Stretching tool and control method

Abstract

The application provides a stretching tool and control method, which are used for stretching a workpiece and include a feeding table, a feeding mechanism, a feeding mechanism, a stretching table and a discharging table. The feeding mechanism is arranged on the feeding table to move the workpiece to the feeding table. The feeding mechanism includes a guide rail and a mechanical arm. The mechanical arm is movably connected to the guide rail. The guide rail extends in a transverse direction. The transverse direction is perpendicular to both the direction of gravity and the stretching direction of the workpiece. The feeding table, the stretching table and the discharging table are arranged along the guide rail. When the feeding mechanism works, the mechanical arm moves relative to the guide rail. Because the feeding table, the feeding mechanism, the feeding mechanism, the stretching table and the discharging table are mutually linked and matched with each other, the automation of feeding, stretching and discharging straightening can be realized at the same time. The mechanical arm can complete the feeding of the previous process and the discharging of the next process at the same time. Therefore, the production time can be effectively shortened, the production efficiency can be improved, and continuous production can be realized.

Description

Technical Field

[0001] This invention relates to the field of metal material processing technology, specifically to a stretching fixture and control method. Background Technology

[0002] Tensile testing machines are essential for the processing of metallic materials, including rolling, performance testing, tensile straightening, and residual stress relief. However, most existing tensile equipment can only automate the feeding process, and the metal materials still need to be straightened after stretching. Current technology often involves manual handling to the straightening machine, which is time-consuming, labor-intensive, and inefficient. Furthermore, it cannot automate the feeding, stretching, unloading, and straightening processes simultaneously. Additionally, the robotic arms in existing tensile equipment can only perform one of the three actions at a time, failing to handle both simultaneously, resulting in longer production times, reduced efficiency, and an inability to meet the requirements of continuous production. Summary of the Invention

[0003] Therefore, it is necessary to provide a stretching fixture to solve at least one of the above problems.

[0004] This application provides a stretching fixture for stretching workpieces, characterized in that it includes: a loading platform, a loading mechanism, a feeding mechanism, a stretching platform, and a unloading platform. The loading mechanism is disposed at the loading platform to move the workpiece to the loading platform. The feeding mechanism includes a guide rail and a robotic arm. The robotic arm is movably connected to the guide rail. The guide rail extends laterally, and the lateral direction is perpendicular to both the direction of gravity and the stretching direction of the workpiece. The loading platform, the stretching platform, and the unloading platform are arranged along the guide rail. When the feeding mechanism is working, the robotic arm moves relative to the guide rail.

[0005] Furthermore, the feeding mechanism includes a lateral translation and material transfer structure and a vertical translation and material pressing structure. The feeding machine includes a material picking position. The lateral translation and material transfer structure is movably connected to the feeding machine in the lateral direction to move the workpiece to the material picking position. The vertical translation and material pressing structure is movably connected to the feeding machine in the vertical direction to fix the workpiece at the material picking position. The vertical direction is the direction of gravity.

[0006] Furthermore, the lateral translation and material transfer structure includes a first motor, a lead screw, a first slider, a pusher plate, and a first guide rod. The loading platform also includes a first frame. The first motor is fixed to the first frame and is connected to the lead screw to drive the lead screw to rotate. The first slider has a threaded hole, and the lead screw is connected to the threaded hole of the first slider to push the first slider to move laterally. The first guide rod is mounted on the first frame, and the first slider also has a guide hole. The first guide rod passes through the guide hole to guide the lateral movement of the first slider. The first slider and the pusher plate are fixed to allow the pusher plate to move laterally. When the lateral translation and material transfer structure is working, the pusher plate moves laterally to push the workpiece to the material picking position.

[0007] Furthermore, the vertical translation pressing structure includes a first cylinder and a pressing plate, and the loading machine also includes a first mounting frame. The first cylinder is mounted on the first mounting frame. The first cylinder is connected to the pressing plate to push the pressing plate to move along the vertical direction. When the vertical translation pressing structure is working, the pressing plate presses the workpiece along the vertical direction to fix the workpiece at the material picking position.

[0008] Furthermore, the feeding mechanism also includes a lateral translation feeding structure, a vertical translation feeding structure, and a second frame. The guide rail is mounted on the second frame. The lateral translation feeding structure is movably connected to the guide rail along the lateral direction. The vertical translation feeding structure is movably connected to the lateral translation feeding structure along the vertical direction. The robotic arm is fixed to the vertical translation feeding structure. When the feeding mechanism is working, the lateral translation feeding structure moves along the lateral direction, causing the vertical translation feeding structure and the robotic arm to move along the lateral direction. The vertical translation feeding structure moves along the vertical direction, causing the robotic arm to move along the vertical direction.

[0009] Furthermore, the stretching machine includes a third frame, a workpiece mounting structure, two sets of stretching clamps, and a stretching position. The workpiece mounting structure is fixed to the third frame, and the stretching position is located on the workpiece mounting structure. The two sets of stretching clamps are respectively mounted on the third frame and located on both sides of the stretching position along the stretching direction. At least one set of stretching clamps is movably connected to one end of the stretching machine facing the stretching position along the stretching direction of the workpiece. When the stretching clamps stretch, the workpiece is mounted at the stretching position of the workpiece mounting structure, both sets of stretching clamps clamp the workpiece, and at least one set of stretching clamps moves along the stretching direction of the workpiece.

[0010] Furthermore, the unloading machine includes a conveyor belt and a straightener. The straightener is located at the end of the conveyor belt, and the conveyor belt includes a conveying position. The feeding mechanism can be selectively moved to the conveying position to convey the workpiece to the straightener for straightening.

[0011] Furthermore, the robotic arm includes a gripper mounting beam, a first gripper, and a second gripper. The gripper mounting beam is arranged along the stretching direction of the workpiece, and the first gripper and the second gripper are respectively fixed laterally on both sides of the gripper mounting beam.

[0012] Furthermore, the robotic arm also includes a gripping distance, which is the distance between the position where the first gripper grips the workpiece and the position where the second gripper grips the workpiece. The distance between the material picking position and the stretching position is equal to the gripping distance, and the distance between the stretching position and the conveying position is equal to the gripping distance.

[0013] The aforementioned stretching fixture, due to the mutual linkage and cooperation between the loading platform, the loading mechanism, the feeding mechanism, the stretching platform, and the unloading platform, can simultaneously automate the loading, stretching, and unloading straightening processes. Furthermore, the robotic arm can simultaneously complete the material handling of the previous process and the unloading of the next process, thus effectively shortening production time, improving production efficiency, and achieving continuous production.

[0014] Secondly, this application also provides a method for controlling a stretching fixture, used for stretching a workpiece, characterized in that the method includes:

[0015] Obtain the material pick-up position, stretching position, and conveying position;

[0016] The first gripper of the feeding mechanism is moved to the material-picking position, at which time the second gripper of the feeding mechanism is in the stretching position;

[0017] The first gripper is controlled to grasp the unstretched workpiece, while the second gripper is controlled to grasp the stretched workpiece.

[0018] Control the first gripper to move to the stretching position;

[0019] The first gripper is controlled to place the unstretched workpiece to the stretching position, while the second gripper is controlled to place the stretched workpiece to the conveying position.

[0020] The above-mentioned control method for stretching fixtures utilizes a feeding machine, feeding mechanism, feeding mechanism, stretching machine, and unloading machine that work together in a coordinated manner. This allows for the simultaneous automation of feeding, stretching, and unloading straightening. Furthermore, the robotic arm can simultaneously complete the material handling of the previous process and the unloading of the next process, thus effectively shortening production time, improving production efficiency, and achieving continuous production. Attached Figure Description

[0021] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent; the same reference numerals are used for components with the same structure and function. Wherein:

[0022] Figure 1 This is a schematic diagram of the overall structure of the stretching tool according to an embodiment of this application;

[0023] Figure 2 This is a schematic diagram of the feeding mechanism according to an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of the nozzle position adjustment assembly structure according to an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the nozzle position adjustment assembly structure according to an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the nozzle position adjustment assembly structure according to an embodiment of this application;

[0027] Explanation of reference numerals in the attached drawings: 1-Feeding machine platform; 101-First motor; 102-Lead screw; 103-First slider; 104-Push plate; 105-First guide rod; 106-First cylinder; 107-Pressure plate; 108-First mounting frame; 110-Baffle plate; 111-First frame; 2-Feeding mechanism; 201-Second motor; 202-Second slider; 203-Guide rail; 204-Third motor; 205-Guide sleeve; 206-Guide rod; 207-Robot arm mounting frame; 208-Guide sleeve mounting Frame; 209-Gripper mounting beam; 210-First gripper; 211-Second gripper; 212-Second frame; 3-Stretching machine stand; 301-Stretching fixture; 302-Third frame; 3011-Gripper mounting base; 3012-Wedge-shaped gripper; 3013-Guide bending plate; 3014-Hydraulic cylinder; 30111-Wedge groove; 30112-Ejector hole; 30121-Angled flange; 30141-Piston rod; 4-Unloading machine stand; 401-Conveyor belt; 402-Straightening machine; 500-Workpiece. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. Indeed, those skilled in the art will recognize that modifications and variations can be made to the invention without departing from its scope or spirit. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desirable that the invention encompass such modifications and variations falling within the scope of the appended claims and their equivalents.

[0029] In the description of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "connected," "linked," and "set up" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a direct connection or an indirect connection through intermediate components; a wired connection, a radio connection, or a wireless communication signal connection. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0030] The accompanying drawings illustrate one or more examples of the invention. The detailed description uses numerals and letters to refer to features in the drawings. Similar or analogous reference numerals in the drawings and description have been used to refer to similar or analogous parts of the invention. As used herein, the terms “first,” “second,” and “third,” etc., are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of individual components.

[0031] This application provides a stretching fixture, which can be an integrated device or a distributed production line. In this embodiment, the stretching fixture is described as an integrated device.

[0032] For the sake of convenience in the following description of a stretching fixture, the vertical direction is defined as the direction of gravity, and the horizontal direction is defined as the direction that is perpendicular to both the direction of gravity and the stretching direction of the workpiece.

[0033] Please refer to Figures 1 to 5In this embodiment, exemplarily, there is a loading platform 1, a loading mechanism, a feeding mechanism 2, a stretching platform 3, and a unloading platform 4. The loading mechanism is located at the loading platform 1 to move the workpiece to the loading platform 1. The feeding mechanism 2 includes a guide rail 203 and a robotic arm. The robotic arm is movably connected to the guide rail 203. The guide rail 203 extends laterally, which is a direction that is perpendicular to both the direction of gravity and the stretching direction of the workpiece. The loading platform 1, the stretching platform 3, and the unloading platform 4 are arranged along the guide rail 203. When the feeding mechanism 2 is working, the robotic arm moves relative to the guide rail 203.

[0034] Specifically, the feeding mechanism includes a horizontal translation and material transfer structure and a vertical translation and pressing structure. The feeding machine 1 includes a material picking position. The horizontal translation and material transfer structure is movably connected to the feeding machine 1 in the horizontal direction to move the workpiece to the material picking position. The vertical translation and pressing structure is movably connected to the feeding machine 1 in the vertical direction to fix the workpiece at the first material picking position. The vertical direction is the direction of gravity.

[0035] Specifically, the transverse translation material transfer structure includes a first motor 101, a lead screw 102, a first slider 103, a pusher plate 104, and a first guide rod 105. The loading platform 1 also includes a first frame 111. The first motor 101 is fixed on the first frame 111. The first motor 101 is connected to the lead screw 102 to drive the lead screw 102 to rotate. The first slider 103 has a threaded hole (not shown in the figure). The lead screw 102 is connected to the threaded hole of the first slider 103 to push the first slider 103 to move laterally. The first guide rod 105 is installed on the first frame 111. The first slider 103 also has a guide hole. The first guide rod 105 passes through the guide hole to guide the first slider 103 to move laterally. The first slider 103 and the pusher plate 104 are fixed so that the pusher plate 104 can move laterally. When the transverse translation material transfer structure is working, the pusher plate 104 moves laterally to push the workpiece to the picking position.

[0036] Specifically, the vertical translation pressing structure includes a first cylinder 106 and a pressing plate 107. The loading machine 1 also includes a first mounting frame 108. The first cylinder 106 is mounted on the first mounting frame 108. The first cylinder 106 is connected to the pressing plate 107 to push the pressing plate 107 to move vertically. When the vertical translation pressing structure is working, the pressing plate 107 presses the workpiece vertically to fix the workpiece at the picking position.

[0037] Specifically, the feeding machine 1 also includes a baffle plate 110, which is installed on at least one side of the first frame 111 in the workpiece stretching direction to guide the lateral movement of the workpiece in the stretching direction.

[0038] Specifically, the feeding mechanism 2 also includes a horizontal translation feeding structure, a vertical translation feeding structure, and a second frame 212. The guide rail 203 is installed on the second frame 212. The horizontal translation feeding structure is movably connected to the guide rail 203 in the horizontal direction. The vertical translation feeding structure is movably connected to the horizontal translation feeding structure in the vertical direction. The robotic arm is fixed to the vertical translation feeding structure. When the feeding mechanism 2 is working, the horizontal translation feeding structure moves in the horizontal direction, driving the vertical translation feeding structure and the robotic arm to move in the horizontal direction. The vertical translation feeding structure moves in the vertical direction, driving the robotic arm to move in the vertical direction.

[0039] Specifically, the transverse translation feeding structure includes a second motor 201, a belt drive structure (not shown in the figure), and a second slider 202. The belt drive structure is arranged transversely and includes a belt (not shown in the figure) and a pulley (not shown in the figure). The second motor 201 is connected to the pulley to drive the belt to move transversely. The belt is fixedly connected to the second slider 202 to drive the second slider 202 to move transversely. The vertical translation feeding structure is movably connected to the second slider 202 in the vertical direction.

[0040] Specifically, the vertical translation feeding structure includes a third motor 204, a gear transmission structure (not shown in the attached figure), a guide sleeve 205, and a drive block (not shown in the attached figure). The third motor 204 and the gear transmission structure (not shown in the attached figure) are both fixed to the second slider 202. The guide sleeve 205 is rotatably mounted on the second slider 202. The third motor 204 is connected to the gear transmission structure, and the gear transmission structure is connected to the guide sleeve 205 to drive the guide sleeve 205 to rotate. The guide sleeve 205 is arranged vertically and has threads inside. The drive block is disposed inside the guide sleeve 205, and the portion of the drive block corresponding to the guide sleeve 205 is provided with threads. The rotation of the guide sleeve drives the drive block to move vertically, and the robotic arm is fixed to the drive block.

[0041] Specifically, the vertical translation feeding structure also includes a guide sleeve mounting bracket 208 and a guide rod 206. The guide sleeve mounting bracket 208 is fixed on the second slider 202. The guide sleeve 205 is installed inside the guide sleeve mounting bracket 208. The guide rod 206 is fixed on the drive block and extends out of the guide sleeve 205 to move vertically together with the drive block. A guide hole (not shown in the figure) is provided on the guide sleeve mounting bracket 208 corresponding to the position of the guide rod 206. The guide rod 206 passes through the guide hole so that the guide hole guides the vertical movement of the guide rod 206.

[0042] Specifically, the robotic arm includes a robotic arm mounting frame 207, a gripper mounting beam 209, a first gripper 210, and a second gripper 211. The robotic arm mounting frame 207 is fixed to the guide rod 206, the gripper mounting beam 209 is fixed to the robotic arm mounting frame 207 along the stretching direction of the workpiece, and the first gripper 210 and the second gripper 211 are respectively fixed to both sides of the gripper mounting beam 209 in the transverse direction.

[0043] Specifically, the stretching machine 3 includes a third frame 302, a workpiece mounting structure (not shown in the attached figure), two sets of stretching clamps 301, and a stretching position. The workpiece mounting structure is fixed to the third frame 302, and the stretching position is set on the workpiece mounting structure. The two sets of stretching clamps 301 are respectively mounted on the third frame 302 and located on both sides of the stretching position along the stretching direction. At least one set of stretching clamps 301 is movably connected to the end of the stretching machine 3 facing the stretching position along the stretching direction of the workpiece. When the stretching clamps 301 stretch, the workpiece is mounted at the stretching position of the workpiece mounting structure, and both sets of stretching clamps 301 clamp the workpiece. At least one set of stretching clamps 301 moves along the stretching direction of the workpiece.

[0044] Specifically, the tension clamp 301 includes a hydraulic cylinder 3014, a clamping block mounting base 3011, a guide bending plate 3013, and wedge-shaped clamping blocks 3012. The hydraulic cylinder 3014 has a piston rod 30141. The clamping block mounting base 3011 has a wedge-shaped groove 30111 and an ejection hole 30112. Two wedge-shaped clamping blocks 3012 are disposed in the wedge-shaped groove 30111 and are arranged opposite to each other. Each wedge-shaped clamping block 3012 has an oblique protrusion 30121. The guide bending plate 3013 is fixed to the clamping block mounting base 3011 near the oblique protrusion 30121. The guide bending plate 3013 is positioned opposite to the oblique protrusion 30121. The guide 121 guides the wedge-shaped clamping blocks 3012 to move along the inclined side of the wedge-shaped groove 30111 within the wedge-shaped groove 30111. The hydraulic cylinder 3014 drives the piston rod 30141 to extend from the ejector hole 30112 into the wedge-shaped groove 30111 along the stretching direction and simultaneously abut against the two wedge-shaped clamping blocks 3012, thereby driving the two wedge-shaped clamping blocks 3012 to move along the inclined side of the wedge-shaped groove 30111 to achieve clamping. The clamping block mounting base 3011 is driven by, for example, a motor and a lead screw and nut structure to move the entire stretching fixture 301 along the stretching direction. Thus, due to the use of the wedge-shaped guide structure, the workpiece can be clamped more stably.

[0045] Specifically, the unloading machine 4 includes a conveyor belt 401 and a straightener 402. The straightener 402 is located at the end of the conveyor belt 401. The conveyor belt 401 includes a conveying position. The feeding mechanism 2 can be selectively moved to the conveying position to convey the workpiece to the straightener 402 for straightening.

[0046] Specifically, the robotic arm also includes a gripping distance, which is the distance between the position where the first gripper 210 grips the workpiece and the position where the second gripper 211 grips the workpiece. The distance between the picking position and the stretching position is equal to the gripping distance, and the distance between the stretching position and the conveying position is equal to the gripping distance. In this way, simultaneous picking and unloading of materials can be achieved.

[0047] Please refer to Figure 5 This application also proposes a method for controlling a stretching fixture, the method comprising:

[0048] S100: Obtain the material pick-up position, stretching position, and conveying position;

[0049] S200: Control the first gripper 210 of the feeding mechanism 2 to move to the material picking position, at which time the second gripper 211 of the feeding mechanism 2 is in the stretching position;

[0050] S300: Control the first gripper 21 to grip the unstretched workpiece, and at the same time control the second gripper 211 to grip the stretched workpiece.

[0051] S400: Control the first gripper 210 of the feeding mechanism 2 to move to the stretching position;

[0052] S500: Control the first gripper 21 to place the unstretched workpiece to the stretching position, and at the same time control the second gripper 211 to place the stretched workpiece to the conveying position.

[0053] Thus, due to the mutual linkage and cooperation between the loading platform, loading mechanism, feeding mechanism, stretching platform and unloading platform, the automation of loading, stretching and unloading straightening can be realized simultaneously. Moreover, the robot can simultaneously complete the material picking of the previous process and the material unloading of the next process, thereby effectively shortening the production time, improving production efficiency and realizing continuous production.

[0054] Since the stretching process takes a certain amount of time from start to finish, for ease of description later, it is defined as the stretching cycle. In another embodiment, the stretching fixture includes multiple workstations, each of which includes a loading platform 1, a loading mechanism, a stretching platform 3, and a unloading platform 4. Multiple workstations share a single feeding mechanism 2. Thus, during the stretching cycle of the preceding workstation, the feeding mechanism 2 continues to move to the subsequent workstation to pick up and unload materials. When the preceding workstation has just completed stretching, the feeding mechanism 2 simultaneously moves to the preceding workstation to pick up materials. In this way, production time can be further saved and production efficiency can be improved.

[0055] In the description of this embodiment, unless otherwise stated, "a plurality of" means two or more. The above content is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A stretching fixture for stretching a workpiece (500), characterized in that, include: The assembly includes a loading platform (1), a loading mechanism, a feeding mechanism (2), a stretching platform (3), and a unloading platform (4). The loading mechanism is located at the loading platform (1) to move the workpiece (500) to the loading platform (1). The feeding mechanism (2) includes a guide rail (203) and a robotic arm. The robotic arm is movably connected to the guide rail (203). The guide rail (203) extends laterally, which is perpendicular to both the direction of gravity and the stretching direction of the workpiece (500). The loading platform (1), the stretching platform (3), and the unloading platform (4) are arranged along the guide rail (203). When the feeding mechanism (2) is working, the robotic arm moves relative to the guide rail (203). The robotic arm includes a gripper mounting beam (209), a first gripper (210), and a second gripper (211). The gripper mounting beam (209) is arranged along the stretching direction of the workpiece (500), and the first gripper (210) and the second gripper (211) are respectively fixed to both sides of the gripper mounting beam (209) in the transverse direction. The robotic arm also includes a gripping distance, which is the distance between the position where the first gripper (210) grips the workpiece (500) and the position where the second gripper (211) grips the workpiece (500). The loading platform (1) has a material picking position, the stretching platform (3) has a stretching position, and the conveyor belt (401) of the unloading platform (4) includes a conveying position. The distance between the material picking position and the stretching position is equal to the gripping distance, and the distance between the stretching position and the conveying position is equal to the gripping distance.

2. The stretching fixture according to claim 1, characterized in that: The feeding mechanism includes a horizontal translation and material transfer structure and a vertical translation and material pressing structure. The horizontal translation and material transfer structure is movably connected to the feeding machine (1) in the horizontal direction to move the workpiece (500) to the material picking position. The vertical translation and material pressing structure is movably connected to the feeding machine (1) in the vertical direction to fix the workpiece (500) at the material picking position. The vertical direction is the direction of gravity.

3. The stretching fixture according to claim 2, characterized in that: The transverse translation and material transfer structure includes a first motor (101), a lead screw (102), a first slider (103), a pusher plate (104), and a first guide rod (105). The loading platform (1) also includes a first frame (111). The first motor (101) is fixed on the first frame (111). The first motor (101) is connected to the lead screw (102) to drive the lead screw (102) to rotate. The first slider (103) has a threaded hole. The lead screw (102) is connected to the threaded hole of the first slider (103) to push the material. The first slider (103) moves laterally, the first guide rod (105) is mounted on the first frame (111), the first slider (103) also has a guide hole, the first guide rod (105) passes through the guide hole to guide the first slider (103) to move laterally, the first slider (103) and the pusher plate (104) are fixed to allow the pusher plate (104) to move laterally, when the lateral translation material transfer structure is working, the pusher plate (104) moves laterally to push the workpiece (500) to the material picking position.

4. The stretching fixture according to claim 2, characterized in that: The vertical translation pressing structure includes a first cylinder (106) and a pressing plate (107). The loading machine (1) also includes a first mounting frame (108). The first cylinder (106) is mounted on the first mounting frame (108). The first cylinder (106) is connected to the pressing plate (107) to push the pressing plate (107) to move vertically. When the vertical translation pressing structure is working, the pressing plate (107) presses the workpiece (500) vertically to fix the workpiece (500) at the material picking position.

5. The stretching fixture according to claim 1, characterized in that: The feeding mechanism (2) further includes a horizontal translation feeding structure, a vertical translation feeding structure, and a second frame (212). The guide rail (203) is installed on the second frame (212). The horizontal translation feeding structure is movably connected to the guide rail (203) along the horizontal direction. The vertical translation feeding structure is movably connected to the horizontal translation feeding structure along the vertical direction. The robotic arm is fixed to the vertical translation feeding structure. When the feeding mechanism (2) is working, the horizontal translation feeding structure moves along the horizontal direction, causing the vertical translation feeding structure and the robotic arm to move along the horizontal direction. The vertical translation feeding structure moves along the vertical direction, causing the robotic arm to move along the vertical direction.

6. The stretching fixture according to claim 2, characterized in that: The stretching machine (3) further includes a third frame (302), a workpiece (500) mounting structure, and two sets of stretching clamps (301). The workpiece (500) mounting structure is fixed to the third frame (302). The stretching position is set on the workpiece (500) mounting structure. The two sets of stretching clamps (301) are respectively mounted on the third frame (302) and located on both sides of the stretching position along the stretching direction. At least one set of stretching clamps (301) is movably connected to one end of the stretching machine (3) facing the stretching position along the stretching direction of the workpiece (500). When the stretching clamps (301) stretch, the workpiece (500) is mounted at the stretching position of the workpiece (500) mounting structure. Both sets of stretching clamps (301) clamp the workpiece (500). At least one set of stretching clamps (301) moves along the stretching direction of the workpiece (500).

7. The stretching fixture according to claim 6, characterized in that: The unloading machine (4) includes a conveyor belt (401) and a straightener (402). The straightener (402) is located at the end of the conveyor belt (401). The conveyor belt (401) includes a conveying position. The feeding mechanism (2) can be selectively moved to the conveying position to convey the workpiece (500) to the straightener (402) for straightening.

8. A control method for a stretching fixture according to any one of claims 1-7, used for stretching a workpiece (500), characterized in that, The method includes: Obtain the material pick-up position, stretching position, and conveying position; The first gripper (210) of the feeding mechanism (2) is moved to the picking position, at which time the second gripper (211) of the feeding mechanism (2) is located in the stretching position; Control the first gripper (210) to grip the unstretched workpiece (500), and simultaneously control the second gripper (211) to grip the stretched workpiece (500). Control the first gripper (210) to move to the stretching position; The first gripper (210) is controlled to place the unstretched workpiece (500) to the stretching position, while the second gripper (211) is controlled to place the stretched workpiece (500) to the conveying position.

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