AUXILIARY BENDING ROBOT CAPABLE OF PROCESSING TWO WORKPIECES SIMULTANEOUSLY

Abstract

Provided is an auxiliary bending robot capable of processing two workpieces simultaneously, including a linear base slide rail, a slider, a movable major arm, a movable minor arm, a front arm, a swing link, and an additional seventh axis. The slider is slidably connected to the linear base slide rail, and a first axis is formed between the slider and the linear base slide rail. A top portion of the slider is directly or indirectly hinged to a rear end of the movable major arm through a second axis, a front end of the movable major arm is hinged to a rear end of the movable minor arm through a third axis, a front end of the movable minor arm is hinged to a rear end of the front arm through a fourth axis, and a front end of the front arm is rotatably connected to a middle portion of the swing link through a fifth axis. There are two additional seventh axes, the two additional seventh axes are symmetrically disposed on the swing link on two sides of the fifth axis, and each of the additional seventh axes is rotatably connected to the swing link. The present invention can bend two sheet metal plate parts at the same time, so that the efficiency is multiplied and the efficiency problem of automatic bending processing is practically resolved.

Claims

1. An auxiliary bending robot capable of processing two workpieces simultaneously, comprising a linear base slide rail, a slider, a movable major arm, a movable minor arm, a front arm, a swing link, and additional seventh axes, wherein the slider is slidably connected to the linear base slide rail, and a first axis is formed between the slider and the linear base slide rail; a top portion of the slider is directly or indirectly hinged to a rear end of the movable major arm through a second axis, a front end of the movable major arm is hinged to a rear end of the movable minor arm through a third axis, a front end of the movable minor arm is hinged to a rear end of the front arm through a fourth axis, and a front end of the front arm is rotatably connected to a middle portion of the swing link through a fifth axis; there are two additional seventh axes, the two additional seventh axes are symmetrically disposed on the swing link on two sides of the fifth axis, and each of the additional seventh axes is rotatably connected to the swing link; and the first axis, the second axis, the third axis, and the fourth axis are all parallel to each other, each of the additional seventh axes is parallel to the fifth axis, the fifth axis is perpendicular to the fourth axis, and one fixture capable of holding a sheet metal plate workpiece is disposed at a top portion of each of the additional seventh axes.

2. The auxiliary bending robot capable of processing two workpieces simultaneously according to claim 1, further comprising a rotational support, wherein a bottom portion of the rotational support is rotatably connected to the top portion of the slider through an additional sixth axis, and a top portion of the rotational support is rotatably connected to the rear end of the movable major arm through the second axis.

3. The auxiliary bending robot capable of processing two workpieces simultaneously according to claim 1, wherein an axial line of the fifth axis and an axial line of the fourth axis do not have an intersection.

4. The auxiliary bending robot capable of processing two workpieces simultaneously according to claim 1, wherein a cartesian coordinate system is established by setting the origin on an axial line of the second axis, using a horizontal direction perpendicular to the axial line of the second axis as the X axis, and using a vertical direction as the Y axis, coordinate of the center of the fourth axis in the cartesian coordinate system is (d.sub.x, d.sub.y), and formulas of calculating d.sub.x and d.sub.y are as follows: $d_x=X_0-\sqrt{L_{10}^2+L_{20}^2}\cos \left(-\arctan \left(\frac{L_{10}}{L_{20}}\right)\right)$ $d_y=Y_0-d+\sqrt{L_{10}^2+L_{20}^2}\sin \left(-\arctan \left(\frac{L_{10}}{L_{20}}\right)\right)$ wherein in the formulas, X.sub.0 is a distance along the X axis of a mold centerline in a bending machine, Y.sub.0 is a lower die height of the bending machine, L.sub.10 is a vertical offset distance of the fixture, L.sub.20 is a horizontal offset distance of the fixture, d is a work stroke of an upper die in the bending machine, and is an included angle between a sheet metal plate and a horizontal plane in a bending process.

5. The auxiliary bending robot capable of processing two workpieces simultaneously according to claim 4, wherein the second axis, the third axis, and the fourth axis are linked to each other, a driving rotation angle of the second axis is .sub.2, a driving rotation angle of the third axis is .sub.3, a driving rotation angle of the fourth axis is .sub.4, and .sub.2, .sub.3, and .sub.4 satisfy the following formulas: ${}_2=a_2;$ ${}_3=a_3-a_2;$ ${}_4=a_4-a_3;$ $a_2=\arctan \left(\frac{C_y}{C_x}\right)+\arccos \left(\frac{L_2^2+C_x^2+C_y^2-L_3^2}{2.Math.L_2.Math.\sqrt{C_x^2+C_y^2}}\right)$ $a_3=\arctan \left(\frac{C_y-L_2.Math.\sin \left(a_2\right)}{C_x-L_2.Math.\cos \left(a_2\right)}\right)$ $a_4=-.Math..Math.C_x=d_x-L_4.Math.\cos \left(a_4\right).Math..Math.C_y=d_y-L_4.Math.\sin \left(a_4\right)$ wherein in the formulas, a.sub.2 is an included angle between the movable major arm and the X axis, a.sub.3 is an included angle between the movable minor arm and the X axis, a.sub.4 is an included angle between the front arm and the X axis, L.sub.2 is a length of the movable major arm, L.sub.3 is a length of the movable minor arm, L.sub.4 is a length of the front arm, and C.sub.x and C.sub.y are intermediate variables.

6. The auxiliary bending robot capable of processing two workpieces simultaneously according to claim 4, wherein the included angle between the sheet metal plate and the horizontal plane in the bending process is calculated by using the following formula: $=\arctan \left(\frac{2.Math.d}{B}\right),$ wherein in the formula, B is the width of a lower die slot in the bending machine.

7. The auxiliary bending robot capable of processing two workpieces simultaneously according to claim 1, further comprising two movable axes, wherein each of the movable axes is disposed between the additional seventh axis and the swing link, the movable axis is slidably connected to the swing link, and a bottom portion of the additional seventh axis is rotatably connected to the movable axis.

8. The auxiliary bending robot capable of processing two workpieces simultaneously according to claim 5, wherein the included angle between the sheet metal plate and the horizontal plane in the bending process is calculated by using the following formula: $=\arctan \left(\frac{2.Math.d}{B}\right),$ wherein in the formula, B is the width of a lower die slot in the bending machine.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG. 1 is a schematic structural view of an auxiliary bending robot capable of processing two workpieces simultaneously according to the present invention.

[0029] FIG. 2 is a schematic partially enlarged view of a fifth axis and an additional seventh axis in FIG. 1.

[0030] FIG. 3 is a schematic structural view of a half section of a rotational support and a slider.

[0031] FIG. 4 is a schematic partially enlarged view when a movable axis is provided.

[0032] FIG. 5 is a schematic view of a moving direction of a movable axis and a rotating direction of an additional seventh axis.

[0033] FIG. 6 is a schematic view of a relationship between a fifth axis and two additional seventh axes.

[0034] FIG. 7 is a schematic view of a process of positioning adjustment of positions of sheet metal plates by rotating a fifth axis.

[0035] FIG. 8 is a schematic view of a process of positioning adjustment of positions and angles of a sheet metal a sheet metal by a fifth axis and an additional seventh axis being linked.

[0036] FIG. 9 is a schematic view of the sizes of a movable major arm, a movable minor arm, and a front arm.

[0037] FIG. 10 is a schematic view of analyzing a bending movement in a cartesian coordinate system.

[0038] FIG. 11 is a diagram showing a relationship between an included angle between a sheet metal plate and a horizontal plane in a bending process and a lower die of a bending machine.

[0039] Where: 10, linear base slide rail; 20, slider; 30, rotational support; 31, additional sixth axis; 40, movable major arm; 41, second axis; 50, movable minor arm; 51, third axis; 60, front arm; 61, fourth axis; 70, swing link; 71, fifth axis; 80, additional seventh axis; 81, movable axis; 90, bending machine; 101, mold centerline; 92, displacement sensor; 100, blank material shelf; 110, finished material shelf; and 120, sheet metal plate.

DETAILED DESCRIPTION OF EMBODIMENTS

[0040] The present invention is further described below in detail with reference to the accompanying drawings and specific preferred implementation manners.

[0041] As shown in FIG. 1, an auxiliary bending robot capable of processing two workpieces simultaneously includes a linear base slide rail 10, a slider 20, a rotational support 30, a movable major arm 40, a movable minor arm 50, a front arm 60, a swing link 70, and an additional seventh axis 80.

[0042] The linear base slide rail is disposed on the side of a bending inlet of the bending machine 90. The linear base slide rail is preferably parallel to the bending inlet of the bending machine. Two sensor groups can be preferably disposed at the bending inlet of the bending machine. Each sensor group preferably includes two displacement sensors 92 shown in FIG. 5. Each sensor group can perform positioning measurement of position on a corresponding sheet metal plate, so as to facilitate the positioning adjustment of position and angle by a bending robot.

[0043] Blank material shelves 100 and finished materials 110 are disposed on an outer side of a linear slide rail and may have variable locations and quantities and can implement fully-automatic bending of a sheet metal plate 120 without manual intervention.

[0044] The slider is slidably connected to the linear base slide rail, and a first axis is formed between the slider and the linear base slide rail.

[0045] A top portion of the slider is directly or indirectly hinged to a rear end of the movable major arm through a second axis 41. Preferably, there are the following two preferred arrangement manners.

Embodiment 1

[0046] The rear end of the movable major arm is directly hinged to the top portion of the slider through the second axis. That is, the rotational support does not need to be included. In this case, the bending robot of this application is a five-axis robot, and has a larger range of movement as compared with a universal six-axis robot, and the first axis is a linear movement axis, so that the range of movement of the robot is extended.

Embodiment 2

[0047] The rear end of the movable major arm is indirectly hinged to the top portion of the slider through the second axis 41. As shown in FIG. 3, a bottom portion of the rotational support is rotatably connected to the top portion of the slider through an additional sixth axis 31, and a top portion of the rotational support is rotatably connected to a rear end of a major arm joint through the second axis. With the use of the rotational support, the bending robot of this application becomes a six-axis robot, so that the range of movement is large, blank material shelves and finished material shelves may have variable locations and quantities, and fully-automatic bending can be implemented without manual intervention.

[0048] A front end of the movable major arm is hinged to a rear end of the movable minor arm through a third axis 51, a front end of the movable minor arm is hinged to a rear end of the front arm through a fourth axis 61, and a front end of the front arm is rotatably connected to a middle portion of the swing link through a fifth axis 71.

[0049] As shown in FIG. 2, there are two additional seventh axes, the two additional seventh axes are symmetrically disposed on the swing link on two sides of the fifth axis, and each of the additional seventh axes is directly or indirectly rotatably connected to the swing link. Specific preferred arrangement manners are as follows:

[0050] Manner 1: As shown in FIG. 2, a bottom portion of each of the additional seventh axes is directly rotatably connected to the swing link.

[0051] Manner 2: A bottom portion of each of the additional seventh axes is indirectly rotatably connected to a handle. A specific arrangement manner is: As shown in FIG. 4, the bending robot of this application further includes two movable axes 81. Each of the movable axes is disposed between the additional seventh axis and the swing link. The movable axis is slidably connected to the swing link. A bottom portion of the additional seventh axis is rotatably connected to the movable axis.

[0052] A slide direction of each movable axis along the swing link is perpendicular to a length direction of the swing link.

[0053] The first axis, the second axis, the third axis, and the fourth axis are all parallel to each other. Each of the additional seventh axes is parallel to the fifth axis. The fifth axis is perpendicular to the fourth axis. An axial line of the fifth axis and an axial line of the fourth axis preferably do not have an intersection. Therefore, this application can avoid mechanical interference between the fourth axis and the bending machine and is suitable for bending of small parts.

[0054] Certainly, as an alternative, the axial line of the fifth axis and the axial line of the fourth axis may intersect at a point. The present invention has different kinematic characteristics because of special processes of bending and can completely be inversely resolved even there is no intersection.

[0055] One fixture that can hold a sheet metal plate workpiece is disposed at a top portion of each of the additional seventh axes. There is a plurality of arrangement manners of the fixture. Preferably, there are the following three arrangement manners:

[0056] Preferred arrangement manner 1: The additional seventh axis and the fixture are integrated. That is, the additional seventh axis is a flange shaft, and a flange in the flange shaft is formed into the fixture. The flange is threadedly connected to a metal plate.

[0057] Preferred arrangement manner 2: The fixture is a vacuum sucker.

[0058] Preferred arrangement manner 3: The fixture is an electromagnet.

[0059] Certainly, as an alternative, the fixture may further be another known arrangement manner in the prior art.

[0060] A cartesian coordinate system is established by setting the origin on an axial line of the second axis, using a horizontal direction perpendicular to the axial line of the second axis as the X axis, and using a vertical direction as the Y axis, the coordinates of the center of the fourth axis in the cartesian coordinate system are (d.sub.x, d.sub.y), and formulas of calculating d.sub.x and d.sub.y are as follows:

[00004]$d_x=X_0-\sqrt{L_{10}^2+L_{20}^2}\cos \left(-\arctan \left(\frac{L_{10}}{L_{20}}\right)\right)$$d_y=Y_0-d+\sqrt{L_{10}^2+L_{20}^2}\sin \left(-\arctan \left(\frac{L_{10}}{L_{20}}\right)\right)$

[0061] In the formulas, as shown in FIG. 10, X.sub.0 is a distance along the X axis of a mold centerline in a bending machine, Y.sub.0 is a lower die height of the bending machine, L.sub.10 is a vertical offset distance of the fixture, L.sub.20 is a horizontal offset distance of the fixture, and is an included angle between a sheet metal plate and a horizontal plane in a bending process.

[0062] The second axis, the third axis, and the fourth axis are linked to each other, it is assumed that a driving rotation angle of the second axis is .sub.2, a driving rotation angle of the third axis is .sub.3, a driving rotation angle of the fourth axis is .sub.4, and .sub.2, .sub.3, and .sub.4 satisfy the following formulas:

[00005]${}_2=a_2;$${}_3=a_3-a_2;$${}_4=a_4-a_3;$$a_2=\arctan \left(\frac{C_y}{C_x}\right)+\arccos \left(\frac{L_2^2+C_x^2+C_y^2-L_3^2}{2.Math.L_2.Math.\sqrt{C_x^2+C_y^2}}\right)$$a_3=\arctan \left(\frac{C_y-L_2.Math.\sin \left(a_2\right)}{C_x-L_2.Math.\cos \left(a_2\right)}\right)$$a_4=-.Math..Math.C_x=d_x-L_4.Math.\cos \left(a_4\right).Math..Math.C_y=d_y-L_4.Math.\sin \left(a_4\right)$

[0063] In the formulas, a.sub.2 is an included angle between the movable major arm and the X axis, a.sub.3 is an included angle between the movable minor arm and the X axis, and a.sub.4 is an included angle between the front arm and the X axis. As shown in FIG. 9, L.sub.2 is the length of the movable major arm, L.sub.3 is the length of the movable minor arm, L.sub.4 is the length of the front arm, and C.sub.x and C.sub.y are intermediate variables.

[0064] The included angle between the sheet metal plate and the horizontal plane in the bending process is calculated by using the following formula:

[00006]$=\arctan \left(\frac{2.Math.d}{B}\right).$

[0065] In the formula, as shown in FIG. 11, B is the width of a lower die slot in the bending machine, and d is the work stroke of an upper die in the bending machine. In the formulas, the influence of the thickness of a sheet metal plate is ignored.

[0066] Certainly, as an alternative, the included angle 1i between the metal plate and the horizontal plane in the bending process may also be measured in another known manner such as detection using an angle sensor, which also falls within the protection scope of this application.

[0067] The foregoing additional seventh axis can adjust positioning deviations of an angle of a single sheet metal plate.

[0068] The relationship between the fifth axis and two additional seventh axes is shown in FIG. 6. As the fifth axis rotates and the additional seventh axes are modified by rotating by small angles, the positioning precision of positions of two sheet metal plates can be adjusted, and the adjustment process is shown in FIG. 7.

[0069] The fifth axis and the two additional seventh axes are linked, and as shown in FIG. 8, can implement adjustment of positioning precision of position and angle of two plates.

[0070] The preferred implementation manners of the present invention are described above in detail. However, the present invention is not limited to specific details in the foregoing implementation manners. Various equivalent variations may be made to the technical solutions of the present invention within the scope of the technical concept of the present invention. These equivalent variations all fall within the protection scope of the present invention.