Metal sheet automatic bending robot and bending process

Abstract

The invention discloses an automatic bending robot for a metal sheet. The automatic bending robot comprises a three-axis mechanical arm, a robot base, an execution end mounting platform, an execution end cross beam, a suction cup unit, a lifting clamping strip and a fixed clamping strip. The three-axis mechanical arm comprises an arm a, an arm b and an arm c; a robot base is connected with one end of an arm a through an electric mechanical joint a, the other end of the arm a is connected with one end of an arm b through an electric mechanical joint b, the other end of the arm b is connected with one end of an arm c through an electric mechanical joint c, an execution end mounting platform is fixed to the tail end of the arm c, and an execution end cross beam is fixed to the execution end mounting platform; the multiple suction cup units are distributed in a linear array mode in the length direction of the execution end cross beam, and all the suction cup units are fixedly connected with the execution end cross beam through suction cup supports. Accurate grabbing and feeding can be independently completed, and the bending action can be directly executed.

Description

Technical Field

[0001] This invention belongs to the field of bending robots. Background Technology

[0002] Currently, the bending of thin metal sheets generally relies on specialized bending machines, such as bending machines. Although these machines can complete specific tasks, they have significant limitations: First, their mechanical structure is usually quite complex and highly specialized, and they can often only operate on preset specific shapes, sizes or bending angles. They lack versatility and flexibility, making it difficult to adapt to the flexible production needs of multiple varieties and small batches.

[0003] Secondly, the bending machine itself is only responsible for bending. The loading (placing the sheet material to be processed) and unloading (removing the finished product) of the workpiece still need to be done manually or by a separate industrial robot / robotic arm. This not only increases the complexity and floor space of the production line, but also introduces additional costs and potential failure points.

[0004] Therefore, in order to break through the constraints of existing processes and improve automation and adaptability, it is necessary to develop a new type of industrial robot system. It should be integrated and intelligent, and be able to independently complete the entire process, including precise gripping (loading), direct bending action, and placement of finished products (unloading), fundamentally simplifying the equipment structure and enhancing its versatility. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides an automatic bending robot and bending process for thin metal sheets, which can independently complete the process including precise material gripping and feeding, and direct execution of bending actions.

[0006] Technical solution: To achieve the above objectives, the present invention provides an automatic metal sheet bending robot, comprising a three-axis robotic arm, a robot base, an execution end mounting platform, an execution end crossbeam, a suction cup unit, a lifting clamping bar, and a fixing clamping bar.

[0007] The three-axis robotic arm includes arm A, arm B, and arm C. The robot base is connected to one end of arm A via an electromechanical joint (A), the other end of arm A is connected to one end of arm B via an electromechanical joint (B), and the other end of arm B is connected to one end of arm C via an electromechanical joint (C). The execution end mounting platform is fixed to the end of arm C, and the execution end beam is fixed to the execution end mounting platform. Several suction cup units are arranged in a linear array along the length of the execution end beam, and each suction cup unit is fixedly connected to the execution end beam via a suction cup bracket.

[0008] The lifting clamp is parallel to the fixed clamp directly above it, and the lifting clamp can be raised and lowered under the drive of the lifting device; when the lifting clamp is in the raised state, a clamp is formed between the lifting clamp and the fixed clamp.

[0009] Furthermore, this includes a stack of sheet metal to be bent, which is placed on the side of the robot base away from the fixing clamps.

[0010] Driven by electromechanical joints a, b, and c, a linear array of suction cups composed of several suction cup units moves to the top of the stack of plates to be bent and holds the uppermost strip of thin plate in the stack. With the strip of thin plate held by several suction cup units, the held strip of thin plate moves synchronously with several suction cup units, so that one side of the held strip of thin plate extends parallel into the lower part of the clamp.

[0011] Furthermore, one side of the strip-shaped thin plate that is being adsorbed extends parallel into the clamping opening, and the lifting clamping bar descends, so that one side of the strip-shaped thin plate is tightly clamped between the lifting clamping bar and the fixed clamping bar. At this state, a virtual folding axis is formed at the junction of the lower surface of the strip-shaped thin plate and the rear side of the fixed clamping bar.

[0012] When one side of a strip of thin plate is inserted parallel to the clamping jaws and is tightly clamped between the lifting clamping bar and the fixed clamping bar, a virtual folding axis is formed at the junction of the lower surface of the strip of thin plate and the rear side of the fixed clamping bar. Driven by the coordinated action of electromechanical joints a, b, and c, a linear suction cup array composed of several suction cup units swings downward around the virtual folding axis. This causes the suction cup units to directly push the strip of thin plate downward around the virtual folding axis at a preset angle. During the process of the strip of thin plate downward around the virtual folding axis at a preset angle, the suction cup units are always in a state of holding the strip of thin plate.

[0013] Furthermore, a non-circular profile shaft parallel to the length direction of the execution end beam is provided in front of the linear suction cup array composed of several suction cup units; the two ends of the non-circular profile shaft are fixed with rotating shafts, and each rotating shaft is rotatably installed in the bearing hole at the end of the structural arm through bearings, and the root of each structural arm is vertically fixed to the execution end beam.

[0014] Furthermore, a downward-facing step surface a is formed on the lower rear end of the lifting clamp, which is higher than the lowest end of the lifting clamp; from the axial perspective along the irregular contour axis, the outer periphery of the irregular contour axis is a vortex contour surface, which gradually approaches the axis of rotation in the clockwise direction, and the clockwise end and the counterclockwise end of the vortex contour surface form a step surface b in the initial state.

[0015] It also includes a reset torsion spring that transmits torque to the rotating shaft. In the free state, the rotating shaft will automatically rotate to the reset state under the action of the reset torsion spring. In the reset state, the b-step surface is in front of the irregular contour shaft and is horizontal. In the reset state where the b-step surface is in front of the irregular contour shaft and is horizontal, the lowest point of the vortex contour surface is higher than the lowest point of several suction cup units, so that the lowest point of the vortex contour surface forms an initial gap with the upper surface of the strip thin plate being adsorbed.

[0016] With one side of the adsorbed strip plate extending parallel into the lower part of the clamp, step a is directly above step b. As the lifting clamp descends, before the bottom of the lifting clamp contacts the upper surface of one side of the strip plate, step a will first contact step b. Then, under the downward push of step a, the irregular contour axis rotates clockwise, causing the initial gap to gradually narrow. When the bottom of the lifting clamp descends to just contact the upper surface of one side of the strip plate, the initial gap becomes zero.

[0017] Furthermore, in the reset state, a roller groove is provided on the upper rear side of the irregular contour shaft along the length direction;

[0018] Each structural arm has a swing arm parallel to the structural arm on its upper side. The upper end of the swing arm is connected to the execution end beam through a hinge, and the lower end of the swing arm is rotatably mounted with a roller whose axis is parallel to the length direction of the irregular contour axis through a bearing.

[0019] The structural arm is equipped with a tension spring that pulls down the swing arm. An electric pusher is also vertically installed on the upper side of the structural arm. The upward pushing action of the electric pusher can push the swing arm upward to swing.

[0020] In the reset state, the electric push device retracts downwards, and the downward swing of the swing arm causes the roller to be tangent to the vortex profile surface of the irregular profile shaft; when the lowest end of the lifting clamping bar descends to just contact the upper surface of one side of the strip plate so that the initial gap is zero, the roller just gets stuck in the roller slot.

[0021] Furthermore, a working method for an automated metal sheet bending robot:

[0022] Step 1: The electric pusher pushes upwards, and the swing arm swings upwards, causing the roller to separate from the vortex profile surface of the irregular profile shaft, and the irregular profile shaft enters a free state. In the free state, the shaft automatically rotates to the reset state under the action of the reset torsion spring. A linear suction cup array composed of several suction cup units picks up the uppermost strip of thin plate in the stack of plates to be bent. At this time, an initial gap is formed between the lowermost end of the vortex profile surface and the upper surface of the suction strip of thin plate.

[0023] Step 2: The strip of thin plate that is being adsorbed moves synchronously with several suction cup units, so that one side of the strip of thin plate that is being adsorbed extends parallel into the lower part of the clamp, and at this time, step a is directly above step b.

[0024] Step 3: Control the electric pusher to retract downwards. The rollers, under the downward trend of the swing arm, roll tangentially with the vortex profile surface of the irregular contour shaft. Control the lifting clamp to descend. During the descent of the lifting clamp, before the lowest end of the lifting clamp contacts the upper surface of one side of the strip plate, step a will first contact step b. Then, under the downward push of step a, the irregular contour shaft rotates clockwise, thus gradually narrowing the initial gap. When the lowest end of the lifting clamp descends to just contact the upper surface of one side of the strip plate, tightly clamping one side of the strip plate between the lifting clamp and the fixed clamp, the initial gap becomes zero, and the lowest end of the vortex profile surface becomes tangent to the upper surface of the strip plate. A virtual folding shaft is formed at the junction of the lower surface of the strip plate and the rear side of the fixed clamp. At this time, the rollers, under the downward trend of the swing arm, just engage in the roller slot. The rollers engaged in the roller slot lock the irregular contour shaft at this moment, preventing it from rotating further.

[0025] Step four: Driven by the coordinated action of electromechanical joints a, b, and c, the linear suction cup array composed of several suction cup units and the locked irregular contour axis swing downward around the virtual folding axis. Since the tangent part of the irregular contour axis to the strip plate is closer to the virtual folding axis than the suction cup units, the rigid irregular contour axis will bear the force for the suction cup units and push the strip plate to fold downward around the virtual folding axis by a preset angle. During the process of the strip plate folding downward around the virtual folding axis by a preset angle, the suction cup units are always in the state of adhering to the strip plate.

[0026] Beneficial effects: The industrial robot system of the present invention has a more integrated structure and can independently complete the entire process, including precise gripping and feeding, direct execution of bending actions, and placement of finished products, in non-high-precision bending processes, fundamentally simplifying the equipment structure and enhancing its versatility. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the first embodiment;

[0028] Figure 2 This is a partial structure of the robot's end effector in the first embodiment;

[0029] Figure 3 This is the robot end effector structure of the second embodiment;

[0030] Figure 4 This is "Step Two" in the second embodiment;

[0031] Figure 5 These are steps three through four in the second embodiment. Detailed Implementation

[0032] The invention will now be further described with reference to the accompanying drawings.

[0033] First embodiment:

[0034] As attached Figure 1 and 2 The illustrated automatic metal sheet bending robot includes a three-axis robotic arm 34, a robot base 32, an execution end mounting platform 22, an execution end crossbeam 1, a suction cup unit 19, a stack of sheet metal to be bent 23, a lifting clamping bar 11, and a fixing clamping bar 13.

[0035] The three-axis robotic arm 34, from the robot base 32 to the execution end mounting platform 22, includes an a-arm 34, a b-arm 36, and a c-arm 21. The robot base 32 is connected to one end of the a-arm 34 via an a-electromechanical joint 33. The other end of the a-arm 34 is connected to one end of the b-arm 36 via an b-electromechanical joint 35. The other end of the b-arm 36 is connected to one end of the c-arm 21 via a c-electromechanical joint 37. The execution end mounting platform 22 is fixed to the end of the c-arm 21. The middle part of the horizontal execution end beam 1 is fixedly installed on the execution end mounting platform 22, and the execution end beam 1 is perpendicular to the a-arm 34, b-arm 36, and c-arm 21. Several suction cup units 19 are arranged in a linear array along the length of the execution end beam 1, and each suction cup unit 19 is fixedly connected to the execution end beam 1 via a suction cup bracket 4.

[0036] The fixed clamping bar 13 is parallel to the execution end crossbeam 1 and is fixedly installed. The lifting clamping bar 11 is parallel to the fixed clamping bar 13 and is able to rise and fall under the drive of the lifting device. When the lifting clamping bar 11 is in the rising state, a clamping opening 12 is formed between the lifting clamping bar 11 and the fixed clamping bar 13. The plate to be bent is stacked 23 on the side of the robot base 32 away from the fixed clamping bar 13.

[0037] Driven by electromechanical joints a, b, and c, the linear suction cup array composed of several suction cup units 19 is displaced to the upper side of the stack of plates to be bent 23, and holds the uppermost strip of thin plate 18 in the stack of plates to be bent 23, so that the held strip of thin plate 18 moves synchronously with the linear suction cup array composed of several suction cup units 19.

[0038] The length direction of the strip-shaped thin plate 18, which is held by a linear suction cup array composed of several suction cup units 19, is parallel to the length direction of the execution end beam 1. With one strip-shaped thin plate 18 held by several suction cup units 19, driven by electromechanical joints a, b, and c, the held strip-shaped thin plate 18 moves synchronously with the suction cup units 19, causing one side of the held strip-shaped thin plate 18 to extend parallel into the lower part of the clamping opening 12, as shown below. Figure 2 As shown.

[0039] One side of the strip-shaped thin plate 18, which is being adsorbed, extends parallel into the clamping opening 12, and the lifting clamping bar 11 descends, so that one side of the strip-shaped thin plate 18 is tightly clamped between the lifting clamping bar 11 and the fixed clamping bar 13. A virtual folding shaft 20 is formed at the junction of the lower surface of the strip-shaped thin plate 18 and the rear side 13.1 of the fixed clamping bar 13. The virtual folding shaft 20... Figure 5 As shown.

[0040] Working method of the first embodiment:

[0041] Step 1: Driven by electromechanical joints a, b, and c, the three-axis robotic arm 34 moves to the upper side of the stack of plates to be bent 23, driven by electromechanical joints a, b, and c. and then picks up the uppermost strip of thin plate 18 in the stack of plates to be bent 23. This causes the picked-up strip of thin plate 18 to move synchronously with the linear suction cup array composed of the suction cup units 19.

[0042] Step two: Driven by electromechanical joints a, b, and c, the attached strip plate 18 is moved synchronously with several suction cup units 19, so that one side of the attached strip plate 18 extends parallel into the lower part of the clamp 12.

[0043] Step 3: Control the lifting clamp 11 to descend, so that one side of the strip plate 18 is tightly clamped between the lifting clamp 11 and the fixed clamp 13, and a virtual folding shaft 20 is formed at the junction of the lower surface of the strip plate 18 and the rear side 13.1 of the fixed clamp 13.

[0044] Step four: Under the coordinated drive of electromechanical joints a, b, and c, the linear suction cup array composed of several suction cup units 19 swings downward around the virtual folding axis 20, thereby causing the suction cup units 19 to directly push the strip plate 18 downward around the virtual folding axis 20 at a preset angle. During the process of the strip plate 18 downward folding around the virtual folding axis 20 at a preset angle, the suction cup units 19 are always in the state of holding the strip plate 18, so that the strip plate 18 can be seamlessly removed afterward.

[0045] Step 5: Control the lifting clamp 11 to rise, so that the clamp 12 releases the bent strip plate 18. At this time, since the suction cup unit 19 is still holding the already formed strip plate 18, the three-axis robotic arm 34, driven by the cooperation of the a electromechanical joint 33, b electromechanical joint 35 and c electromechanical joint 37, moves the already bent strip plate 18 out of the clamp 12 and transfers the already bent strip plate 18 to other processing robots, thereby realizing the handover of the completed bending process.

[0046] The above embodiments are characterized by simple structure and high technical coherence, but they have the following drawbacks:

[0047] In the bending process of "Step Four", the method of directly pushing the strip plate 18 by several suction cup units 19 will cause the suction cups to bear huge forces. As a result, the suction cups will be squeezed under the reaction force during each bending process, which will easily shorten the service life of the suction cups. In order to avoid this problem, this solution is based on the first embodiment above and the following further improvement scheme is designed.

[0048] The following is a second embodiment improved upon the first embodiment:

[0049] like Figure 3 , 4 As shown in Figure 5:

[0050] A linear suction cup array composed of several suction cup units 19 is provided in front of an irregularly shaped profile shaft 16 parallel to the length direction of the execution end beam 1; the two ends of the irregularly shaped profile shaft 16 are fixed with rotating shafts 17, and each rotating shaft 17 is rotatably installed in the bearing hole at the end of the structural arm 5 through bearings, and the root of each structural arm 5 is vertically fixedly connected to the execution end beam 1.

[0051] The lower rear end of the lifting clamp 11 has a downward-facing step surface 10, which is higher than the lowest end of the lifting clamp 11.

[0052] From the axial perspective along the irregular contour axis 16, the outer periphery of the irregular contour axis 16 is a vortex contour surface 14. The vortex contour surface 14 gradually approaches the axis of the rotating shaft 17 in a clockwise direction. The clockwise end and the counterclockwise end of the vortex contour surface 14 form a step surface 9 in the initial state. It also includes a reset torsion spring 28 that transmits torque to the rotating shaft 17. In the free state, the rotating shaft 17 will automatically rotate to the reset state under the action of the reset torsion spring 28. In the reset state, the step surface 9 is in front of the irregular contour axis 16 and is approximately horizontal.

[0053] In a roughly horizontal reset state, with step 9 in front of the irregular contour axis 16, the lowest point of the vortex contour surface 14 is higher than the lowest point of several suction cup units 19, creating an initial gap 15 between the lowest point of the vortex contour surface 14 and the upper surface of the adsorbed strip plate 18. With one side of the adsorbed strip plate 18 extending parallel into the lower part of the clamping opening 12, step 10 is directly above step 9. Based on this, during the descent of the lifting clamp 11, before the lowest point of the lifting clamp 11 contacts the upper surface of one side of the strip plate 18, step 10 will first contact step 9. Then, under the downward push of step 10, the irregular contour axis 16 rotates clockwise, causing the initial gap 15 to gradually narrow. When the lowest point of the lifting clamp 11 descends to just contact the upper surface of one side of the strip plate 18, the initial gap 15 becomes zero. Figure 5 The image above.

[0054] In the reset state, a roller groove 5 is provided on the upper rear side of the irregular contour shaft 16 along the length direction.

[0055] Each structural arm 5 has a swing arm 3 that is roughly parallel to the structural arm 5 on its upper side. The upper end of the swing arm 3 is connected to the execution end beam 1 through a hinge 2. The lower end of the swing arm 3 is rotatably mounted with a roller 8 whose axis is parallel to the length direction of the irregular contour shaft 16 through a bearing. A tension spring 7 that generates a downward pulling force on the swing arm 3 is provided on the structural arm 5. An electric push device 6 is also vertically provided on the upper side of the structural arm 5. The upward pushing action of the electric push device 6 can push the swing arm 3 upward to swing upward.

[0056] In the reset state, the electric push device 6 is retracted downwards, and the downward swing of the swing arm 3 causes the roller 8 to be tangent to the vortex profile surface 14 of the irregular profile shaft 16; when the lowest end of the lifting clamp 11 descends to just contact the upper surface of one side of the strip plate 18 so that the initial distance 15 is zero, the roller 8 just gets stuck in the roller slot 5.

[0057] One end of the rotating shaft 17 is coaxially connected to the torque disk 26. One end of the reset torque spring 28 is connected to the torque disk 26 for torque transmission, and the other end is fixedly connected to the structural arm 5.

[0058] Work methods:

[0059] The working method of the second embodiment (e.g.) Figure 4 and 5 (as shown)

[0060] Step 1: In the initial state, the electric pusher 6 pushes upward, causing the swing arm 3 to swing upward against gravity and tension, causing the roller 8 to separate from the vortex profile surface 14 of the irregular profile shaft 16, thereby allowing the irregular profile shaft 16 to enter a free state.

[0061] In the free state, the rotating shaft 17 automatically rotates to the reset state under the action of the reset torsion spring 28. In the reset state, the b-step surface 9 is in front of the irregular contour shaft 16 and is roughly horizontal. At this time, the lowest point of the vortex contour surface 14 is higher than the lowest point of several suction cup units 19, so that the suction cup array composed of several subsequent suction cup units 19 can smoothly adsorb the horizontal strip plate 18.

[0062] Driven by electromechanical joints a, b, and c, the three-axis robotic arm 34 moves a linear suction cup array composed of several suction cup units 19 to the upper side of the stack of plates to be bent 23 and picks up the uppermost strip of thin plate 18 in the stack of plates to be bent 23.

[0063] At this time, an initial gap 15 is formed between the lowest end of the vortex profile surface 14 and the upper surface of the strip plate 18 being adsorbed. If there is no initial gap 15, when the suction cup unit 19 adsorbs the upper surface of the strip plate 18, the lowest end of the vortex profile surface 14 will interfere with the upper surface of the strip plate 18.

[0064] Step 2: Driven by electromechanical joints a, b, and c, the attached strip plate 18 is moved synchronously with several suction cup units 19, so that one side of the attached strip plate 18 extends parallel into the lower part of the clamping opening 12, and at this time, step surface a 10 is directly above step surface b 9.

[0065] Step 3: Control the electric pusher 6 to retract downwards. The roller 8, under the downward swinging trend of the swing arm 3, rolls tangentially with the vortex profile surface 14 of the irregular profile shaft 16. Control the lifting clamp 11 to descend. During the descent of the lifting clamp 11, before the lowest end of the lifting clamp 11 contacts the upper surface of one side of the strip plate 18, step surface a 10 will first contact step surface b 9. Subsequently, under the downward push of step surface a 10, the irregular profile shaft 16 rotates clockwise, thereby gradually narrowing the initial gap 15. When the lowest end of the lifting clamp 11 descends to just contact the strip plate... When the upper surface of one side of the strip plate 18 is tightly clamped between the lifting clamping bar 11 and the fixed clamping bar 13, the initial gap 15 becomes zero, and the lowermost end of the vortex profile surface 14 is tangent to the upper surface of the strip plate 18. A virtual folding shaft 20 is formed at the junction of the lower surface of the strip plate 18 and the rear side 13.1 of the fixed clamping bar 13. At this time, the roller 8 is just inserted into the roller slot 5 under the downward swing trend of the swing arm 3. The roller 8 inserted into the roller slot 5 locks the irregular profile shaft 16 at this time, so that the irregular profile shaft 16 can no longer rotate.

[0066] Step four: Driven by the coordinated action of electromechanical joints a, b, and c, the linear suction cup array composed of several suction cup units 19 and the locked irregular contour axis 16 swing downward around the virtual folding axis 20. Since the tangent part of the irregular contour axis 16 to the strip plate 18 is closer to the virtual folding axis 20 than the suction cup units 19, the rigid irregular contour axis 16 will bear the force for the suction cup units 19 and push the strip plate 18 to fold downward around the virtual folding axis 20 at a preset angle. During the process of the strip plate 18 folding downward around the virtual folding axis 20 at a preset angle, the suction cup units 19 are always in the state of holding the strip plate 18, so that the strip plate 18 can be seamlessly removed afterward.

[0067] Step 5: Control the lifting clamp 11 to rise, so that the clamp 12 releases the bent strip 18. At this time, since the suction cup unit 19 is still holding the already formed strip 18, the three-axis robotic arm 34, driven by the cooperation of the a electromechanical joint 33, b electromechanical joint 35 and c electromechanical joint 37, removes the already bent strip 18 from the clamp 12 and transfers it to other processing robots, thus realizing the handover of the completed bending process. After the handover is completed, the electric pusher 6 pushes upward, so that the swing arm 3 overcomes gravity and the tension spring and swings upward, so that the roller 8 disengages from the roller slot 5 and separates from the irregular contour shaft 16, thus allowing the irregular contour shaft 16 to re-enter the free state. In the free state, the rotating shaft 17 automatically rotates to the reset state under the action of the reset torsion spring 28; thus, a complete bending cycle ends.

[0068] This solution is suitable for scenarios with low accuracy requirements without the aid of sensors. If higher accuracy is needed, a sensor capable of recognizing bending angles needs to be added to improve bending accuracy.

[0069] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic metal sheet bending robot, characterized in that: It includes a three-axis robotic arm (34), a robot base (32), an actuator mounting platform (22), an actuator crossbeam (1), a suction cup unit (19), a lifting clamp (11), and a fixing clamp (13). The three-axis robotic arm (34) includes an a-arm (34), a b-arm (36), and a c-arm (21). The robot base (32) is connected to one end of the a-arm (34) via an a-electromechanical joint (33). The other end of the a-arm (34) is connected to one end of the b-arm (36) via an b-electromechanical joint (35). The other end of the b-arm (36) is connected to one end of the c-arm (21) via a c-electromechanical joint (37). The execution end mounting platform (22) is fixed at the end of the c-arm (21). The execution end beam (1) is fixed on the execution end mounting platform (22). Several suction cup units (19) are arranged in a straight array along the length of the execution end beam (1), and each suction cup unit (19) is fixedly connected to the execution end beam (1) via a suction cup bracket (4). The lifting clamp (11) is parallel to the fixed clamp (13) directly above, and the lifting clamp (11) can be lifted and lowered under the drive of the lifting device; when the lifting clamp (11) is in the rising state, a clamp (12) is formed between the lifting clamp (11) and the fixed clamp (13).

2. The automatic metal sheet bending robot according to claim 1, characterized in that: Includes a stack of sheet metal to be bent (23), the stack of sheet metal to be bent (23) being located on the side of the robot base (32) away from the fixing clip (13); Driven by electromechanical joints a (33), b (35), and c (37), a linear suction cup array composed of several suction cup units (19) moves to the upper side of the stack of plates to be bent (23) and holds the uppermost strip of thin plate (18) in the stack of plates to be bent (23). When the strip of thin plate (18) is held by several suction cup units (19), the held strip of thin plate (18) moves synchronously with several suction cup units (19), so that one side of the held strip of thin plate (18) extends parallel into the lower part of the clamp (12).

3. The automatic metal sheet bending robot according to claim 2, characterized in that: One side of the strip-shaped thin plate (18) that is adsorbed extends parallel into the clamp (12), and the lifting clamp (11) descends, so that one side of the strip-shaped thin plate (18) is tightly clamped between the lifting clamp (11) and the fixed clamp (13). At the junction of the lower surface of the strip-shaped thin plate (18) and the rear side (13.1) of the fixed clamp (13), a virtual folding axis (20) is formed.

4. The working method of an automatic metal sheet bending robot according to claim 3, characterized in that: When one side of the strip-shaped thin plate (18) that is being adsorbed extends parallel into the clamp (12) and one side of the strip-shaped thin plate (18) is tightly clamped between the lifting clamp (11) and the fixed clamp (13), a virtual folding axis (20) is formed at the junction of the lower surface of the strip-shaped thin plate (18) and the rear side (13.1) of the fixed clamp (13). Under the combined drive of the a electromechanical joint (33), the b electromechanical joint (35) and the c electromechanical joint (37), the linear suction cup array composed of several suction cup units (19) swings downward around the virtual folding axis (20), so that the several suction cup units (19) directly push the strip-shaped thin plate (18) to fold downward around the virtual folding axis (20) by a preset angle. During the process of the strip-shaped thin plate (18) folding downward around the virtual folding axis (20) by a preset angle, the suction cup unit (19) is always in the state of adsorbing the strip-shaped thin plate (18).

5. The automatic metal sheet bending robot according to claim 3, characterized in that: A linear suction cup array composed of several suction cup units (19) is provided in front of an irregular contour shaft (16) parallel to the length direction of the execution end beam (1); the two ends of the irregular contour shaft (16) are fixed with rotating shafts (17), each of the rotating shafts (17) is rotatably installed in the bearing hole at the end of the structural arm (5) through a bearing, and the root of each of the structural arms (5) is vertically fixed to the execution end beam (1).

6. The automatic metal sheet bending robot according to claim 5, characterized in that: The lower rear end of the lifting clamp (11) has a downward-facing step surface (10), which is higher than the lowest end of the lifting clamp (11). From the axial perspective along the irregular contour axis (16), the outer periphery of the irregular contour axis (16) is a vortex contour surface (14). The vortex contour surface (14) gradually approaches the axis of the rotating shaft (17) in a clockwise direction. The clockwise end and the counterclockwise end of the vortex contour surface (14) form a step surface (9) in the initial state. It also includes a reset torsion spring (28) that transmits torque to the rotating shaft (17). In the free state, the rotating shaft (17) will automatically rotate to the reset state under the action of the reset torsion spring (28). In the reset state, the b-step surface (9) is in front of the irregular contour shaft (16) and is horizontal. In the reset state, the lowest point of the vortex contour surface (14) is higher than the lowest point of several suction cup units (19), so that the lowest point of the vortex contour surface (14) and the upper surface of the adsorbed strip plate (18) form an initial distance (15). With one side of the strip-shaped thin plate (18) being adsorbed extending parallel into the lower part of the clamp (12), the a-step surface (10) is directly above the b-step surface (9). On this basis, during the descent of the lifting clamp (11), before the lowest end of the lifting clamp (11) contacts the upper surface of one side of the strip-shaped thin plate (18), the a-step surface (10) will first contact the b-step surface (9). Then, under the downward push of the a-step surface (10), the irregular contour shaft (16) rotates clockwise, thereby making the initial gap (15) gradually narrow. When the lowest end of the lifting clamp (11) descends to just contact the upper surface of one side of the strip-shaped thin plate (18), the initial gap (15) becomes zero.

7. The automatic metal sheet bending robot according to claim 6, characterized in that: In the reset state, a roller groove (5) is provided on the rear upper side of the irregular contour shaft (16) along the length direction. Each structural arm (5) has a swing arm (3) parallel to the structural arm (5) on its upper side. The upper end of the swing arm (3) is connected to the execution end beam (1) through a hinge (2). The lower end of the swing arm (3) is rotatably mounted with a roller (8) whose axis is parallel to the length direction of the irregular contour shaft (16) through a bearing. The structural arm (5) is provided with a tension spring (7) that pulls down the swing arm (3), and an electric push device (6) is also vertically provided on the upper side of the structural arm (5). The upward pushing action of the electric push device (6) can push the swing arm (3) upward to swing. In the reset state, the electric push device (6) is retracted downwards, and the downward swing of the swing arm (3) causes the roller (8) to be tangent to the vortex profile surface (14) of the irregular profile shaft (16); when the lowermost end of the lifting clamp (11) descends to just contact the upper surface of one side of the strip plate (18) so that the initial distance (15) is zero, the roller (8) just gets stuck in the roller slot (5).

8. The working method of an automatic metal sheet bending robot according to claim 7, characterized in that: Step 1: The electric pusher (6) pushes upward, and the swing arm (3) swings upward, causing the roller (8) to separate from the vortex profile surface (14) of the irregular profile shaft (16), and the irregular profile shaft (16) enters a free state; in the free state, the rotating shaft (17) automatically rotates to the reset state under the action of the reset torsion spring (28); a linear suction cup array composed of several suction cup units (19) sucks up the uppermost strip of thin plate (18) in the stack of plates to be bent (23); at this time, an initial gap (15) is formed between the lowermost end of the vortex profile surface (14) and the upper surface of the sucked strip of thin plate (18). Step 2: The strip of thin plate (18) that is adsorbed moves synchronously with several suction cup units (19), so that one side of the strip of thin plate (18) that is adsorbed extends into the lower part of the clamp (12) in parallel, and at this time, step a (10) is directly above step b (9). Step 3: Control the electric pusher (6) to retract downwards, and the roller (8) rolls tangentially to the vortex profile surface (14) of the irregular profile shaft (16) under the downward swing trend of the swing arm (3); control the lifting clamp (11) to descend. During the descent of the lifting clamp (11), before the lowest end of the lifting clamp (11) contacts the upper surface of one side of the strip plate (18), the a step surface (10) will first contact the b step surface (9). Then, under the downward push of the a step surface (10), the irregular profile shaft (16) rotates clockwise, thereby gradually narrowing the initial gap (15). When the lowest end of the lifting clamp (11) descends to just contact the strip plate (18), When the upper surface of one side of the strip plate (18) is tightly clamped between the lifting clamp (11) and the fixed clamp (13), the initial gap (15) becomes zero, and the lower end of the vortex profile surface (14) is tangent to the upper surface of the strip plate (18); the intersection of the lower surface of the strip plate (18) and the rear side (13.1) of the fixed clamp (13) forms a virtual folding axis (20). At this time, the roller (8) is just inserted into the roller slot (5) under the downward swing trend of the swing arm (3). The roller (8) inserted into the roller slot (5) locks the irregular profile axis (16) at this time, so that the irregular profile axis (16) can no longer rotate. Step four: Under the coordinated drive of electromechanical joints a (33), b (35), and c (37), the linear suction cup array composed of several suction cup units (19) and the locked irregular contour axis (16) swing downward around the virtual folding axis (20). Since the tangent part of the irregular contour axis (16) and the strip plate (18) is closer to the virtual folding axis (20) than the several suction cup units (19), the rigid irregular contour axis (16) will bear the force for the suction cup units (19) and push the strip plate (18) to fold downward around the virtual folding axis (20) by a preset angle. During the process of the strip plate (18) folding downward around the virtual folding axis (20) by a preset angle, the suction cup units (19) are always in the state of holding the strip plate (18).

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