 is an enlarged schematic view of region D of FIG. 8;

FIG. 10 is an enlarged schematic view of area E of FIG. 8;

FIG. 11 is a schematic view of the installation of the guide rollers provided by the present invention;

FIG. 12 is a schematic structural view of a lifting mechanism provided in the present invention;

FIG. 13 is a front view of the lift mechanism provided by the present invention;

fig. 14 is a schematic structural diagram of a clamping mechanism provided by the invention.

In the figure:

100. bending a workpiece;

1. a bending mechanism; 101. bending the die; 102. bending the motor; 103. bending the elbow; 104. a driving gear; 105. a driven gear; 106. bending a speed reducer; 107. compressing the driving member; 108. a pressing arm; 109. compressing the mounting plate; 110. a support plate; 111. a first bearing; 112. bending the support; 113. a fixed shaft; 114. a second bearing; 115. a circlip;

2. a longitudinal movement mechanism; 201. a longitudinal slide rail; 202. a longitudinal movement driving member; 203. a longitudinal movement speed reducer; 204. longitudinally moving the mounting plate; 205. a protection plate; 206. longitudinally moving a limiting block; 207. a first drive shaft; 208. longitudinally moving a driving belt pulley; 209. longitudinally moving a synchronous belt; 210. a pedestal bearing; 211. longitudinally moving the driven pulley; 212. a driven support; 213. tensioning the bolt; 214. a guide rail connecting plate; 215. a slide rail cross brace; 216. a foot cup; 217. a first drag chain slot; 218. a first tow chain;

3. a lateral movement mechanism; 301. a main cross brace; 302. a secondary cross brace; 303. a transverse slide rail; 304. a transverse moving limiting block; 305. a traverse driving member; 3051. a traversing speed reducer; 3052. a backlash adjusting plate; 306. a transmission gear; 307. a drive rack; 308. a roller bracket; 309. a guide roller; 310. a roller mandrel; 311. a cleat assembly; 312. a flat roller; 313. a longitudinal movement limit switch; 314. a middle roller; 315. a roller support plate; 316. a supporting rod; 317. a protective cover; 318. a second tow chain groove; 319. a second tow chain;

4. a lifting mechanism; 401. a base plate; 402. a lifting cylinder; 403. a cylinder support; 404. a pneumatic control assembly; 405. transversely moving the sliding block; 406. a first traverse limit switch; 407. a second traverse limit switch; 408. a slot switch; 409. an induction sheet; 410. a drag chain mounting plate;

5. a clamping mechanism; 501. a main frame; 502. a gripper cylinder; 503. a sub-frame; 504. a first drive motor; 505. a ball screw structure; 506. a second drive motor; 507. a second drive shaft; 508. a synchronous pulley assembly; 509. a rotary drive motor; 510. and a rotary speed reducer.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 14, the present embodiment provides an automatic bending machine, which is used for bending bar-shaped workpieces such as bars, wires, pipes, and the like, and is particularly suitable for bending steel mesh sheets, the automatic bending machine includes a bending mechanism 1, a longitudinal moving mechanism 2, a transverse moving mechanism 3, a lifting mechanism 4, and a clamping mechanism 5, the bending mechanism 1 is installed at an output end of the lifting mechanism 4, the lifting mechanism 4 is installed on the transverse moving mechanism 3, the transverse moving mechanism 3 is installed on the longitudinal moving mechanism 2, the bending mechanism 1 is used for bending a workpiece 100 to be bent, the longitudinal moving mechanism 2 can drive the bending mechanism 1 to move along an X direction, the lifting mechanism 4 can drive the bending mechanism 1 to lift along a Z direction, the transverse moving mechanism 3 can drive the lifting mechanism 4 to move along a Y direction, and the clamping mechanism 5 is used for clamping the workpiece 100 to be bent.

Specifically, the automatic bending machine provided by this embodiment can drive the bending mechanism 1 to move freely in space, so that the bending mechanism 1 can move to each bending point on the workpiece 100 to be bent, or move to different bending points on the workpiece 100 to be bent, and also can provide a yielding position when the workpiece 100 to be bent moves, thereby improving the automation degree of the bending operation.

As shown in fig. 2 and 3, the bending mechanism 1 includes a bending support 112, a bending die 101, a bending motor 102, and a bending head 103, wherein the bending die 101 and the bending motor 102 are both fixedly connected to the bending support 112, the bending die 101 is provided with a bending groove for the workpiece 100 to be bent to pass through along the X direction, a side wall of the bending groove limits the degree of freedom of the workpiece 100 to be bent in the Z direction, the bending head 103 has a first initial position and a second initial position respectively located at two opposite sides of the workpiece 100 to be bent, the bending motor 102 can drive the bending head 103 to rotate around the Y direction, so that the bending head 103 switches the initial positions (i.e., switches between the first initial position and the second initial position), or presses and bends the workpiece 100 to be bent, and the X direction, the Z direction, and the Y direction are mutually perpendicular. In the present embodiment, the Z direction is a vertical direction.

Specifically, the bending mechanism 1 provided in this embodiment drives the bending head 103 to rotate so as to bend the workpiece 100 to be bent, and since the bending head 103 has a first initial position and a second initial position respectively disposed at two opposite sides of the workpiece 100 to be bent, the bending head 103 can selectively bend the workpiece 100 to be bent from one of the two opposite sides of the workpiece 100 to be bent to the other, so that the bending mechanism has high versatility, and compared with a scheme in which bending devices are respectively disposed at two opposite sides of the workpiece 100 to be bent, the bending mechanism 1 provided in this embodiment is simpler and more compact in structure and lower in cost.

Specifically, when the workpiece 100 to be bent does not pass through the rotation path of the bending head 103, the bending motor 102 can drive the bending head 103 to rotate around the Y direction, so that the bending head 103 can be switched between a first initial position and a second initial position; when the workpiece 100 to be bent is placed on the bending die 101 and the workpiece 100 to be bent passes through the rotation path of the bending head 103, the bending motor 102 drives the bending head 103 to rotate around the Y direction, so as to press and bend the workpiece 100 to be bent. The above-described turning path of the bending head 103, that is, the turning path of the bending head 103 driven by the bending motor 102.

Optionally, the bending motor 102 may adopt a servo motor, or may adopt a general motor in combination with an encoder, so as to ensure the rotation precision of the bending head 103 and accurately control the bending angle of the workpiece 100 to be bent.

Optionally, the bending mechanism 1 further includes a driving gear 104 and a driven gear 105, the driving gear 104 and the driven gear 105 are both rotatably connected to the bending support 112, the driving gear 104 is in transmission connection with an output end of the bending motor 102, the driven gear 105 is in meshing transmission with the driving gear 104, the bending head 103 is mounted at a non-central position on the driven gear 105, and the bending motor 102 can drive the driven gear 105 to rotate around the Y direction. The gear transmission has the characteristics of high transmission precision, high transmission efficiency and high reliability, and is particularly suitable for the reciprocating motion scene in the embodiment.

Preferably, the diameter of the driving gear 104 is smaller than that of the driven gear 105, so that the bending head 103 can obtain a larger turning radius and bear a smaller reaction force while the whole bending mechanism 1 does not occupy a larger space, thereby reducing the wear of the bending head 103.

Further, the bending mechanism 1 further comprises a bending reduction gearbox, the bending reduction gearbox is mounted on the bending support 112, the bending motor 102 is in transmission connection with the driving gear 104 through the bending reduction gearbox, and output torque is improved while the output rotating speed of the bending motor 102 is reduced.

Optionally, the driven gear 105 is provided with a yielding notch, so that on one hand, the dead weight of the driven gear 105 can be reduced, and the output efficiency of the bending motor 102 is improved. On the other hand, when the bending head 103 is located at the first initial position or the second initial position, the straight line where the diameter of the driven gear 105 in the Z direction is located passes through the abdicating notch, that is, in any initial state, the abdicating notch always covers one end of the driven gear 105 in the Y direction, in this embodiment, the abdicating notch always covers the uppermost end of the driven gear 105, when the lifting mechanism 4 drives the bending mechanism 1 to move away from the end along the Y direction to avoid the workpiece 100 to be bent, the minimum stroke of the lifting mechanism 4 to be executed is smaller, which is beneficial to improving the operation efficiency, and the working face height of the whole machine is reduced, and the stability of the whole structure is improved.

Further, when the bending head 103 rotates to the first extreme bending position, the driving gear 104 is meshed with the tooth part of the driven gear 105 near the first end of the abdicating notch; when the bending head 103 rotates to the second limit bending position, the driving gear 104 meshes with the tooth portion of the driven gear 105 near the second end of the abdicating notch. That is, the teeth of the driven gear 105 are designed according to the bending angle, and when the driven gear is rotated to the limit angle, the driving gear 104 reaches just one tooth of the outermost edge of the driven gear 105, thereby playing a role of mechanical protection and limitation.

Optionally, the bending mechanism 1 further includes a pressing driving element 107 and a pressing arm 108, the pressing driving element 107 is fixedly connected to the bending support 112 through a pressing mounting plate 109, the pressing arm 108 is connected to an output end of the pressing driving element 107, and the pressing driving element 107 can drive the pressing arm 108 to move along the Y direction, so as to limit the workpiece 100 to be bent in the bending groove. Specifically, after the workpiece 100 to be bent enters the limiting groove, the pressing driving part 107 drives the pressing arm 108 to move along the Y direction and press against the workpiece 100 to be bent, so that the workpiece 100 to be bent is prevented from coming out of the limiting groove in the bending operation process, and the failure rate is effectively reduced; after the bending operation is finished, the pressing driving piece 107 drives the pressing arm 108 to move in the opposite direction, so that sufficient space is provided for the bent workpiece to separate from the limiting groove. Preferably, the compression driving part 107 adopts an air cylinder, has quick action and simple structure, and is particularly suitable for short-range linear reciprocating motion.

Optionally, the bending mechanism 1 further includes a supporting plate 110, the supporting plate 110 is fixedly connected with the bending die 101, a lifting plane of the supporting plate is flush with the bottom surface of the bending groove, when the lifting mechanism 4 drives the bending mechanism 1 to abut against the workpiece 100 to be bent from the lower side, the supporting plate 110 is in contact with the workpiece 100 to be bent, the workpiece 100 to be bent is prevented from sagging due to self weight or the error of the lifting mechanism 4 causes the workpiece 100 not to be aligned with the bending groove, the subsequent workpiece 100 cannot enter the bending groove, and the failure rate is effectively reduced.

Optionally, the driven gear 105 is uniformly provided with a plurality of mounting holes for mounting the bending heads 103 along the circumferential direction thereof, and the bending heads 103 can be selectively connected and mounted, so that the initial position of the bending heads 103 and the bending limit angle can be conveniently adjusted.

Optionally, the bending head 103 is rotatably connected to the driven gear 105 through the first bearing 111, so that rolling friction between the bending head 103 and the workpiece 100 to be bent is achieved, the service life is prolonged, and the tensile force applied to the clamping mechanism 5 in the X direction is reduced. Preferably, the first bearing 111 is a needle bearing.

Optionally, at a position higher than the rotation center of the driven gear 105, the maximum thickness of the bending mechanism 1 in the initial state in the Y direction is an effective thickness, and the smaller the effective thickness of the bending mechanism 1 is, the smaller the distribution interval of the workpieces 100 to be bent that can be compatible with the bending mechanism 1 is, and the higher the compatibility is.

Optionally, the bending die 101 is fixedly connected to the bending support 112 through a fixing shaft 113, specifically, the fixing shaft 113 is connected to the bending support 112 through a bolt, and the bending die 101 is also connected to the fixing shaft 113 through a bolt, so that the replacement cost of the bending die 101 as a wearing part is reduced.

Optionally, the driven gear 105 is rotatably connected with the bending support 112 through a second bearing 114, a circlip 115 is arranged outside the second bearing 114, and the bending die 101 is arranged at the rotation center of the driven gear 105. In the present embodiment, the second bearing 114 is a deep groove ball bearing.

As shown in fig. 4 to 7, the longitudinal moving mechanism 2 includes longitudinal sliding rails 201, longitudinal moving driving members 202, and protection plates 205, the longitudinal sliding rails 201 are extended along the X direction and are arranged in three rows, the three longitudinal sliding rails 201 are connected by a plurality of sliding rail crossbars 215, a foot cup 216 for supporting each longitudinal sliding rail 201 is arranged at the bottom of each longitudinal sliding rail 201, the lateral moving mechanism 3 is slidably arranged on the longitudinal sliding rail 201, the longitudinal moving driving members 202 can drive the lateral moving mechanism 3 to move along the longitudinal sliding rails 201, the protection plates 205 are arranged in parallel with the longitudinal sliding rails 201 arranged at two sides and are located at the outer sides of the longitudinal sliding rails 201, the protection plates 205 are provided with limit grooves, the limit grooves extend in the same direction as the longitudinal sliding rails 201, the lateral moving mechanism 3 is inserted in the limit grooves to limit the degree of freedom of the lateral moving mechanism 3 in the Z direction, so as to ensure that during the bending operation and the moving process, the transverse moving mechanism 3 does not float or overturn, and the stability of the automatic bending machine is improved.

Optionally, longitudinal movement limiting blocks 206 are respectively disposed at two ends of the longitudinal sliding rail 201, so as to limit the maximum longitudinal movement stroke of the transverse moving mechanism 3.

Optionally, the longitudinal movement driving member 202 adopts a rotating motor, and the longitudinal movement mechanism 2 further includes a longitudinal movement speed reducer 203, a first transmission shaft 207, a longitudinal movement driving pulley 208, a longitudinal movement timing belt 209, and a longitudinal movement driven pulley 211. The longitudinal movement speed reducer 203 is mounted on a sliding rail cross brace 215 through a longitudinal movement mounting plate 204, the output end of the longitudinal movement driving piece 202 is connected with the input end of the longitudinal movement speed reducer 203, a first transmission shaft 207 extends in the same direction as the sliding rail cross brace 215 and is rotatably connected with the sliding rail cross brace 215 through a belt seat bearing 210, the two ends of the first transmission shaft 207 are respectively connected with the output end of the longitudinal movement speed reducer 203 and a longitudinal movement driving pulley 208, the longitudinal movement driving pulley 208 and the longitudinal movement driven pulley 211 are respectively arranged at the two ends of a longitudinal sliding rail 201, a longitudinal movement synchronous belt 209 is sleeved on the longitudinal movement driving pulley 208 and the longitudinal movement driven pulley 211, and a transverse movement mechanism 3 is fixedly connected with a longitudinal movement synchronous belt 209. When the longitudinal driving member 202 is started, the first transmission shaft 207 rotates along with the longitudinal driving pulley 208, the transverse moving mechanism 3 and the longitudinal synchronous belt 209 move linearly along with the longitudinal driving pulley, and the moving direction of the transverse moving mechanism 3 can be changed by changing the rotating direction of the longitudinal driving member 202. In other embodiments of the present invention, the longitudinal movement driving member 202 may be a hydraulic motor or other rotary driving member according to actual conditions.

Optionally, the longitudinal moving driven pulley 211 is mounted at an end of the longitudinal sliding rail 201 through a driven support 212, a limit hole extending along the X direction is formed in the driven support 212, a rotating shaft of the longitudinal moving driven pulley 211 is locked in the limit hole through a tensioning bolt 213, and a depth of the tensioning bolt 213 inserted into the limit hole is adjusted, so that a distance between the longitudinal moving driven pulley 211 and the longitudinal moving driving pulley 208 can be adjusted, and a tensioning degree of the longitudinal moving synchronous belt 209 is adjusted.

In this embodiment, the longitudinal sliding rail 201 is formed by connecting two sections that are detachably connected, specifically, the two sections of the longitudinal sliding rail 201 are spliced by the rail connecting plate 214, so that the longitudinal moving mechanism 2 can be split into two complete modules, which is convenient for disassembly, assembly and transportation. Of course, in other embodiments of the present invention, the longitudinal sliding rail 201 may be formed by splicing more than two sections.

As shown in fig. 8 to 11, the traverse mechanism 3 includes a traverse member, a traverse slide 303, a traverse drive 305, a transmission gear 306, and a transmission rack 307. The transverse strut assembly comprises a main transverse strut 301 and an auxiliary transverse strut 302 which are arranged side by side, two transverse sliding rails 303 are arranged side by side, the two transverse sliding rails 303 extend along the Y direction respectively and are arranged on the main transverse strut 301 and the auxiliary transverse strut 302, the lifting mechanism 4 is arranged on the transverse sliding rails 303 in a sliding mode, the transverse sliding driving piece 305 can drive the lifting mechanism 4 to move along the transverse sliding rails 303, a transmission gear 306 is connected with the output end of the transverse sliding driving piece 305, a transmission rack 307 is in meshing transmission with the transmission gear 306, the transmission rack 307 extends along the Y direction and is arranged on the main transverse strut 301, and the transverse sliding driving piece 305 is arranged on the lifting mechanism 4. In this embodiment, the traverse driving member 305 is driven by a rotating motor, and the driving rack 307 is meshed with the driving gear 306 for transmission, so that the accuracy, stability and reliability of the traverse motion of the lifting mechanism 4 can be effectively improved. In other embodiments of the present invention, the traverse driving member 305 may be a hydraulic motor or other rotary driving member according to actual conditions.

Of course, in other embodiments of the present invention, the drive rack 307 may be provided on the lift mechanism 4 and the traverse driving member 305 may be provided on the cross-brace assembly.

Optionally, the two ends of the transverse sliding rail 303 are provided with longitudinal movement limiting blocks 206 for limiting the maximum transverse movement stroke of the lifting mechanism 4.

Optionally, the lateral moving mechanism 3 further includes two roller supports 308, the two roller supports 308 are respectively disposed at two ends of the cross-brace assembly, as shown in fig. 8 and 11, one of the roller supports 308 is rotatably connected with two guide rollers 309, the guide rollers 309 are rotatably connected with the roller supports 308 through roller mandrels 310, guide grooves are formed in the circumferential surface of the guide rollers 309, the guide grooves are in concave-convex fit with the longitudinal sliding rails 201, the guide rollers 309 can be prevented from falling off from the longitudinal sliding rails 201, and guide is provided for the longitudinal movement of the lateral moving mechanism 3. In addition, the lateral moving mechanism 3 further comprises a clamping plate assembly 311, the clamping plate assembly 311 is fixed on the roller bracket 308 through a nut, and the clamping plate assembly 311 is used for connecting the longitudinal moving synchronous belt 209.

As shown in fig. 9, two flat rollers 312 are rotatably connected to the other roller bracket 308, the flat rollers 312 are also rotatably connected to the roller bracket 308 through roller mandrels 310 and are rotatably connected to the other longitudinal slide rail 201, a longitudinal movement limit switch 313 is provided at an end of the roller bracket 308, and the longitudinal movement limit switch 313 is provided toward the longitudinal slide rail 201 and is used for limiting the maximum longitudinal movement stroke of the transverse moving mechanism 3. Preferably, the longitudinal movement limit switch 313 is an electro-optical proximity switch.

As shown in fig. 10, a roller support plate 315 is disposed at a middle position of the bottom of the lateral moving mechanism 3, an intermediate roller 314 is rotatably connected to the roller support plate 315, and the intermediate roller 314 is in rolling connection with the longitudinal sliding rail 201 disposed in the middle. Preferably, the roller support plate 315 is provided with a waist-shaped hole extending along the Z-direction, the intermediate roller 314 is mounted in the waist-shaped hole through the roller mandrel 310, and the height of the intermediate roller 314 can be finely adjusted by adjusting the connection position of the roller mandrel 310 and the waist-shaped hole, so as to offset the deformation of the auxiliary cross brace 302 and the main cross brace 301 caused by too large span.

Optionally, the lateral moving mechanism 3 further includes a support rod 316, and the support rod 316 is mounted on the main cross brace 301 and extends in the Z direction. Because the two ends of the workpiece 100 to be bent have a certain amount of sagging under the action of self weight, the support rod 316 can well support the position of the workpiece 100 to be bent close to the end part, and the consistency of the bending height is ensured.

Optionally, a protective cover 317 is arranged above the transverse sliding rail 303, so that sundries can be placed on the transverse sliding rail 303, normal operation of the transverse sliding rail 303 is guaranteed, and reliability is improved.

As shown in fig. 12 and 13, the lifting mechanism 4 includes a bottom plate 401, a lifting cylinder 402, and a pneumatic control assembly 404, wherein the bottom plate 401 is slidably disposed on the lateral movement mechanism 3, the lifting cylinder 402 is mounted on the bottom plate 401, the bending mechanism 1 is mounted at an output end of the lifting cylinder 402, the lifting cylinder 402 can drive the bending mechanism 1 to lift along the Z direction, the pneumatic control assembly 404 is mounted on the bottom plate 401, and the pneumatic control assembly 404 includes a solenoid valve disposed on an air supply pipeline of the lifting cylinder 402. Specifically, the pneumatic control module 404 controls the air supply circuit of the lifting cylinder 402 through the solenoid valve to control the operation of the lifting cylinder 402, and the pneumatic control module 404 is directly arranged on the bottom plate 401, so that the distance from the lifting cylinder 402 to the solenoid valve can be shortened, the reaction time of the lifting cylinder 402 can be shortened, the operation delay can be reduced, and the operation synchronism of the lifting cylinder 402 can be ensured when the plurality of lifting mechanisms 4 synchronously operate.

Optionally, an output end of the traverse driving member 305 is connected to a traverse speed reducer 3051, the traverse driving member 305 is connected to the transmission gear 306 through the traverse speed reducer 3051, specifically, the traverse speed reducer 3051 is installed on the bottom plate 401, and an output end of the traverse speed reducer 3051 penetrates through the bottom plate 401 downward and is connected to the transmission gear 306. Further, the sideslip speed reducer 3051 is connected with the bottom plate 401 through a backlash adjusting plate 3052, a waist-shaped groove extending along the X direction is formed in the backlash adjusting plate 3052, and the backlash adjusting plate 3052 is connected with the bottom plate 401 through a bolt penetrating through the waist-shaped groove, so that the relative position of the backlash adjusting plate 3052 and the bottom plate 401 in the X direction is adjustable, the gap between the transmission gear 306 and the transmission rack 307 is adjusted, and the sideslip speed reducer can be adapted to the transmission gear 306 and the transmission rack 307 of which the tooth portions are within a certain size range.

Optionally, two ends of the bottom plate 401 in the Y direction are respectively provided with a first traverse limit switch 406 and a second traverse limit switch 407, and the first traverse limit switch 406 and the second traverse limit switch 407 are both arranged toward the transverse slide rail 303, so as to limit the maximum stroke of the transverse movement of the lifting mechanism 4, and realize automatic origin positioning. Preferably, the transverse movement limit switch is an optoelectronic proximity switch.

Optionally, the end of the bottom plate 401 in the Y direction is further provided with a slot switch 408 and a sensing piece 409, and the sensing piece 409 is inserted into a sensing groove of the slot switch 408 and extends out of the bottom plate 401 along the Y direction. When the lifting mechanism 4 touches an obstacle on a path moving transversely along the Y direction, the obstacle pushes the sensing piece 409 and makes it separate from the sensing groove, the detection state of the slot switch 408 is switched, a switching signal is sent to the traverse driving member 305, the traverse driving member 305 is made to pause, and the transverse movement of the lifting mechanism 4 is then paused.

Optionally, two traverse sliders 405 arranged side by side are installed below the bottom plate 401, and the two traverse sliders 405 are respectively connected with the two transverse sliding rails 303 in a sliding manner.

Optionally, the longitudinal moving mechanism 2 further includes a first drag chain groove 217, the first drag chain groove 217 is supported by a plurality of slide rail crossbars 215, one end of the first drag chain groove 217 is connected to the transverse moving mechanism 3, the other end of the first drag chain groove 217 is connected to the slide rail crossbars 215 equipped with the longitudinal movement reducer 203, and the first drag chain groove 217 is used for accommodating a first drag chain 218. The lateral moving mechanism 3 further includes a second drag chain slot 318, one end of the second drag chain slot 318 is connected with the wale assembly, and the other end is connected with the lifting mechanism 4, and the second drag chain slot 318 is used for accommodating a second drag chain 319. The first drag chain 218 and the second drag chain 319 comprise a plurality of control lines and power supply lines, and the plurality of control lines and power supply lines are respectively connected with the bending motor 102, the longitudinal movement driving element 202, the transverse movement driving element 305, the longitudinal movement limit switch 313, the lifting cylinder 402, the first transverse movement limit switch 406, the second transverse movement limit switch 407 and the slot type switch 408.

Optionally, a tow chain mounting plate 410 is further mounted on the bottom plate 401 for connecting with a second tow chain 319.

As shown in fig. 14, the clamping mechanism 5 includes a main frame 501, four gripper cylinders 502, a longitudinal movement driving assembly and a transverse movement driving assembly, wherein the gripper cylinders 502 are slidably disposed on the main frame 501 and are used for grabbing the workpiece 100 to be bent, the longitudinal movement driving assembly is used for driving the gripper cylinders 502 to move along a first direction, the transverse movement driving assembly is used for driving the gripper cylinders 502 to move along a second direction, and the Z direction, the first direction and the second direction are perpendicular to each other two by two. Specifically, the main frame 501 is connected with the two subframes 503 in a sliding mode, the subframes 503 and the main frame 501 extend along the horizontal direction, the subframes 503 are perpendicular to the main frame 501, two clamping cylinders 502 are arranged on each subframe 503 in a sliding mode, the longitudinal movement driving assembly can drive the two subframes 503 to move towards or away from each other along the main frame 501, the transverse movement driving assembly can drive the clamping cylinders 502 on the same subframe 503 to move towards or away from each other along the subframes 503, the distance between the clamping cylinders 502 is adjusted, when the clamping cylinders 502 grab workpieces 100 to be bent in different specifications and sizes, the centers of the clamping cylinders can be aligned to grab, and the flexibility degree and the grabbing success rate are improved. In other embodiments of the present invention, the gripper cylinders 502 may be provided in two, three, or more than four according to actual requirements.

Optionally, the longitudinal movement driving assembly includes two first driving motors 504 and two ball screw structures 505 which are arranged oppositely, a screw in the ball screw structure 505 is in transmission connection with an output shaft of the first driving motor 504 and extends in the same direction as the main frame 501, a nut in the ball screw structure 505 is fixedly connected with the sub-frame 503, and the two first driving motors 504 respectively drive the sub-frame 503 in transmission connection therewith to slide along the main frame 501. Of course, in other embodiments of the present invention, only one first driving motor 504 may be provided, and both sub-frames 503 may be connected to each other through the bidirectional ball screw structure 505.

Optionally, the traverse driving assembly includes a second driving motor 506, a dual-output speed reducer, a second transmission shaft 507 and a synchronous pulley assembly 508, wherein the dual-output speed reducer is installed on the main frame 501, the second driving motor 506 is connected to an input end of the dual-output speed reducer, the second transmission shaft 507 extends in the same direction as the main frame 501, two output ends of the dual-output speed reducer are respectively in transmission connection with one end of the two second transmission shafts 507, the other end of the second transmission shaft 507 is in transmission connection with a pulley in the synchronous pulley assembly 508, and the gripper cylinder 502 is connected with a synchronous belt in the synchronous pulley assembly 508. Further, two second driving motors 506 and two double-output speed reducers are arranged, and each driving motor is connected with the two gripper cylinders 502 through a second transmission shaft 507 and a synchronous pulley assembly 508.

Optionally, the clamping mechanism 5 further includes a rotation driving assembly, an output end of the rotation driving assembly is connected to the main frame 501, and the rotation driving assembly is used for driving the main frame 501 to rotate around the Z direction, when the workpiece 100 to be bent is located at a station to be bent, the first direction and the X direction are collinear, and the second direction and the Y direction are collinear. Specifically, the rotation driving assembly includes a rotation driving motor 509 and a rotation reducer 510, the rotation driving motor 509 is connected to the main frame 501 through the rotation reducer 510, and a rotation center of the rotation reducer 510 and a geometric center of the main frame 501 are located on the same straight line in the Z direction. When the workpiece 100 to be bent is a steel bar mesh or other workpiece requiring a plurality of ends to be bent, the rotation driving assembly can drive the workpiece 100 to be bent to rotate around the vertical axis so as to switch the ends to be bent.

Preferably, two transverse moving mechanisms 3 are slidably disposed on the longitudinal moving mechanism 2, and at least two lifting mechanisms 4 are slidably disposed on each transverse moving mechanism 3, so as to be capable of simultaneously bending a plurality of workpieces 100 to be bent.

Preferably, the automatic bending machine further comprises a control device, the control device is composed of a single chip microcomputer and a programmable logic controller, and the single chip microcomputer can be loaded with a control program so as to control the bending motor 102, the longitudinal movement driving member 202, the transverse movement driving member 305, the longitudinal movement limit switch 313, the lifting cylinder 402, the first transverse movement limit switch 406, the second transverse movement limit switch 407, the groove switch 408, the first driving motor 504, the second driving motor 506 and the rotation driving motor 509 which are electrically connected with the single chip microcomputer to work through the programmable logic controller.

The working process of the automatic bending machine is as follows (taking the workpiece 100 to be bent as a reinforcing mesh as an example):

s1, bending the reinforcing mesh by the bending mechanism 1;

s2, if the bending operation of the end of the steel bar corresponding to the bending mechanism 1 is finished, executing S4, and if not, bending the steel bar in the next step;

s3, repeatedly executing S2 until the bending operation of the end, corresponding to the bending mechanism 1, of the steel bar is completed;

s4, the transverse moving mechanism 3 drives the bending mechanism 1 to move for a preset distance along the Y direction, so that the steel bar is separated from the through groove and moves onto the supporting plate 110, and the lifting mechanism 4 drives the bending mechanism 1 to descend, so that the highest point of the bending mechanism is lower than the steel bar;

s5, the transverse moving mechanism 3 drives the bending mechanism 1 to move to the next steel bar along the Y direction;

s6, the lifting mechanism 4 drives the bending mechanism 1 to ascend to the bending height;

s7, repeating S1-S6 until all the reinforcing steel bars in the same row are bent;

s8, the rotating drive assembly drives the reinforcing mesh to rotate ninety degrees around the vertical axis;

and S9, repeating S1-S8 until the bending operation of each end of the reinforcing mesh is finished.

Further, the concrete steps of bending the steel bar in the next step in S2 are as follows:

s201, if the direction of the next bending is the same as the direction of the previous bending, executing S203, and if the direction of the next bending is opposite to the direction of the previous bending, sequentially executing S202 and S203;

s202, the transverse moving mechanism 3 drives the bending mechanism 1 to move for a preset distance along the Y direction, so that the steel bars are separated from the through grooves and move to the supporting plate 110, and then the bending head 103 rotates to the initial position of the other side of the steel bars;

s203, the longitudinal moving mechanism 2 drives the bending mechanism 1 to move along the X direction, and then the bending mechanism 1 bends the reinforcing steel bars in the next step.

Specifically, under the cooperation of the bending mechanism 1, the longitudinal moving mechanism 2 and the lateral moving mechanism 3, the workpiece 100 to be bent can be bent twice or more to form various shapes such as a U shape, a Z shape, a wave shape, and the like, in addition to a conventional L shape by a single bending. For example, U-bending can be achieved by bending two positions of the workpiece 100 to be bent in the same direction; the Z-bending can be achieved by respectively bending two positions of the workpiece 100 to be bent in opposite directions; the wavy bending can be achieved by bending a plurality of positions of the workpiece 100 to be bent respectively, and the bending directions of adjacent bending points are opposite.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.

Claims

1. A bending mechanism, comprising:

the bending die (101) is provided with a bending groove for the workpiece (100) to be bent to penetrate out along the X direction, and the side wall of the bending groove limits the degree of freedom of the workpiece (100) to be bent in the Z direction;

a bending motor (102); and

the bending head (103) is provided with a first initial position and a second initial position which are respectively positioned at two opposite sides of the workpiece (100) to be bent, the bending motor (102) can drive the bending head (103) to rotate around the Y direction, so that the bending head (103) switches the initial positions when the workpiece (100) to be bent does not pass through the rotation path of the workpiece, or presses against and bends the workpiece (100) to be bent when the workpiece (100) to be bent passes through the rotation path of the workpiece;

driven gear (105), bend (103) install in non-rotation center's position on driven gear (105), bend motor (102) can drive driven gear (105) wind the Y direction rotates, be equipped with the breach of stepping down on driven gear (105), work as bend (103) are in first initial position or during the second initial position, driven gear (105) are in the straight line at the ascending diameter place in Z direction passes the breach of stepping down.

2. The bending mechanism according to claim 1, further comprising a driving gear (104), wherein the driving gear (104) is in transmission connection with an output end of the bending motor (102), the driven gear (105) is in meshing transmission with the driving gear (104), and when the bending head (103) rotates to a first limit bending position, the driving gear (104) is meshed with a tooth portion of the driven gear (105) close to a first end of the abdicating notch;

when the bending head (103) rotates to a second limit bending position, the driving gear (104) is meshed with the tooth part of the driven gear (105) close to the second end of the abdicating notch.

3. The bending mechanism according to claim 1 or 2, further comprising:

a compression drive (107); and

the pressing arm (108) is connected with the output end of the pressing driving piece (107), and the pressing driving piece (107) can drive the pressing arm (108) to move along the Y direction so as to limit the workpiece (100) to be bent in the bending groove.

4. An automatic bending machine, comprising:

the bending mechanism (1) according to any one of claims 1 to 3;

the lifting mechanism (4) can drive the bending mechanism (1) to lift along the Z direction;

a transverse moving mechanism (3) capable of driving the lifting mechanism (4) to move along the Y direction;

a longitudinal moving mechanism (2) capable of driving the bending mechanism (1) to move along the X direction; and

the clamping mechanism (5) is used for clamping the workpiece (100) to be bent.

5. Automatic bending machine according to claim 4, wherein said longitudinal movement mechanism (2) comprises:

the longitudinal sliding rail (201) extends along the X direction, and the transverse moving mechanism (3) is arranged on the longitudinal sliding rail (201) in a sliding manner;

a longitudinal movement driving part (202) which can drive the transverse movement mechanism (3) to move along the longitudinal sliding rail (201); and

protection plate (205), with longitudinal slide rail (201) sets up side by side, be equipped with spacing recess on protection plate (205), spacing recess with longitudinal slide rail (201) syntropy extends, lateral shifting mechanism (3) are inserted and are located in the spacing recess, in order to restrict lateral shifting mechanism (3) are in the ascending degree of freedom of Z direction.

6. Automatic bending machine according to claim 4, wherein said transverse movement mechanism (3) comprises:

a cross brace assembly;

the transverse sliding rail (303) extends along the Y direction and is arranged on the transverse support component, and the lifting mechanism (4) is arranged on the transverse sliding rail (303) in a sliding manner;

a traverse driving piece (305) capable of driving the lifting mechanism (4) to move along the transverse slide rail (303);

the transmission gear (306) is connected with the output end of the traverse driving piece (305), the transmission rack (307) is in meshed transmission with the transmission gear (306), one of the traverse driving piece (305) and the transmission rack (307) is arranged on the cross-brace assembly, and the other is arranged on the lifting mechanism (4).

7. Automatic bending machine according to claim 4, wherein said transverse movement mechanism (3) further comprises:

and the support rod (316) extends towards the Z direction and is used for supporting the workpiece (100) to be bent.

8. Automatic bending machine according to claim 4, wherein said lifting mechanism (4) comprises:

the bottom plate (401) is arranged on the transverse moving mechanism (3) in a sliding mode;

the lifting cylinder (402) is arranged on the bottom plate (401), the bending mechanism (1) is arranged at the output end of the lifting cylinder (402), and the lifting cylinder (402) can drive the bending mechanism (1) to lift along the Z direction; and

the pneumatic control assembly (404) is installed on the bottom plate (401), and the pneumatic control assembly (404) comprises an electromagnetic valve arranged on an air supply pipeline of the lifting air cylinder (402).

9. Automatic bending machine according to claim 4, wherein said clamping mechanism (5) comprises:

a main frame (501);

the at least two clamping hand cylinders (502) are arranged on the main frame (501) in a sliding mode and used for grabbing the workpiece (100) to be bent;

the longitudinal movement driving component is used for driving the clamping cylinder (502) to move along a first direction; and

the transverse moving driving component is used for driving the clamping cylinder (502) to move along a second direction;

the Z direction, the first direction and the second direction are mutually vertical in pairs.

10. Automatic bending machine according to claim 9, wherein said clamping mechanism (5) further comprises:

and the output end of the rotation driving component is connected with the main frame (501) and is used for driving the main frame (501) to rotate around the axis in the Z direction.