CN220278135U - Bending equipment - Google Patents

Abstract

The application relates to the field of workpiece bending automation, in particular to bending equipment. The application proposes a bending device comprising: the feeding module is used for providing an unbent workpiece; the bending module comprises a conveying device, a first bending device and a second bending device, wherein the conveying device is used for receiving and carrying an unbent workpiece to pass through the first bending device and the second bending device, and the first bending device and the second bending device are used for bending the same workpiece in different procedures; and the receiving module is used for taking out the bent workpiece from the conveying device. The bending equipment can automatically bend the workpiece for multiple times, and improves the bending quality and the bending efficiency of the workpiece.

Description

Bending equipment

Technical Field

The application relates to the technical field of workpiece bending automation, in particular to bending equipment.

Background

In electronic products such as cameras and batteries, flat cables are important metal components for electrically connecting a plurality of components. Due to the structural characteristics of the electronic product, the bending quality of the flat cable can influence the assembly quality and the safety performance of the electronic product.

At present, mainly adopt semi-automatization mode to bend the winding displacement, if the work piece needs the multichannel process to bend, then need arrange the workman and use different bending devices to carry out the bending of every process respectively, not only the manpower is spent greatly, and the quality of bending and bending efficiency are also very low.

Disclosure of Invention

The application discloses equipment of bending can carry out automatic multichannel to the work piece and bend, has improved the quality of bending and the efficiency of bending of work piece.

To achieve the above object, some embodiments of the present application disclose a bending apparatus, including: the feeding module is used for providing an unbent workpiece; the bending module comprises a conveying device, a first bending device and a second bending device, wherein the conveying device is used for receiving an unbent workpiece and carrying the unbent workpiece to pass through the first bending device and the second bending device, and the first bending device and the second bending device are used for bending the same workpiece in different working procedures; and the receiving module is used for taking out the bent workpiece from the conveying device.

Optionally, the conveying device includes: a turntable, the first and second bending devices being arranged around the turntable; the carrier is arranged on the turntable and used for clamping a workpiece; and the rotary table driving piece is used for driving the rotary table to rotate so as to carry the workpiece to pass through the first bending device and the second bending device through the carrier.

Optionally, the number of the carriers is plural, and plural carriers are arranged along the circumference of the turntable, and the carriers include: the bearing piece is fixedly arranged on the turntable; and the clamping plate is switched between a clamping position and an avoiding position, when the clamping plate is positioned at the clamping position, the clamping plate is configured to clamp the workpiece together with the bearing piece, and when the clamping plate is positioned at the avoiding position, the clamping plate loosens the workpiece and exposes the workpiece.

Optionally, the carrier further comprises: the axial driving assembly is used for driving the clamping plate to approach or depart from the bearing piece along the axial direction of the turntable so as to clamp or loosen a workpiece; and the radial driving assembly is used for driving the clamping plate to be close to or far away from the bearing piece along the radial direction of the turntable so as to move to a position corresponding to the workpiece or expose the workpiece.

Optionally, a side of the carrier close to the clamping plate is provided with a suction hole.

Optionally, the first bending device is configured to bend the workpiece in a first direction, and the first bending device includes: a first frame; a pressing block movably mounted to the first frame so as to be capable of being abutted against a workpiece from one side of the workpiece along the first direction; the first bending mechanism comprises a first driving assembly and a first roller, the first driving assembly is mounted on the first frame, the axis of the first roller extends along a first axis, and the first driving assembly is used for driving the first roller to move towards a direction close to the pressing block so as to bend a workpiece along the first direction; the first axis is disposed perpendicular to the first direction.

Optionally, the first driving assembly includes: the first bending driving piece is arranged on the first rack; the pushing plate is arranged at the output end of the first bending driving piece and is provided with a sliding groove; the sliding piece is slidably arranged on the first rack and is provided with a protruding part, and the protruding part is inserted into the sliding groove; the first roller is mounted at one end of the sliding piece, when the first bending driving piece drives the push plate to move along the first direction, the protruding portion is configured to slide in the sliding groove so as to drive the sliding piece to slide relative to the first frame, and the sliding piece drives the first roller to be close to or far away from the pressing piece.

Optionally, the second bending device is configured to bend two edges of the workpiece simultaneously along a second direction, and includes: a second frame; the support block and the pressing block are movably mounted on the second frame, so that the support block and the pressing block can clamp a workpiece together along the second direction; the second bending mechanism comprises a second driving assembly and two second rollers, the axes of the second rollers extend along a second axis and are respectively positioned at two sides of the pressing block along a third direction, and the second driving assembly is used for driving the two second rollers to move towards a direction close to the supporting block so as to bend a workpiece along the second direction; the second shafts are perpendicular to the second direction and the third direction in pairs.

Optionally, the workpiece includes a first portion, a second portion, and a third portion, a first bending line is between the first portion and the second portion, a second bending line is between the second portion and the third portion, the bending module further includes a first detection device, the first detection device is located downstream of the first bending device and the second bending device, and the first detection device includes: a third frame; a positioning mechanism mounted to the frame for selectively securing the third portion; the camera module is arranged on the third rack and is used for photographing and detecting the workpiece; wherein the conveyor is configured to move a workpiece to the first inspection device and optionally secure the first portion.

Optionally, the bending module further comprises a second detection device, which is located downstream of the first detection device and is used for three-dimensional detection of the workpiece.

Optionally, the bending apparatus further includes: the transfer module is arranged between the feeding module and the bending module; the feeding module is configured to provide a workpiece to the transfer module, and the transfer module is used for providing the workpiece to the bending module.

Optionally, two bending modules are provided, and the transfer module is used for providing workpieces for the two bending modules.

Compared with the prior art, the beneficial effect of this application lies in:

the bending equipment of this embodiment includes the material loading module, bend the module and receive the material module, the module of bending includes conveyor, first bending device and second bending device, the material loading module provides the work piece to conveyor, conveyor carries the work piece through first bending device in order to bend once, through the second bending device again through bending, receive the material module and take out the work piece of bending completion from conveyor to realize the multichannel process of bending of work piece is accomplished to the full automatization, improved the bending efficiency and the quality of bending of work piece.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a bending apparatus according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a bending module of a bending device according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a carrier mounted on a turntable in a bending module of a bending device according to an embodiment of the present application;

FIG. 4 is an enlarged view of a portion of FIG. 3 at C;

fig. 5 is a schematic structural diagram of a carrier in a bending module of a bending apparatus according to an embodiment of the present application;

fig. 6 is a schematic partial view of a carrier in a bending module of a bending apparatus according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a first bending device in a bending module of a bending apparatus according to an embodiment of the present application;

FIG. 8 is an enlarged view of a portion of FIG. 7 at A;

fig. 9 is a schematic structural diagram of a second bending device in a bending module of a bending apparatus according to an embodiment of the present application;

FIG. 10 is a partial enlarged view at B in FIG. 9;

fig. 11 is a schematic structural diagram of a first detection device in a bending module of a bending apparatus according to an embodiment of the present application;

fig. 12 is a state diagram before bending a workpiece corresponding to a bending device provided in an embodiment of the present application;

fig. 13 is a state diagram of a workpiece corresponding to a bending apparatus after bending according to an embodiment of the present application.

The main reference numerals illustrate: 100-bending equipment; 110-a feeding module; 111-feeding bin; 112-a feeding manipulator; 120-bending modules; 130-a material receiving module; 131-a material receiving bin; 1311-a first receiving bin; 1312-a second receiving bin; 132, a material receiving manipulator; 140, a transfer module; 141-a transfer station; 142-transferring a manipulator; 150-a conveying device; 151-a turntable; 1511-a loading station; 1512-a blanking station; 152-carrier; 1521—a carrier; 15211-adsorbing holes; 15212—a limit; 15213-mounting portion; 1522-splints; 1523-an axial drive assembly; 15231-an axial drive; 15232-an axial reduction; 1524-radial drive assembly; 15241-radial drive; 15252-radial reset; 1525-axial slide; 15251—an abutment; 1526-radial slide; 1527-U-shaped connector; 15271—a snap-fit; 1528—a first stent; 1529-a second stent; 160-a first bending device; 161-a first rack; 162-pressing mechanism; 1621-a pressing block; 1622-a pressing driver; 1623-a press block mounting plate; 163-a first bending mechanism; 1631-a first drive assembly; 1632-a first roller; 1633-a first bending drive; 1634-pushing plate; 16341-a sliding channel; 1635-a slider; 16351-a protrusion; 1636-a spring; 1637-a first mounting block; 1638-a second mounting block; 1639-guide slots; 170-a second bending device; 171-a second frame; 172-a support mechanism; 1721-support blocks; 1722-support block mounting plates; 1723-support block drivers; 173-briquetting mechanism; 1731-briquetting; 1732-compact drive; 1733-compact mounting plate; 174-a second bending mechanism; 1741-a second drive assembly; 1742-a second roller; 180-a first detection device; 181-a third rack; 182-positioning mechanism; 183-camera module; 183 a-first camera; 183 b-a second camera; 183 c-a third camera; 1831-camera position adjustment module; 1832-camera body; 190-a second detection device; 200-workpiece; 210-a first part; 220-a second portion; 230-a third part; 240-a first fold line; 250-second bending line; 260-a first marking portion; 270-a second marker; z-a first direction; x-a second direction; y-third direction; w-the fourth direction; p1-a first axis; p2-a second axis; q-a third axis; r-first radial direction.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Some embodiments of the present application disclose a bending apparatus 100 for performing an automated bending process on a workpiece 200.

As shown in fig. 12 and 13, the work 200 has an expanded sheet-like structure before bending. After the bending process, the workpiece 200 includes a first portion 210, a second portion 220, and a third portion 230, with a first bend line 240 extending in a third direction Y between the first portion 210 and the second portion 220, and a second bend line 250 extending in a first direction Z between the second portion 220 and the third portion 230. The third portion 230 has a first indicia 260 and the first portion 210 has a second indicia 270.

In some embodiments of the present application, the workpiece 200 is a flat cable of a camera, the first marking portion 260 is formed on the third portion 230 by coating, and the second marking portion 270 is a chip; in other embodiments, the workpiece 200 may be a metal bending member for other purposes, and the first marking portion 260 and the second marking portion 270 may be in other forms.

In some embodiments of the present application, the workpiece 200 has two third portions 230, the two third portions 230 respectively extending along the third direction Y from two edges of the second portion 220, each third portion 230 including one or more first marks 260. In other embodiments, the workpiece 200 may also include only one third portion 230.

As shown in fig. 1, the bending apparatus 100 includes a feeding module 110, a bending module 120, and a receiving module 130. The loading module 110 is configured to provide an unbent workpiece 200, and the bending module 120 includes a conveying device 150, a first bending device 160, and a second bending device 170. The conveying device 150 is configured to receive the unbent workpiece 200 and carry the unbent workpiece 200 through the first bending device 160 and the second bending device 170, where the first bending device 160 and the second bending device 170 are configured to bend the same workpiece 200 in different processes. The receiving module 130 is used for taking out the bent workpiece 200 from the conveying device 150.

The bending equipment 100 of this embodiment includes material loading module 110, bending module 120 and receipts material module 130, bending module 120 includes conveyor 150, first bending device 160 and second bending device 170, material loading module 110 provides work piece 200 to conveyor 150, conveyor 150 carries work piece 200 through first bending device 160 in order to bend once, through second bending device 170 again through bending, receive material module 130 takes out the work piece 200 of completion of bending from conveyor 150, thereby realize the multichannel bending process of work piece 200 is accomplished in the full automatization, work piece 200's bending efficiency and bending quality have been improved.

The technical scheme of the present application will be further described with reference to specific embodiments and drawings.

As shown in fig. 1, the loading module 110 includes a loading bin 111 and a loading manipulator 112. The loading bin 111 is used for storing the unbent workpieces 200, and the loading manipulator 112 is used for grabbing one or more workpieces 200 from the loading bin 111 and directly or indirectly transferring the workpieces to the conveying device 150.

As shown in fig. 1, the receiving module 130 includes a receiving bin 131 and a receiving manipulator 132. The receiving bin 131 is used for storing the non-bent workpieces 200, and the receiving manipulator 132 is used for grabbing one or more workpieces 200 from the conveying device 150 and directly or indirectly transferring the workpieces to the receiving bin 131.

As shown in fig. 1, in some embodiments of the present application, the bending apparatus 100 further includes a transfer module 140 disposed between the feeding module 110 and the bending module 120, the feeding module 110 being configured to provide the workpiece 200 to the transfer module 140, the transfer module 140 being configured to provide the workpiece 200 to the bending module 120.

Through this kind of arrangement, the material loading action of work piece 200 can be split, and every work piece 200 is sent into conveyor 150 by transfer module 140 after transfer module 140 temporary storage to simplify the stroke of material loading manipulator 112, simplify the structure of material loading module 110.

As shown in fig. 1, the transfer module 140 includes a transfer station 141 and a transfer robot 142, the transfer station 141 is configured to receive the workpiece 200 grabbed by the feeding robot 112, and the transfer robot 142 is configured to grab one workpiece 200 from the transfer station 141 and transfer the workpiece to a feeding station 1511 of the conveying device 150.

In some embodiments of the present application, two bending modules 120 are provided, and the relay module 140 is configured to provide the workpiece 200 to both bending modules 120.

The transit module 140 is located between the two bending modules 120 to achieve substantially the same spacing as the two bending modules 120.

With this arrangement, the two bending modules 120 simultaneously perform the bending process of the workpiece 200, and the bending efficiency of the workpiece 200 can be improved.

Correspondingly, two transfer stations 141 are also provided, each transfer station 141 corresponds to a loading station 1511 of the conveying device 150 of one bending module 120, and each transfer manipulator 142 grabs one workpiece 200 at a time and feeds the workpiece into the corresponding conveying device 150. In order to further improve the bending efficiency, the feeding manipulator 112 grabs two workpieces 200 at a time and transfers the workpieces 200 to the transfer module 140, and feeds the workpieces 200 to the two transfer stations 141 at a time.

In other embodiments, only one bending module 120 may be provided, three or four bending modules 120 may be provided, and so on.

Further, the transfer module 140 further includes a correction camera and a position adjustment mechanism, after the workpiece 200 is fed to the transfer station 141, the thickness direction of the workpiece 200 extends along the vertical direction, two correction cameras are provided, one correction camera performs visual detection on the workpiece 200 from the bottom, and the other correction camera performs visual detection on the workpiece 200 from the top. The position adjusting mechanism adjusts the pose of the workpiece 200 according to the feedback of the deviation correcting camera, so that the transfer manipulator 142 is positioned at a position convenient for the transfer manipulator 142 to take materials. The position adjusting mechanism includes a tri-linear moving module and a rotating module, which are not further described herein.

The conveying device 150 is used for carrying the workpiece 200 to sequentially pass through different bending devices so as to complete a plurality of bending processes.

As shown in fig. 1 and 2, in some embodiments of the present application, the conveying device 150 includes a turntable 151, a carrier 152, and a turntable drive (not labeled in the figures), and the first and second bending devices 160 and 170 are disposed around the turntable 151. The carrier 152 is disposed on the turntable 151, and the carrier 152 is used for clamping the workpiece 200. The turntable driving member is used for driving the turntable 151 to rotate so as to carry the workpiece 200 through the first bending device 160 and the second bending device 170 by the carrier 152.

The turntable drive is a motor or other rotary drive.

In this manner, the first bending device 160 and the second bending device 170 can be arranged as compactly as possible, and the occupied area of the bending module 120 can be reduced, so that the bending apparatus 100 is compact.

The carrier 152 may be provided in plurality, and the plurality of carriers 152 are circumferentially spaced around the turntable 151. For example, the number of carriers 152 is eight; for another example, the number of carriers 152 may be six, ten, or the like.

During rotation of the turntable 151, the carrier 152 passes through each device and a particular station in turn. In some embodiments of the present application, a loading station 1511 and a discharging station 1512 are further disposed around the turntable 151, and when the turntable 151 rotates to drive the carrier 152 to reach the loading station 1511, the transfer robot 142 places the workpiece 200 into the carrier 152; when the turntable 151 drives the carrier 152 to the blanking station 1512, the workpiece 200 is taken out of the carrier 152 by the material receiving manipulator 132, and is put into the material receiving bin 131 for storage.

In other embodiments, the conveyor 150 also conveys the workpiece 200 in a linear direction, and the loading station 1511, the first and second bending devices 160, 170, and the unloading station 1512 are disposed at intervals along the traveling direction of the conveyor 150.

As shown in fig. 3, 4, 5, and 6, in some embodiments of the present application, the carrier 152 includes a carrier 1521, a clamp 1522, an axial drive assembly 1523, and a radial drive assembly 1524. The carrier 1521 is fixedly mounted to the turntable 151, and the clamp 1522 is switched between a clamping position and a retracted position. When the clamp plate 1522 is in the clamped position, the clamp plate 1522 is configured to clamp the workpiece 200 in conjunction with the carrier 1521; when the clamp plate 1522 is in the retracted position, the clamp plate 1522 releases the workpiece 200 and exposes the workpiece 200. The axial driving assembly 1523 is located on a side of the carrier 1521 facing away from the clamping plate 1522, and is used for driving the clamping plate 1522 to approach or separate from the carrier 1521 along the axial direction of the turntable 151 so as to clamp or unclamp the workpiece 200; a radial drive assembly 1524 is positioned between the center of the turntable 151 and the clamp plate 1522 for driving the clamp plate 1522 radially toward and away from the carrier 1521 to move the workpiece 200 to a corresponding position or expose the workpiece 200.

As shown in fig. 2, the axial direction of the turntable 151 extends along the third axis Q, and the radial direction is the first radial direction R.

With this arrangement, it is possible to both clamp the workpiece 200 to transfer the workpiece 200 and to expose the workpiece 200 while the workpiece 200 is held in a different apparatus, to facilitate bending processing of the workpiece 200, to detect or to facilitate other robot removal, and so on.

In some embodiments of the present application, the axial drive assembly 1523 includes an axial drive 15231 and an axial reset 15232, and the radial drive assembly 1524 includes a radial drive 15241 and a radial reset key 15242. The axial driving member 15231 and the radial driving member 15241 are both mounted on the turntable 151 and are both separately disposed from the clamping plate 1522, and the clamping plate 1522 is driven to move to the retracted position by means of abutment or hooking, and the axial resetting member 15232 and the radial resetting member 15242 are used for driving the clamping plate 1522 to reset to the clamping position.

As shown in fig. 3, 4, 5, and 6, the carrier 152 further includes an axial slide 1525, a radial slide 1526, a U-shaped connector 1527, a first bracket 1528, and a second bracket 1529. The first bracket 1528 and the second bracket 1529 are fixedly mounted to the turntable 151, the axial driving member 15231 is mounted to the first bracket 1528, and the radial driving member 15241 is mounted to the second bracket 1529. The axial slider 1525 is slidably mounted to the mounting portion 15213 of the carrier 1521 along the third axis Q, and the radial slider 1526 is slidably mounted to the axial slider 1525 along the first radial direction R. The middle part of the bearing member 1521 has a hollow structure, the axial sliding block 1525 penetrates through the bearing member 1521 from the hollow structure, one end of the axial sliding block 1525 is provided with a radial sliding block 1526, and the other end of the axial sliding block 1525 is provided with an abutting part 15251 for abutting against the executing end of the axial driving member 15231.

More specifically, a slide rail mounting plate is disposed at an end of the axial slide block 1525 near the radial slide block 1526, on which a radial slide rail is mounted, and the radial slide block 1526 is slidably mounted on the radial slide rail. The mounting portion 15213 is provided with an axial slide rail, and the axial slider 1525 is slidably mounted on the axial slide rail.

The clamping plate 1522 is mounted to the radial slide 1526 and the u-shaped connector 1527 is mounted to a side of the clamping plate 1522 along the first radial direction R near the center of the turntable 151. The U-shaped connector 1527 has a locking portion 15271, and an actuating end of the radial driver 15241 is configured to be hooked with the locking portion 15271.

The actuating end of the axial driving member 15231 extends to abut against the abutment portion 15251 of the axial sliding block 1525, and the axial sliding block 1525 drives the radial sliding block 1526, the clamping plate 1522 and the U-shaped connecting member 1527 to move away from the bearing member 1521 along the third axis Q; the actuating end of the radial driving member 15241 is in an extended state, the actuating end of the radial driving member 15241 falls into the U-shaped connecting member 1527 to achieve hooking connection with the clamping portion 15271, the radial driving member 15241 retracts to drive the U-shaped connecting member 1527 to move toward the center of the turntable 151, thereby achieving movement of the clamping plate 1522 to the retracted position, and at this time, the axial restoring member 15232 is in a compressed state, and the radial restoring member 15242 is in a stretched state.

Both ends of the axial resetting piece 15232 are respectively connected with the abutting portion 15251 of the axial sliding block 1525 and the bearing piece 1521, and both ends of the radial resetting piece 15242 are respectively connected with the U-shaped connecting piece 1527 and the bearing piece 1521. After the axial driver 15231 and the radial driver 15241 are de-energized, the clamp plate 1522 returns to the clamped position under the elastic restoring force of the axial return 15232 and the elastic restoring force of the radial return 15242.

Further, the carrier 1521 further includes a limiting portion 15212, and when the clamping plate 1522 is moved to the retracted position, an end portion of the U-shaped connecting member 1527 abuts against the limiting portion 15212 along the first radial direction R, so as to limit the limiting position of the clamping plate 1522 along the first radial direction R.

In other embodiments, the clamping plate 1522 may be obliquely close to or far from the carrier 1521, and only one driving member is provided to drive the clamping plate 1522 to be obliquely switched between the clamping position and the avoiding position; alternatively, the axial driving member may be mounted on the turntable 151, the radial driving member may be mounted on the actuating end of the axial driving member, and the clamping plate 1522 may be mounted on the actuating end of the radial driving member.

Further, as shown in fig. 6, the side of the carrier 1521 adjacent to the clamping plate 1522 has a suction hole 15211. When the workpiece 200 is loaded onto the carrier 152, the carrier 1521 can adsorb and fix the workpiece 200 through the adsorption hole 15211, so as to avoid the workpiece 200 from falling.

In some embodiments of the present application, the third axis Q extends along a vertical direction, the carrier 1521 is disposed opposite to the clamping plate 1522 from top to bottom, the upper surface of the carrier 1521 is used for placing the workpiece 200, and the adsorption hole 15211 is disposed on the upper surface of the carrier 1521.

In other embodiments, the suction holes 15211 of the carrier 1521 may be disposed downward or laterally, depending on the actual disposition of the turntable 151.

The first bending device 160 is used for bending the workpiece 200 along the first direction Z, i.e. bending to form a first bending line 240.

As shown in fig. 7 and 8, the first bending device 160 includes a first frame 161, a pressing mechanism 162, and a first bending mechanism 163, and the pressing mechanism 162 includes a pressing block 1621, and the pressing block 1621 is movably mounted to the first frame 161 so as to be capable of being abutted against the workpiece 200 from one side of the workpiece 200 along a first direction Z. The first bending mechanism 163 includes a first driving assembly 1631 and a first roller 1632, the first driving assembly 1631 is mounted on the first frame 161, an axis of the first roller 1632 extends along the first axis P1, and the first driving assembly 1631 is configured to drive the first roller 1632 to move in a direction approaching the pressing block 1621 so as to bend the workpiece 200 along the first direction Z; the first axis P1 is disposed perpendicular to the first direction Z.

By this mode, the workpiece 200 can be bent in the first direction Z, and the first roller 1632 abuts against the surface of the workpiece 200, so that the scratch on the surface of the workpiece 200 can be reduced, the bending quality of the workpiece 200 can be improved, and the service life of the first bending device 160 can be prolonged.

The pressing mechanism 162 further includes a pressing driving element 1622 and a pressing block mounting plate 1623, the pressing driving element 1622 is mounted on the first frame 161, the pressing block mounting plate 1623 is mounted at an execution end of the pressing driving element 1622, the pressing block 1621 is mounted on the pressing block mounting plate 1623, and the pressing driving element 1622 drives the pressing block 1621 to approach or depart from the workpiece 200 along the first direction Z through the pressing block mounting plate 1623.

In other embodiments, the pressing block 1621 may also be proximate to or remote from the workpiece 200 in other directions.

As shown in fig. 7 and 8, the first drive assembly 1631 includes a first fold drive 1633, a push plate 1634, and a slider 1635. The first bending driver 1633 is mounted to the first chassis 161, and a push plate 1634 is mounted to the output end of the first bending driver 1633, the push plate 1634 having a sliding channel 16341. The slider 1635 is slidably mounted on the first frame 161 along the fourth direction W, and the slider 1635 has a protrusion 16351, and the protrusion 16351 is inserted into the sliding slot 16341. The first roller 1632 is mounted at one end of the sliding member 1635, and when the first bending driving member 1633 drives the push plate 1634 to move along the first direction Z, the protruding portion 16351 is configured to slide in the sliding groove 16341 to drive the sliding member 1635 to rotate, and the sliding member 1635 drives the first roller 1632 to approach or separate from the pressing block 1621.

Specifically, the sliding groove 16341 extends in a direction perpendicular to the first direction Z, and the fourth direction W is disposed obliquely to the first direction Z. In other embodiments, the fourth direction W may also be disposed parallel to the first direction Z.

By the mode, the first roller 1632 can linearly approach or separate from the pressing block 1621 along the fourth direction W, so that the workpiece 200 is bent, and the structure is simple and easy to assemble.

Further, the protruding portion 16351 is provided with a roller, and the roller of the protruding portion 16351 moves in the sliding groove 16341 in a rolling manner to reduce the frictional resistance between the protruding portion 16351 and the sliding groove 16341.

Further, the first drive assembly 1631 also includes a spring 1636, and the slider 1635 includes a first mounting block 1637 and a second mounting block 1638 that are separately disposed. The first chassis 161 has a guide groove 1639 extending in the fourth direction W, and the first mounting block 1637 and the second mounting block 1638 are slidably mounted in the guide groove 1639 in the fourth direction W. The first roller 1632 is mounted on the first mounting block 1637, the protrusion 16351 is formed on the second mounting block 1638, and the spring 1636 is supported between the first mounting block 1637 and the second mounting block 1638 along the fourth direction W to buffer the force applied to the roller when the first roller 1632 abuts against the workpiece 200.

The second bending device 170 is used for simultaneously bending two edges of the workpiece 200 along the second direction X, that is, bending to form two second bending lines 250.

As shown in fig. 9 and 10, the second bending apparatus 170 includes a second frame 171, a support mechanism 172, a pressing block mechanism 173, and a second bending mechanism 174, the support mechanism 172 includes a support block 1721, the pressing block mechanism 173 includes a pressing block 1731, and at least one of the support block 1721 and the pressing block 1731 is movably mounted to the second frame 171, so that the support block 1721 and the pressing block 1731 can clamp the workpiece 200 together along the second direction X. The second bending mechanism 174 includes a second driving assembly 1741 and two second rollers 1742, the axes of the second rollers 1742 extend along a second axis P2, along a third direction Y, the two second rollers 1742 are respectively located at two sides of the pressing block 1731, the second driving assembly 1741 is configured to drive the two second rollers 1742 to move in a direction close to the supporting block 1721, so as to bend the workpiece 200 along a second direction X, and the second axis P2 is perpendicular to the second direction X in two pairs.

The workpiece 200 is clamped by the support block 1721 and the pressing block 1731 together, and the second driving assembly 1741 drives the two second rollers 1742 to move from one side of the pressing block 1731 to one side of the support block 1721, and the two second rollers 1742 push two edges of the workpiece 200 to bend toward the side of the support block 1721 so as to form two third portions 230. In the above process, the second roller 1742 is abutted to the workpiece 200 while rolling, so that the scratch degree on the surface of the workpiece 200 can be reduced, and the abrasion degree of the second bending device 170 is reduced, so that the second bending device 170 still has better precision after long-time use, the bending quality of the workpiece 200 and the service life of the second bending device 170 are improved, frequent calibration and debugging of the second bending device 170 are not required, and the bending efficiency of the workpiece 200 is improved.

As an exemplary embodiment, the support mechanism 172 further includes a support block mounting plate 1722 and a support block driver 1723, and the briquetting mechanism 173 further includes a briquetting driver 1732. The supporting block driving piece 1723 and the pressing block driving piece 1732 are both installed on the second frame 171, the supporting block installing plate 1722 is installed on the second frame 171 in a sliding manner along the first direction Z, the supporting block 1721 is installed at the tail end of the supporting block installing plate 1722, the supporting block installing plate 1722 is installed at the executing end of the supporting block driving piece 1723, and the supporting block driving piece 1723 drives the supporting block 1721 to be close to or far away from the workpiece 200 along the first direction Z through the supporting block installing plate 1722. The pressing block driving piece 1732 drives the pressing block 1731 to approach or depart from the supporting block 1721 along the second direction X through the pressing block mounting plate 1733. The second driving assembly 1741 is mounted on the press block mounting plate 1733, and the second driving assembly 1741 may be a pair of linear driving members, or may simultaneously drive two second rollers 1742 to move synchronously by one driving member, which is not further described herein.

It is understood that the number of the first bending devices 160 and the second bending devices 170 and the arrangement order thereof are flexibly adjusted according to the bending method of the workpiece 200.

In some embodiments of the present application, the axial driving element 15231, the radial driving element 15241, the first bending driving element 1633, and the like are all linear electric cylinders, and have rapid response and high action precision; in other embodiments, the driving member may be another linear driving member such as a cylinder, a screw nut mechanism, or an electric sliding table.

As shown in fig. 1, in some embodiments of the present application, the bending module 120 further includes a first detection device 180, where the first detection device 180 is located downstream of the first bending device 160 and the second bending device 170, and the first detection device 180 is used for visually detecting the bent workpiece 200.

As shown in fig. 11, the first detecting device 180 includes a third frame 181, a clamping and positioning mechanism 182, and a camera module 183, and both the clamping and positioning mechanism 182 and the camera module 183 are mounted on the third frame 181. The conveyor 150 is configured to move the workpiece 200 to the first inspection device 180 and optionally secure the first portion 210 of the workpiece 200, and the positioning mechanism 182 is configured to optionally secure the third portion 230. The camera module 183 is used for photographing and detecting the workpiece 200.

Specifically, when the carrier 152 drives the workpiece 200 to move to the first detecting device 180, the carrier 1521 adsorbs or releases the first portion 210 through the adsorption hole 15211.

The positioning mechanism 182 is a vacuum finger with an adsorption function. Based on the foregoing embodiment in which the third portions 230 have two, the positioning mechanisms 182 have two, one third portion 230 for each positioning mechanism 182.

The camera module 183 includes a camera position adjusting module 1831 and a camera body 1832, the camera position adjusting module 1831 is mounted on the third frame 181, and the camera body 1832 is mounted on an execution end of the camera position adjusting module 1831. The camera position adjusting module 1831 further includes an X-direction module, a Y-direction module, a Z-direction module, and a rotation module to flexibly adjust the pose of the camera body 1832.

In some embodiments of the present application, the camera modules 183 are provided with three, wherein two camera modules 183 are disposed opposite to each other along the third direction Y for photographing detection of the workpiece 200 from both sides along the third direction Y, and another camera module 183 is for photographing detection of the workpiece 200 along the first direction Z. With the above arrangement, the photographing detection quality of the camera module 183 can be improved, and the detection quality of the work 200 can be improved. Specifically, the three camera modules 183 are a first camera 183a, a second camera 183b, and a third camera 183c, respectively. The first camera 183a and the second camera 183b are disposed opposite to each other along the third direction Y, and the first camera 183a and the second camera 183b are used for photographing detection of the work 200 from both sides along the third direction Y. The third camera 183c is located between the first camera 183a and the second camera 183b, and is disposed at intervals along the first direction Z, the carrier 152 and the third camera 183c are disposed so that the carrier 152 supports and fixes the workpiece 200 from the lower side, and the third camera 183c photographs and detects the workpiece 200 from the upper side.

Through the arrangement form, the pose of the workpiece 200 can be quickly fixed by using the conveying device 150 and the clamping and positioning mechanism 182, so that the possibility of photographing precision deterioration of the workpiece 200 due to shaking is reduced, photographing precision of the camera module 183 is improved, the detection beat of the workpiece 200 is shortened, and bending detection quality and detection efficiency of the workpiece 200 are improved.

As shown in fig. 1, in some embodiments of the present application, bending module 120 further includes a second inspection device 190 downstream of first inspection device 180 for three-dimensional inspection of workpiece 200.

The second detecting device 190 includes a fourth frame, a 3D camera, and a camera position adjusting mechanism, and the specific structure is similar to the camera module 183 in the first detecting device 180, which is not further described herein.

By adding the second detecting device 190, the bending quality of the workpiece 200 can be better detected, the qualified products and the defective products can be better distinguished, and the probability of mixing the qualified products in the defective products can be reduced.

As shown in fig. 1, the receiving bin 131 includes a first receiving bin 1311 and a second receiving bin 1312, which are respectively used for storing qualified products and defective products, and the receiving manipulator 132 puts the workpiece 200 into the first receiving bin 1311 or the second receiving bin 1312 according to the detection results of the first detection device 180 and the second detection device 190.

The operation principle of the bending apparatus 100 according to the embodiment of the present application is as follows:

the feeding module 110: the feeding bin 111 stores a plurality of unbent workpieces 200, and the feeding manipulator 112 takes out two workpieces 200 from the feeding bin 111 and respectively places the two workpieces 200 on the two transfer stations 141;

The transfer module 140: the transfer manipulator 142 takes out the workpiece 200 from the transfer station 141, the turntable 151 carries the carrier 152 to rotate to the feeding station 1511, and the transfer manipulator 142 places the workpiece 200 on the carrier 152;

conveying device 150: the clamping plate 1522 of the carrier 152 is switched to the clamping position to clamp the workpiece 200 together with the carrier 1521;

first bending device 160: the turntable 151 rotates to carry the carrier 152 to the first bending device 160, the clamping plate 1522 is switched from the clamping position to the avoiding position, the pressing block 1621 descends along the first direction Z and abuts against one side of the workpiece 200, the first roller 1632 approaches the workpiece 200 from the other side of the workpiece 200 along the fourth direction W, the workpiece 200 is bent upwards to form a first bending line 240, and the workpiece 200 is bent out of the first portion 210 and the second portion 220 (including the unbent third portion 230);

the second bending device 170: the clamping plate 1522 is switched to the clamping position, the turntable 151 rotates to carry the carrier 152 to the second bending device 170, the clamping plate 1522 is switched from the clamping position to the avoiding position, the supporting block 1721 descends along the first direction Z and abuts against one side of the second portion 220, the pressing block 1731 approaches along the second direction X and abuts against the other side of the second portion 220, the two second rollers 1742 extend from one side of the pressing block 1731, the second portion 220 is bent laterally while abutting against the second portion 220 to form two second bending lines 250, and two side edges of the second portion 220 along the third direction Y are bent into two third portions 230.

First detection means 180: the clamping plate 1522 is switched to a clamping position, the turntable 151 rotates to carry the carrier 152 to the first detecting device 180, the clamping plate 1522 is switched from the clamping position to an avoiding position, and firstly, the position of the third portion 230 relative to the first portion 210 is adjusted by photographing and tracking the first marking portion 260, so that the workpiece 200 is fixed in a preset pose; next, the workpiece 200 is subjected to photographing detection once, and the first position of the second mark portion 270 is recorded as a reference parameter, since the first position is detected based on a state in which both the first portion 210 and the third portion 230 are fixed; again, releasing the third portion 230, recording the second position of the second marker 270 as a contrast parameter; finally, comparing whether the offset of the second position relative to the first position meets the requirement, and if the offset meets the requirement, judging that the bending quality of the workpiece 200 is qualified;

the second detection device 190: the clamping plate 1522 is switched to the clamping position, the turntable 151 rotates to carry the carrier 152 to the second detection device 190, the clamping plate 1522 is switched from the clamping position to the avoiding position, the second detection device 190 performs three-dimensional detection on the workpiece 200, and whether the bending quality of the workpiece 200 is qualified is judged again;

If the detection results of the first detection device 180 and the second detection device 190 are qualified, the workpiece 200 is judged to be qualified, otherwise, the workpiece is judged to be defective;

the material receiving module 130: the turntable 151 rotates to a blanking station 1512 with the carrier 152, the receiving manipulator 132 grabs the workpiece 200, puts the qualified product into a first receiving bin 1311, and puts the defective product into a second receiving bin 1312.

The bending equipment 100 of the embodiment of the application is used for bending the workpiece 200, and full-automatic processing can be realized from feeding, bending, detecting and discharging of the workpiece 200, so that the bending equipment has higher bending efficiency and bending quality.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims (12)

1. Bending apparatus (100), characterized in that it comprises:

The feeding module (110) is used for providing an unbent workpiece (200);

the bending module (120) comprises a conveying device (150), a first bending device (160) and a second bending device (170), wherein the conveying device (150) is used for receiving and carrying an unbent workpiece (200) to pass through the first bending device (160) and the second bending device (170), and the first bending device (160) and the second bending device (170) are used for bending the same workpiece (200) in different working procedures;

and the receiving module (130) is used for taking out the bent workpiece (200) from the conveying device (150).

2. The bending apparatus (100) according to claim 1, wherein the conveying device (150) comprises:

-a turntable (151), said first bending device (160) and said second bending device (170) being arranged around said turntable (151);

a carrier (152) disposed on the turntable (151), the carrier (152) being configured to clamp a workpiece (200);

and the turntable driving piece is used for driving the turntable (151) to rotate so as to carry the workpiece (200) through the carrier (152) to pass through the first bending device (160) and the second bending device (170).

3. The bending apparatus (100) of claim 2, wherein the carrier (152) comprises:

A carrier (1521) fixedly mounted to the turntable (151);

a clamp plate (1522) that switches between a clamped position and an evacuation position, the clamp plate (1522) being configured to co-clamp a workpiece (200) with the carrier (1521) when the clamp plate (1522) is in the clamped position, the clamp plate (1522) releasing the workpiece (200) and exposing the workpiece (200) when the clamp plate (1522) is in the evacuation position.

4. A bending apparatus (100) according to claim 3, wherein the number of carriers (152) is a plurality, a plurality of said carriers (152) being arranged along the circumference of the turntable (151), the carriers (152) further comprising:

an axial driving component (1523) which is positioned on one side of the bearing component (1521) away from the clamping plate (1522) and is used for driving the clamping plate (1522) to approach or depart from the bearing component (1521) along the axial direction of the turntable (151) so as to clamp or unclamp a workpiece (200);

and a radial driving assembly (1524) located between the center of the turntable (151) and the clamping plate (1522), and used for driving the clamping plate (1522) to approach or depart from the bearing piece (1521) along the radial direction of the turntable (151) so as to move to a position corresponding to the workpiece (200) or expose the workpiece (200).

5. A bending apparatus (100) according to claim 3, wherein the side of the carrier (1521) adjacent to the clamping plate (1522) has an adsorption hole (15211).

6. The bending apparatus (100) of claim 1, wherein the first bending device (160) is configured to bend the workpiece (200) in a first direction, the first bending device (160) comprising:

a first frame (161);

an abutment block (1621) movably mounted to the first frame (161) so as to be able to abut against the workpiece (200) from one side of the workpiece (200) along the first direction;

the first bending mechanism (163) comprises a first driving assembly (1631) and a first roller (1632), the first driving assembly (1631) is mounted on the first frame (161), the axis of the first roller (1632) extends along a first axis, and the first driving assembly (1631) is used for driving the first roller (1632) to move towards a direction close to the pressing block (1621) so as to bend a workpiece (200) along the first direction;

the first axis is disposed perpendicular to the first direction.

7. The bending apparatus (100) of claim 6, wherein the first drive assembly (1631) comprises:

a first bending drive (1633) mounted to the first frame (161);

A push plate (1634) mounted to the output end of the first bending drive (1633), the push plate (1634) having a sliding channel (16341);

a slider (1635) slidably mounted on the first frame (161), the slider (1635) having a protrusion (16351), the protrusion (16351) being inserted into the sliding groove (16341);

the first roller (1632) is mounted at one end of the sliding piece (1635), the first bending driving piece (1633) drives the push plate (1634) to move along the first direction, the protruding part (16351) is configured to slide in the sliding groove (16341) so as to drive the sliding piece (1635) to slide relative to the first frame (161), and the sliding piece (1635) drives the first roller (1632) to be close to or far away from the pressing block.

8. The bending apparatus (100) according to claim 1, wherein the second bending device (170) is configured to bend two edges of the workpiece (200) simultaneously in a second direction, comprising:

a second frame (171);

a support block (1721) and a press block (1731), at least one of the support block (1721) and the press block (1731) being movably mounted to the second frame (171) to enable the support block (1721) and the press block (1731) to clamp a workpiece (200) together along the second direction;

The second bending mechanism (174) comprises a second driving assembly (1741) and two second rollers (1742), the axes of the second rollers (1742) extend along a second axis and are respectively positioned at two sides of the pressing block (1731) along a third direction, and the second driving assembly (1741) is used for driving the two second rollers (1742) to move towards a direction close to the supporting block (1721) so as to bend the workpiece (200) along the second direction;

the second shafts are perpendicular to the second direction and the third direction in pairs.

9. The bending apparatus (100) of claim 1, wherein the workpiece (200) includes a first portion (210), a second portion (220), and a third portion (230), the first portion (210) and the second portion (220) having a first bend line (240) therebetween, the second portion (220) and the third portion (230) having a second bend line (250) therebetween, the bending module (120) further including a first detection device (180), the first detection device (180) being located downstream of the first bending device (160) and the second bending device (170), the first detection device (180) including:

a third frame (181);

A positioning mechanism (182) mounted to the third frame (181) for selectively securing the third portion (230);

a camera module (183) mounted on the third frame (181) for photographing and detecting the workpiece (200);

wherein the conveying device (150) is configured to move a workpiece (200) to the first detection device (180) and optionally to fix the first portion (210).

10. The bending apparatus (100) according to claim 9, wherein the bending module (120) further comprises a second detection device (190) downstream of the first detection device (180) for three-dimensional inspection of the workpiece (200).

11. The bending apparatus (100) of claim 1, wherein the bending apparatus (100) further comprises:

the transfer module (140) is arranged between the feeding module (110) and the bending module (120);

the feeding module (110) is configured to provide the workpiece (200) to the transit module (140), and the transit module (140) is configured to provide the workpiece (200) to the bending module (120).

12. The bending apparatus (100) according to claim 11, wherein there are two bending modules (120), the relay module (140) being adapted to provide workpieces to both bending modules (120).