Robot precision fitting irregular hole continuous forming die and forming process

Abstract

The application discloses a robot precision accessory irregular inner hole continuous forming die, which comprises an operating table, a lower die set is fixedly connected to the top of the operating table, an upper die set is arranged at the top of the lower die set, a first die structure, a second die structure, a third die structure and a fourth die structure are sequentially arranged between the upper die set and the lower die set, and a demolding structure is arranged on the fourth die structure. The material belt is initially punched and formed through the first protrusion and the first groove on the first die structure, then the material belt is punched through the first punching rod and the second punching rod on the third die structure, then the material belt reaches the fourth die structure, and when the folding block and the folding surface punch the side surface of the material belt, the device is suitable for robot precision accessories, irregular inner holes are punched out, and shearing is performed after punching, bending and punching are completed, and the device does not need an additional power source for demolding, thereby improving production precision and efficiency.

Description

Technical Field

[0001] This invention relates to the field of mold design technology, specifically to a continuous forming mold for irregular inner holes of precision robot parts and the forming process thereof. Background Technology

[0002] Molds are various molds and tools used in industrial production to obtain desired products through injection molding, blow molding, extrusion, die casting, forging, smelting, stamping, and other methods. In short, a mold is a tool used to create shaped objects. This tool is composed of various parts, and different molds are composed of different parts. It mainly achieves the processing of the object's shape by changing the physical state of the material being molded. A robot is a machine that moves like a human. Robots have "intelligence" and can automatically complete various operations and perform various actions. A robot consists of a computer, sensors, a robotic arm, and a walking device. While a robot's appearance is not very human-like, it can replace humans in performing tasks. Robots use robotic arms to assemble machines, weld workpieces, move objects, perform agricultural labor, and so on. Simply put, they replace human labor in a series of tasks. The parts required for robot production are mostly precision parts, and their shapes are often irregular. Existing molds cannot meet the requirements for precision robot parts, and most production processes involve first shearing the raw material sheet, then stamping and bending it, and requiring an additional power source for demolding, which affects production accuracy and efficiency.

[0003] Therefore, it is necessary to invent a continuous forming mold and forming process for irregular inner holes of precision robot parts to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a continuous forming mold for irregular inner holes of precision robot parts, in order to solve the problems that existing molds cannot meet the requirements of precision robot parts, and that most production processes involve first cutting the raw material sheet, then stamping and bending, and require an additional power source for demolding, which affects production accuracy and efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a continuous forming mold for irregular inner holes of precision robot parts, including an operating table, a lower mold group fixedly connected to the top of the operating table, an upper mold group provided on the top of the lower mold group, a first mold structure, a second mold structure, a third mold structure and a fourth mold structure sequentially provided between the upper mold group and the lower mold group, and a demolding structure provided on the fourth mold structure;

[0006] The first mold structure includes a first upper pressure plate, a first protrusion is fixedly connected to the bottom of the first upper pressure plate, a first lower mold base is provided at the bottom of the first upper pressure plate at a corresponding position, and a first groove is provided at the top of the first lower mold base;

[0007] The second mold structure includes a second upper pressure plate, a second protrusion is fixedly connected to the bottom of the second upper pressure plate, a second lower mold base is provided at the bottom of the second upper pressure plate at a corresponding position, and a second groove is provided at the top of the second lower mold base;

[0008] The third mold structure includes a third upper pressure plate, a third protrusion fixedly connected to the bottom of the third upper pressure plate, a first stamping rod fixedly connected to the bottom of the third protrusion, and second stamping rods fixedly connected to both sides of the bottom of the third upper pressure plate. A third lower mold base is provided at the bottom of the third upper pressure plate corresponding to the protrusion. A third groove is provided at the top of the third lower mold base. A first stamping hole is provided at the bottom of the third groove corresponding to the first stamping rod. Second stamping holes are provided at the top two sides of the third lower mold base corresponding to the second stamping rods.

[0009] The fourth mold structure includes a fourth upper pressure plate, a fourth protrusion fixedly connected to the bottom of the fourth upper pressure plate, folding blocks fixedly connected to both sides of the bottom of the fourth upper pressure plate, a fourth lower mold base provided at the corresponding position on the bottom of the fourth upper pressure plate, a fourth groove provided on the top of the fourth lower mold base, folding surfaces provided on both sides of the top of the fourth lower mold base, a cutting blade fixedly connected to the side of the fourth upper pressure plate near the third upper pressure plate, and a cutting plate fixedly connected to the side of the fourth lower mold base near the third lower mold base;

[0010] The demolding structure includes two connecting plates, which are respectively fixedly connected to both sides of the fourth upper pressure plate. A placement groove is provided in the fourth lower mold base. A horizontal plate is provided inside the placement groove. The horizontal plate is fixedly connected between the two connecting plates. A push rod is provided at the top of the horizontal plate. A through groove is provided at the top of the fourth lower mold. The through groove is connected to the placement groove. The push rod is located inside the through groove.

[0011] Preferably, the first upper pressure plate, the second upper pressure plate, the third upper pressure plate, and the fourth upper pressure plate are all fixedly connected to the upper mold assembly, and the first lower mold base, the second lower mold base, the third lower mold base, and the fourth lower mold base are all fixedly connected to the lower mold assembly. The cross-sectional shape of the first protrusion and the second protrusion is set to semi-circular, and the diameter of the first protrusion is smaller than the diameter of the second protrusion.

[0012] Preferably, the first protrusion matches the first groove, and the second protrusion matches the second groove.

[0013] Preferably, the bottom of the folding block is tilted downwards, the top of the folding surface is tilted downwards, and the folding block matches the folding surface.

[0014] Preferably, the upper die assembly is provided with a guide structure, the guide structure including a top plate, the top plate being disposed on the top of the upper die assembly, the top plate being fixedly connected to the continuous stamping device, a hydraulic rod being fixedly connected between the top plate and the upper die assembly, a guide post being fixedly connected between the top plate and the lower die assembly, the guide post passing through the upper die assembly, and the upper die assembly being slidably connected to the guide post.

[0015] Preferably, a first spring is fixedly connected between the top plate and the upper mold assembly, and a second spring is fixedly connected between the upper mold assembly and the lower mold assembly. Both the first spring and the second spring are disposed on the outer surface of the guide post.

[0016] Preferably, a third spring is fixedly connected between the top rod and the cross plate, and a sliding rod is fixedly connected to the bottom of the top rod. The sliding rod passes through the cross plate and is slidably connected to the cross plate.

[0017] The specific steps for the continuous forming process of irregular inner holes in precision robot parts are as follows:

[0018] S1, conveyor belt, which transports the material between the upper mold assembly and the lower mold assembly;

[0019] S2, First stamping forming: The strip is initially stamped and formed by the first mold structure;

[0020] S3, Second stamping: The strip formed by the first stamping is stamped again after passing through the second mold structure;

[0021] S4, punching: the strip formed by the second stamping passes through the third die structure for punching.

[0022] S5, Third stamping: The punched strip is stamped on the side through the fourth mold structure to form the product;

[0023] S6. Shearing: While the side of the strip is being stamped, the cutting blade cuts the strip.

[0024] S7. Demolding: The product is separated using a demolding structure.

[0025] The technical effects and advantages provided by the present invention in the above technical solution are as follows:

[0026] 1. By conveying the robot precision parts strip to the upper and lower mold groups, the strip is initially stamped and formed by the first protrusion and the first groove on the first mold structure. After being initially stamped, the strip is stamped and formed again by the second protrusion and the second groove on the second mold structure. Then, the strip passes through the first and second stamping rods on the third mold structure for punching. After that, the strip reaches the fourth mold structure. When the folding block and folding face are stamping the side of the strip, the cutting blade cuts the strip. Then, the fourth upper pressure plate is lifted upward, the connecting plate drives the horizontal plate to move upward, and the top plate moves upward. The top plate lifts the product to complete the demolding. This device is suitable for robot precision parts, stamping irregular inner holes, and shearing after stamping, bending, punching and shaping. No additional power source is required for demolding, which improves production accuracy and efficiency.

[0027] 2. The material strip is initially stamped and deformed by the first protrusion, and then stamped by the second protrusion. The material strip is just extended during the two stampings. The folding block and the folding surface cooperate to stamp both sides of the material strip to form the product. The output end of the hydraulic rod is stretched, which drives the upper mold assembly to move down. The upper mold assembly slides down on the guide column. When the upper mold assembly moves down, the first spring is stretched and the second spring is contracted to buffer the up and down movement of the upper mold assembly. A third spring is provided to protect the product. The contraction of the third spring prevents the ejector rod from breaking the product. A sliding rod is provided to limit the up and down movement of the ejector rod. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a perspective view of the present invention.

[0031] Figure 3 This is a perspective view of the first mold structure of the present invention;

[0032] Figure 4 This is a perspective view of the second mold structure of the present invention;

[0033] Figure 5 This is a perspective view of the third mold structure of the present invention;

[0034] Figure 6 This is a schematic diagram of the connection structure between the fourth mold structure and the demolding structure of the present invention;

[0035] Figure 7 This is a perspective view of the fourth mold structure of the present invention;

[0036] Figure 8 For the present invention Figure 6 A sectional view of the structure;

[0037] Figure 9 For the present invention Figure 8 Enlarged view of the structure of part A in the middle.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1. Lower mold assembly; 2. Upper mold assembly; 3. First upper pressure plate; 4. First protrusion; 5. First lower mold base; 6. First groove; 7. Second upper pressure plate; 8. Second protrusion; 9. Second lower mold base; 10. Second groove; 11. Third upper pressure plate; 12. Third protrusion; 13. First stamping rod; 14. Second stamping rod; 15. Third lower mold base; 16. Third groove; 17. First stamping hole; 18. Second stamping hole; 19. Fourth upper pressure plate; 20. Fourth protrusion; 21. Folding block; 22. Fourth lower mold base; 23. Fourth groove; 24. Folding surface; 25. Cutting blade; 26. Cutting plate; 27. Connecting plate; 28. Placement slot; 29. ​​Horizontal plate; 30. Ejector rod; 31. Through slot; 32. Hydraulic rod; 33. Guide post; 34. First spring; 35. Second spring; 36. Third spring; 37. Slide rod. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0041] This invention provides, for example Figure 1-9 The irregular inner hole continuous forming mold for precision robot parts shown includes an operating table. A lower mold group 1 is fixedly connected to the top of the operating table. An upper mold group 2 is provided on the top of the lower mold group 1. A first mold structure, a second mold structure, a third mold structure and a fourth mold structure are arranged sequentially between the upper mold group 2 and the lower mold group 1. A demolding structure is provided on the fourth mold structure.

[0042] The first mold structure includes a first upper pressure plate 3, a first protrusion 4 is fixedly connected to the bottom of the first upper pressure plate 3, a first lower mold base 5 is provided at the bottom of the first upper pressure plate 3 at a corresponding position, and a first groove 6 is provided on the top of the first lower mold base 5.

[0043] The second mold structure includes a second upper pressure plate 7, a second protrusion 8 is fixedly connected to the bottom of the second upper pressure plate 7, a second lower mold base 9 is provided at the bottom of the second upper pressure plate 7 at a corresponding position, and a second groove 10 is provided on the top of the second lower mold base 9.

[0044] The third mold structure includes a third upper pressure plate 11, a third protrusion 12 fixedly connected to the bottom of the third upper pressure plate 11, a first stamping rod 13 fixedly connected to the bottom of the third protrusion 12, and second stamping rods 14 fixedly connected to both sides of the bottom of the third upper pressure plate 11. A third lower mold base 15 is provided at the bottom of the third upper pressure plate 11 corresponding to the first stamping rod 13. A third groove 16 is provided at the top of the third lower mold base 15. A first stamping hole 17 is provided at the bottom of the third groove 16 corresponding to the first stamping rod 13. Second stamping holes 18 are provided at the top two sides of the third lower mold base 15 corresponding to the second stamping rods 14.

[0045] The fourth mold structure includes a fourth upper pressure plate 19, a fourth protrusion 20 fixedly connected to the bottom of the fourth upper pressure plate 19, folding blocks 21 fixedly connected to both sides of the bottom of the fourth upper pressure plate 19, a fourth lower mold base 22 provided at the bottom of the fourth upper pressure plate 19 and corresponding position thereon, a fourth groove 23 provided at the top of the fourth lower mold base 22, folding surfaces 24 provided on both sides of the top of the fourth lower mold base 22, a cutting blade 25 fixedly connected to the side of the fourth upper pressure plate 19 near the third upper pressure plate 11, and a cutting plate 26 fixedly connected to the side of the fourth lower mold base 22 near the third lower mold base 15.

[0046] The demolding structure includes two connecting plates 27, which are fixedly connected to both sides of the fourth upper pressure plate 19. A placement groove 28 is provided inside the fourth lower mold base 22, and a horizontal plate 29 is provided inside the placement groove 28. The horizontal plate 29 is fixedly connected between the two connecting plates 27, and a push rod 30 is provided at the top of the horizontal plate 29. A through groove 31 is provided at the top of the fourth lower mold, which communicates with the placement groove 28. The push rod 30 is located inside the through groove 31. In use, the robot precision parts strip is transported between the upper mold group 2 and the lower mold group 1. The strip is initially stamped through the first protrusion 4 and the first groove 6 on the first mold structure. The initially stamped strip then passes through the second mold... After the second protrusion 8 and the second groove 10 on the structure are stamped again, the strip passes through the first stamping rod 13 and the second stamping rod 14 on the third mold structure for punching. Then the strip reaches the fourth mold structure. When the folding block 21 and the folding surface 24 stamp the side of the strip, the cutting blade 25 cuts the strip. Then the fourth upper pressure plate 19 is lifted upward, and the connecting plate 27 drives the horizontal plate 29 to move upward. The top plate moves upward and lifts the product to complete the demolding. This device is suitable for precision parts for robots, stamping irregular inner holes. After stamping, bending and punching, the product is sheared. No additional power source is required for demolding, which improves production accuracy and efficiency.

[0047] like Figure 1-4As shown: the first upper pressure plate 3, the second upper pressure plate 7, the third upper pressure plate 11, and the fourth upper pressure plate 19 are all fixedly connected to the upper mold assembly 2. The first lower mold base 5, the second lower mold base 9, the third lower mold base 15, and the fourth lower mold base 22 are all fixedly connected to the lower mold assembly 1. The cross-sectional shape of the first protrusion 4 and the second protrusion 8 is set to be semi-circular. The diameter of the first protrusion 4 is smaller than the diameter of the second protrusion 8. The material strip is initially stamped and deformed by the first protrusion 4, and then stamped by the second protrusion 8. The material strip is just extended during the two stampings. The first protrusion 4 matches the first groove 6, and the second protrusion 8 matches the second groove 10. The first protrusion 4 and the first groove 6 cooperate with each other to stamp and deform the material strip. The second protrusion 8 matches the second groove 10 to stamp and deform the material strip again.

[0048] like Figure 6-8 As shown: the bottom of the folding block 21 is inclined downwards, and the top of the folding surface 24 is inclined downwards. The folding block 21 and the folding surface 24 are matched. Through the cooperation of the folding block 21 and the folding surface 24, the two sides of the material strip are stamped to form the product.

[0049] like Figure 1-2 As shown: The upper mold assembly 2 is equipped with a guide structure, which includes a top plate. The top plate is located on top of the upper mold assembly 2 and is fixedly connected to the continuous stamping device. A hydraulic rod 32 is fixedly connected between the top plate and the upper mold assembly 2. A guide post 33 is fixedly connected between the top plate and the lower mold assembly 1. The guide post 33 passes through the upper mold assembly 2, and the upper mold assembly 2 is slidably connected to the guide post 33. When the output end of the hydraulic rod 32 is stretched, the upper mold assembly 2 is moved downward, causing the upper mold assembly 2 to slide downward on the guide post 33. A first spring 34 is fixedly connected between the top plate and the upper mold assembly 2, and a second spring 35 is fixedly connected between the upper mold assembly 2 and the lower mold assembly 1. Both the first spring 34 and the second spring 35 are located on the outer surface of the guide post 33. When the upper mold assembly 2 moves downward, the first spring 34 is stretched, and the second spring 35 is contracted, thus buffering the up-and-down movement of the upper mold assembly 2.

[0050] like Figure 8-9 As shown: A third spring 36 is fixedly connected between the top rod 30 and the horizontal plate 29. A slide rod 37 is fixedly connected to the bottom of the top rod 30. The slide rod 37 passes through the horizontal plate 29 and is slidably connected to the horizontal plate 29. The product is protected by the third spring 36. The contraction of the third spring 36 prevents the top rod 30 from breaking the product. The slide rod 37 limits the up and down movement of the top rod 30.

[0051] The specific steps for the continuous forming process of irregular inner holes in precision robot parts are as follows:

[0052] S1, conveyor belt, which transports the material belt between the upper mold group 2 and the lower mold group 1;

[0053] S2, First stamping forming: The strip is initially stamped and formed by the first mold structure;

[0054] S3, Second stamping: The strip formed by the first stamping is stamped again after passing through the second mold structure;

[0055] S4, punching: the strip formed by the second stamping passes through the third die structure for punching.

[0056] S5, Third stamping: The punched strip is stamped on the side through the fourth mold structure to form the product;

[0057] S6. Shearing: While the side of the strip is being stamped, the cutting blade 25 cuts the strip.

[0058] S7. Demolding: The product is separated using a demolding structure.

[0059] Working principle of this invention:

[0060] Refer to the instruction manual appendix Figure 1-9 In use, the precision parts strip of the robot is transported between the upper mold group 2 and the lower mold group 1. The strip is initially stamped and formed by the first protrusion 4 and the first groove 6 on the first mold structure. After the strip is initially stamped and formed, it is stamped and formed again by the second protrusion 8 and the second groove 10 on the second mold structure. Then the strip is punched by the first stamping rod 13 and the second stamping rod 14 on the third mold structure. After that, the strip reaches the fourth mold structure. When the folding block 21 and the folding surface 24 stamp the side of the strip, the cutting blade 25 cuts the strip. Then the fourth upper pressure plate 19 is lifted upward, and the connecting plate 27 drives the horizontal plate 29 to move upward. Then the top plate moves upward and the top plate lifts the product to complete the demolding.

[0061] Refer to the instruction manual appendix Figure 1-9 The material strip is initially stamped and deformed by the first protrusion 4, and then stamped by the second protrusion 8. The material strip is just extended during the two stampings. The folding block 21 and the folding surface 24 cooperate to stamp both sides of the material strip to form the product. The output end of the hydraulic rod 32 is stretched, which drives the upper mold assembly 2 to move down. The upper mold assembly 2 slides down on the guide post 33. When the upper mold assembly 2 moves down, the first spring 34 is stretched, and the second spring 35 is contracted to buffer the up and down movement of the upper mold assembly 2. The product is protected by the third spring 36. The contraction of the third spring 36 prevents the ejector rod 30 from breaking the product. The up and down movement of the ejector rod 30 is limited by the sliding rod 37.

[0062] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A continuous forming mold for irregular inner holes of precision robot parts, including an operating table, characterized in that: The top of the operating table is fixedly connected to a lower mold group (1), and the top of the lower mold group (1) is provided with an upper mold group (2). Between the upper mold group (2) and the lower mold group (1), there are a first mold structure, a second mold structure, a third mold structure and a fourth mold structure in sequence. The fourth mold structure is provided with a demolding structure. The first mold structure includes a first upper pressure plate (3), a first protrusion (4) is fixedly connected to the bottom of the first upper pressure plate (3), a first lower mold base (5) is provided at the bottom of the first upper pressure plate (3) and corresponding to it, and a first groove (6) is provided on the top of the first lower mold base (5); The second mold structure includes a second upper pressure plate (7), a second protrusion (8) is fixedly connected to the bottom of the second upper pressure plate (7), a second lower mold base (9) is provided at the bottom of the second upper pressure plate (7) and corresponding to it, and a second groove (10) is provided on the top of the second lower mold base (9); The third mold structure includes a third upper pressure plate (11), a third protrusion (12) is fixedly connected to the bottom of the third upper pressure plate (11), a first stamping rod (13) is fixedly connected to the bottom of the third protrusion (12), and a second stamping rod (14) is fixedly connected to both sides of the bottom of the third upper pressure plate (11). A third lower mold base (15) is provided at the bottom of the third upper pressure plate (11) at a position corresponding to it. A third groove (16) is provided at the top of the third lower mold base (15). A first stamping hole (17) is provided at the bottom of the third groove (16) at a position corresponding to the first stamping rod (13). A second stamping hole (18) is provided at the top two sides of the third lower mold base (15) at positions corresponding to the second stamping rod (14). The fourth mold structure includes a fourth upper pressure plate (19), a fourth protrusion (20) is fixedly connected to the bottom of the fourth upper pressure plate (19), folding blocks (21) are fixedly connected to both sides of the bottom of the fourth upper pressure plate (19), a fourth lower mold base (22) is provided at the bottom of the fourth upper pressure plate (19) and corresponding position thereon, a fourth groove (23) is provided on the top of the fourth lower mold base (22), folding surfaces (24) are provided on both sides of the top of the fourth lower mold base (22), a cutting blade (25) is fixedly connected to the side of the fourth upper pressure plate (19) near the third upper pressure plate (11), and a cutting plate (26) is fixedly connected to the side of the fourth lower mold base (22) near the third lower mold base (15). The demolding structure includes two connecting plates (27), which are fixedly connected to both sides of the fourth upper pressure plate (19). The fourth lower mold base (22) has a placement groove (28) inside, and a horizontal plate (29) is provided inside the placement groove (28). The horizontal plate (29) is fixedly connected between the two connecting plates (27). A push rod (30) is provided at the top of the horizontal plate (29). A through groove (31) is provided at the top of the fourth lower mold base (22). The through groove (31) is connected to the placement groove (28). The push rod (30) is provided inside the through groove (31). The first protrusion (4) matches the first groove (6), the second protrusion (8) matches the second groove (10), the third protrusion (12) matches the third groove (16), and the fourth protrusion (20) matches the fourth groove (23); The bottom of the folding block (21) is inclined downwards, and the top of the folding surface (24) is inclined downwards. The folding block (21) and the folding surface (24) match. When the folding block (21) and the folding surface (24) in the fourth mold structure stamp the side of the strip, the cutting blade (25) cuts the strip.

2. The continuous forming mold for irregular inner holes of precision robot parts according to claim 1, characterized in that: The first upper pressure plate (3), the second upper pressure plate (7), the third upper pressure plate (11) and the fourth upper pressure plate (19) are all fixedly connected to the upper mold assembly (2). The first lower mold base (5), the second lower mold base (9), the third lower mold base (15) and the fourth lower mold base (22) are all fixedly connected to the lower mold assembly (1). The cross-sectional shape of the first protrusion (4) and the second protrusion (8) is set to semi-circular. The diameter of the first protrusion (4) is smaller than the diameter of the second protrusion (8).

3. The continuous forming mold for irregular inner holes of precision robot parts according to claim 1, characterized in that: The upper mold assembly (2) is provided with a guide structure, the guide structure includes a top plate, the top plate is set on the top of the upper mold assembly (2), the top plate is fixedly connected to the continuous stamping device, a hydraulic rod (32) is fixedly connected between the top plate and the upper mold assembly (2), a guide column (33) is fixedly connected between the top plate and the lower mold assembly (1), the guide column (33) passes through the upper mold assembly (2), and the upper mold assembly (2) is slidably connected to the guide column (33).

4. The continuous forming mold for irregular inner holes of precision robot parts according to claim 3, characterized in that: A first spring (34) is fixedly connected between the top plate and the upper mold assembly (2), and a second spring (35) is fixedly connected between the upper mold assembly (2) and the lower mold assembly (1). The first spring (34) and the second spring (35) are both located on the outer surface of the guide post (33).

5. The continuous forming mold for irregular inner holes of precision robot parts according to claim 1, characterized in that: A third spring (36) is fixedly connected between the top rod (30) and the horizontal plate (29). A slide rod (37) is fixedly connected to the bottom of the top rod (30). The slide rod (37) passes through the horizontal plate (29) and is slidably connected to the horizontal plate (29).

6. A continuous forming process for irregular inner holes of precision robot parts, comprising the continuous forming mold for irregular inner holes of precision robot parts as described in any one of claims 1-5, characterized in that: The specific operating steps are as follows: S1, conveyor belt, which conveys the material belt between the upper mold group (2) and the lower mold group (1); S2, First stamping forming: The strip is initially stamped and formed by the first mold structure; S3, Second stamping: The strip formed by the first stamping is stamped again after passing through the second mold structure; S4, punching: the strip formed by the second stamping passes through the third die structure for punching. S5, Third stamping: The punched strip is stamped on the side through the fourth mold structure to form the product; S6, shearing: while the side of the strip is being stamped, the cutting blade (25) cuts the strip. S7. Demolding: The product is separated using a demolding structure.

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