A feeding and discharging robot and a stamping production line

Abstract

The application discloses a feeding and discharging robot in the field of robots, which is used for conveying sheet metal of a punch and comprises two vertically arranged vertical beam assemblies fixed to the opening side walls of the punch, a cross beam assembly installed between the two vertical beam assemblies and having a movement freedom degree in the vertical beam assembly height direction, a terminal mounting bracket assembly movably installed on the cross beam assembly and movable along the length direction of the cross beam assembly, and a terminal suction disc assembly for transferring the sheet metal, which is rotatably installed at the bottom of the terminal mounting bracket assembly. The device moves the sheet metal in space through the vertical beam assembly and the cross beam assembly and cooperates with the terminal suction disc assembly to adapt to sheet metal grabbing operations of different heights. Meanwhile, the robot can adapt to different punching equipment and production requirements, realizes automatic production, reduces production cost and operation difficulty and brings convenience for production management.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a loading and unloading robot. Background Technology

[0002] Sheet metal stamping is a metal processing technique that primarily involves applying pressure to sheet metal to bend, shape, and cut parts of various shapes and sizes. Sheet metal stamping is widely used in the automotive, construction, electrical appliance, and furniture industries because this process can quickly and efficiently produce high-quality metal parts. In the sheet metal stamping process, the sheet metal is first fixed to a die, and then a stamping tool acts on the sheet metal, causing it to deform or cut.

[0003] Currently, many stamping production lines in China operate manually, and this manual operation does present several problems. Factors such as fatigue, operator skill, and experience limit the speed of operation, making it difficult to achieve high-speed, high-efficiency stamping. Errors during manual operation can lead to stamping failures and the creation of scrap. Furthermore, the operation carries inherent safety risks, as employees may become desensitized due to prolonged repetitive movements. In addition, this method makes it difficult to standardize and visualize the production process, hindering production management and optimization. Manual adjustment and adaptation to different models and specifications of sheet metal stamping equipment are also quite challenging.

[0004] Therefore, using loading and unloading robots for automated sheet metal stamping production lines is a better choice. Robots enable continuous and efficient stamping operations, reducing human error and safety risks, and improving product quality and production efficiency. Furthermore, integration with production management systems allows for visualization and controllability of the production process, facilitating production management and optimization. Moreover, robots can adapt to different models and specifications of sheet metal stamping equipment, meeting the needs of flexible production. With continuous technological advancements and the expansion of application areas, it is believed that the application of loading and unloading robots in sheet metal stamping production lines will become increasingly widespread. Summary of the Invention

[0005] The purpose of this application is to provide a loading and unloading robot to solve the shortcomings of existing manual stamping production lines that cannot achieve a highly automated stamping process and high-efficiency stamping operations.

[0006] To solve the above-mentioned technical problems, this application adopts the following technical solution: Firstly, a loading and unloading robot for transporting sheet metal on a punch press, including... Two parallel vertical beam assemblies are fixed to the side wall of the punch press opening; A crossbeam assembly, which is installed between two vertical beam assemblies and has a degree of freedom of movement in the height direction of the vertical beam assembly; An end mounting bracket assembly is movably mounted on the crossbeam assembly and can move along the length of the crossbeam assembly. An end suction cup assembly for telescopically transferring the sheet metal, the end suction cup assembly being rotatably mounted on the bottom of the end mounting bracket assembly.

[0007] In a further embodiment of this application, the vertical beam assembly includes a vertical beam, a vertical rack, and a vertical linear guide rail; The vertical beam is fixed to the side wall of the punch press opening, and the vertical rack and the vertical linear guide are fixed vertically parallel to the surface of the vertical beam. Vertical baffles are also fixed at the upper and lower ends of the vertical beam, and the vertical linear guide is slidably connected to both ends of the crossbeam assembly.

[0008] In a further embodiment, the beam assembly includes a transverse rack, a transverse linear guide, two vertical drive motors, and two vertical drive gears; The transverse baffle (with vertical sliders fixed at both ends that slide in cooperation with the linear guide rail), the vertical drive gear is rotatably mounted at both ends of the transverse baffle (and meshes with the adjacent vertical rack), the vertical drive motor is fixed at both ends of the transverse baffle (and is rotatably connected to the drive gear), the transverse linear guide rail and the transverse rack are installed horizontally parallel to each other on the surface of the transverse baffle (and the end mounting bracket assembly is slidably connected to the transverse linear guide rail).

[0009] In a further embodiment, the end-mounting bracket assembly includes an end-mounting bracket and a slewing bearing; One side of the end mounting bracket is equipped with a transverse slider and a transverse drive gear that are slidably connected to the transverse linear guide rail, and the other side is equipped with a transverse drive motor and a rotary drive motor. The transverse drive motor is driven by the transverse drive gear, and the output shaft of the rotary drive motor passes through the end mounting bracket and is connected to the rotary drive gear. The rotary drive gear meshes with the inner gear ring of the rotary bearing, and the end suction cup assembly is fixedly connected to the outer ring of the rotary bearing.

[0010] In a further embodiment of this application, the end suction cup assembly includes an adsorption part, a secondary mounting bracket, a primary mounting plate, and a fixing plate; The adsorption unit is fixedly installed at the end of the secondary mounting bracket, the primary mounting plate is slidably installed on the top surface of the secondary mounting bracket, the fixing plate is also slidably connected to the primary mounting plate, the fixing plate is rotatably mounted on the end mounting bracket assembly, and a transition assembly is installed between the secondary mounting bracket, the primary mounting plate and the fixing plate. The primary mounting plate moves so that the secondary mounting bracket moves at a double speed.

[0011] In a further embodiment, one side of the primary mounting plate and the fixed plate are slidably connected via a primary slide rail assembly, and the other side of the primary mounting plate and the secondary mounting bracket are slidably connected via a secondary slide rail assembly. A driving body is provided on the side of the secondary mounting bracket opposite to the primary mounting plate. The driving body drives the primary mounting plate and cooperates with the adapter assembly to make the secondary mounting bracket move at a faster speed.

[0012] In a further embodiment, the driving body includes a lead screw and an extension drive motor; The lead screw is rotatably mounted on the side of the secondary mounting bracket opposite to the primary mounting plate, and the secondary mounting bracket is provided with a through groove. The extension drive motor is fixed on the secondary mounting bracket and is connected to the lead screw for transmission. A nut seat is threadedly installed on the lead screw body, and the nut seat passes through the through groove and is fixedly connected to the primary mounting plate.

[0013] In a further embodiment, the adapter assembly includes two pressure plates and a double-speed synchronous pulley; The primary mounting plate is rotatably mounted with support shafts at both ends along its length, and a double-speed synchronous belt is installed between the two support shafts. One of the pressure plates is fixedly connected to the primary mounting plate and the double-speed synchronous belt on the same side as the primary mounting plate, and the other pressure plate is fixedly connected to the secondary mounting bracket and the secondary mounting bracket on the same side as the secondary mounting bracket.

[0014] The adsorption part is retractable and includes a cylinder, an extension bracket, a guide post, an end rotary drive motor, and a suction cup. The cylinder is fixed to the inner end wall of the secondary mounting bracket, the guide post is movably mounted on the end wall of the secondary mounting bracket through a linear bearing, and one end is fixedly connected to the extension bracket. The output shaft of the cylinder passes through the inner end wall of the secondary mounting bracket and is fixedly connected to the extension bracket. It also includes an end rotary table, which is located on the bottom surface of the extended bracket. The suction cup is fixed on the end rotary table by the bracket. The end rotary drive motor is installed on the top surface of the extended bracket and is connected to the end rotary table for transmission.

[0015] Secondly, a stamping production line includes a punch press and a conveyor belt, the conveyor belt being arranged on one side of the punch press feed inlet, and the aforementioned loading and unloading robot being installed on the punch press.

[0016] Compared with the prior art, the beneficial effects achieved by this application are as follows: In this application, a vertical drive motor drives a vertical drive gear and a vertical rack within the vertical beam assembly to achieve vertical displacement. A horizontal drive motor within the end mounting bracket assembly drives a horizontal drive gear and a horizontal rack within the crossbeam assembly to achieve horizontal displacement. Through these horizontal and vertical movements, the end suction cup assembly achieves horizontal and vertical displacement, adapting to sheet metal gripping operations at different heights. It boasts high efficiency, precision, flexibility, and automation. Its high-precision positioning and gripping capabilities ensure the accuracy and consistency of stamped parts processing, effectively improving product quality. Simultaneously, the robot can adapt to different stamping equipment and production needs. Actual production can be programmed and adjusted to adapt to different stamping processes and processing requirements, demonstrating extremely high flexibility. Furthermore, the robot enables automated production, reducing production costs and operational complexity, and bringing convenience to production management. In addition, the configuration of the double-speed synchronous belt and pressure plate in the device ensures that the fixed plate remains stationary, and the displacement distance of the first-stage mounting plate and the displacement distance of the second-stage mounting bracket are proportional, thus achieving a range extension effect and enabling the extended bracket to have a long displacement. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure implemented in this application; Figure 2 This is a schematic diagram of the vertical beam assembly structure in an embodiment of this application; Figure 3 This is a schematic diagram of the front structure of the beam assembly in an embodiment of this application; Figure 4 This is a schematic diagram of the rear structure of the beam assembly in an embodiment of this application; Figure 5 This is a schematic diagram of the front structure of the end mounting bracket assembly in an embodiment of this application; Figure 6 This is a schematic diagram of the rear structure of the end mounting bracket assembly in an embodiment of this application; Figure 7 This is a schematic diagram of the bottom structure of the end mounting bracket assembly in an embodiment of this application; Figure 8 This is a schematic diagram of the end suction cup assembly from a true-view perspective in an embodiment of this application; Figure 9 This is a schematic diagram of the end suction cup assembly from the reverse side in an embodiment of this application; Figure 10 This is a top view of the end suction cup assembly in an embodiment of this application; Figure 11 Figure 10 Cross-sectional view at point AA; Figure 12 This is a schematic diagram illustrating a production scenario in which the embodiments of this application are applied; in 1. Vertical beam assembly; 2. Horizontal beam assembly; 3. End mounting bracket assembly; 4. End suction cup assembly; 5. Vertical baffle; 6. Vertical linear guide rail; 7. Vertical rack; 8. Vertical beam; 9. Crossbeam, 10. Horizontal baffle, 11. Horizontal linear guide, 12. Horizontal rack, 13. Vertical drive motor, 14. Vertical drive gear, 15. Vertical slider; 16. End mounting bracket; 17. Lateral drive motor; 18. Rotary drive motor; 19. Lateral drive gear; 20. Lateral slider; 21. Rotary bearing; 22. Rotary drive gear; 23. End rotary table; 24. Extending bracket; 25. End rotary drive motor; 26. Fixed plate; 27. Primary slider; 28. Pressure plate; 29. ​​Double-speed synchronous belt; 30. Primary linear guide; 31. Shaft support seat; 32. Double-speed synchronous belt pulley; 33. Primary mounting plate; 34. Secondary linear guide; 35. Secondary slider; 36. Secondary mounting bracket; 37. End rotating plate; 38. Horizontal adjusting bar; 39. Suction cup; 40. Spring buffer; 41. Extending drive motor; 42. Extending motor mounting seat; 43. Extending synchronous belt; 44. Extending synchronous belt pulley; 45. Lead screw; 46. Nut seat; 47. Bearing seat; 48. Cylinder; 49. Guide column; 50. Linear bearing; 51. Support shaft; 52. Vertical adjusting bar; 53. Shaft support; 54. Vision camera. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. Example 1

[0019] One embodiment of this application discloses a loading and unloading robot for transporting sheet metal to a punch press, achieving efficient and accurate feeding. It includes two parallel vertical beam assemblies 1, a horizontal beam assembly 2, an end-mounting bracket assembly 3, and an end-suction cup assembly 4. The vertical beam assemblies 1 are fixed to the side wall of the punch press opening. The horizontal beam assembly 2 is installed between the two vertical beam assemblies 1 and has a degree of freedom of movement in the height direction of the vertical beam assemblies 1. The end-mounting bracket assembly 3 is movably mounted on the horizontal beam assembly 2 and can move along the length direction of the horizontal beam assembly 2. The end-suction cup assembly 4 is used to transfer sheet metal and is rotatably mounted on the bottom of the end-mounting bracket assembly 3.

[0020] In use, the crossbeam assembly 2 moves back and forth along the height direction of the vertical beam assembly 1, and the end mounting bracket assembly 3 moves along the length direction of the crossbeam assembly 2. This ensures that the end suction cup assembly 4 can switch positions in the plane, enabling sheet metal gripping operations that adapt to different heights and feed them into the punch press for processing.

[0021] The device structure in this embodiment will be described in detail below with reference to other accompanying drawings. Reference Appendix Figure 1 and 2 In this embodiment, the vertical beam assembly 1 includes a vertical baffle 5, a vertical linear guide rail 6, a vertical rack 7, and a vertical beam 8. The vertical beam 8 is installed at both ends of the front side of the punch press, and the vertical linear guide rail 6 is installed on both sides of the vertical beam 8. The vertical rack 7 is installed on one side of the vertical linear guide rail 6. The vertical baffle 5 is installed at the upper and lower ends of the vertical beam 8 to limit the vertical displacement of the loading and unloading robot.

[0022] Reference Appendix Figure 3 and 4 In this embodiment, the crossbeam assembly 2 includes a crossbeam 9, a transverse baffle 10, a transverse linear guide rail 11, a transverse rack 12, a vertical drive motor 13, a vertical drive gear 14, and a vertical slider 15. The crossbeam 9 is connected to the vertical linear guide rail 6 on the vertical beam 8 via the vertical slider 15, thus connecting the crossbeam assembly 2 and the vertical beam assembly 1. The vertical drive motor 13 is installed on the rear side of the crossbeam 9, and through the engagement of the vertical drive gear 14 at its end with the vertical rack 7, the relative displacement of the crossbeam assembly 2 with respect to the vertical beam assembly 1 is achieved. The transverse linear guide rail 11 is installed at the upper and lower ends of the front side of the crossbeam 9, the transverse rack 12 is installed on the front side, and the transverse baffle 10 is installed on both sides of the transverse linear guide rail 11 for limiting the position in the transverse direction.

[0023] Reference Appendix Figures 5 to 7 And in conjunction with the attached Figure 3 In this embodiment, the end mounting bracket assembly 3 includes an end mounting bracket 16, a transverse drive motor 17, a rotary drive motor 18, a transverse drive gear 19, a transverse slider 20, a rotary bearing 21, and a rotary drive gear 22. The end mounting bracket 16 is connected to the transverse linear guide rail 11 via the transverse slider 20, thereby realizing the relative displacement of the end mounting bracket assembly 3 relative to the crossbeam assembly 2. The transverse drive motor 17 is installed on the rear side of the end mounting bracket 16, and the transverse drive gear 19 is installed at the end of the transverse drive motor 17. The meshing of the transverse drive gear 19 and the transverse rack 12 realizes the transverse displacement drive. The rotary bearing is installed at the bottom of the end mounting bracket 16. The rotary drive motor 18 installed on the rotary bearing 21 drives the rotary drive gear 22, thereby driving the rotary bearing 21 and realizing the overall rotation of the components installed at the bottom of the rotary bearing 21. Reference Appendix Figures 8 to 11In this embodiment, the end suction cup assembly 4 includes an end rotary table 23, an extension bracket 24, an end rotary drive motor 25, a fixing plate 26, a primary slider 27, two pressure plates 28, a double-speed synchronous belt 29, a primary linear guide rail 30, a shaft support seat 31, a double-speed synchronous belt pulley 32, a primary mounting plate 33, a secondary linear guide rail 34, a secondary slider 35, a secondary mounting bracket 36, an end rotating plate 37, a horizontal adjustment bar 38, a suction cup 39, a spring buffer 40, an extension drive motor 41, an extension motor mounting seat 42, an extension synchronous belt 43, an extension synchronous belt pulley 44, a lead screw 45, a nut seat 46, a bearing seat 47, a cylinder 48, a guide post 49, a linear bearing 50, a support shaft 51, a vertical adjustment bar 52, and a vision camera 54.The fixed plate 26 serves as the mounting base for the end suction cup assembly 4, mounted on the rotary support 21 within the end mounting bracket assembly 3. The primary mounting plate 33 is linearly connected to the fixed plate 26 via the primary linear guide 30 and the primary slider 27. The secondary mounting bracket 36 is linearly connected to the primary mounting plate 33 via the secondary linear guide 34 and the secondary slider 35. Shaft support seats 31 are mounted on both sides of the primary mounting plate 33 for mounting support shafts 51. Double-speed synchronous pulleys 32 are mounted on the support shafts 51 on both sides and connected via double-speed synchronous belts 29. One pressure plate 28 is fixedly connected to the primary mounting plate 33 and the double-speed synchronous belt 29 on the same side as the primary mounting plate 33, while the other pressure plate 28 is fixedly connected to the secondary mounting bracket 36 and the double-speed synchronous belt 29 on the same side as the primary mounting plate 33. Between the secondary mounting brackets 36 on the same side, the displacement of the secondary mounting bracket 36 relative to the primary mounting plate 33 is achieved under the drive of the double-speed synchronous belt 29. Under the action of the synchronous belt, the linear displacement distances of the secondary mounting bracket 36, the primary mounting plate 33, and the fixed plate 26 are proportionally proportional. The extended drive motor 41 is mounted on the back of the secondary mounting bracket 36 through the extended motor mounting seat 42. The end of the extended drive motor 41 is equipped with an extended synchronous pulley 44. Bearing seats 47 are installed on the front and rear sides of the back of the secondary mounting bracket 36. The lead screw 45 is installed between the bearing seats 47. The lead screw 45 is connected to the extended drive connection extended synchronous belt 43 through the extended synchronous pulley 44 installed at the end, realizing the power input. The nut seat 46 is threadedly mounted on the lead screw 45 and connected to the primary mounting plate 33. As the lead screw 45 rotates, the nut seat 46 moves back to its original position, causing the primary mounting plate 33 to move back to its original position, pulling the double-speed synchronous belt 29. The secondary mounting bracket 36 on the other side of the double-speed synchronous belt 29 also moves accordingly, achieving a linearly coupled motion relationship. The cylinder 48 is mounted on the front side of the secondary mounting bracket 36, with the end of the cylinder 48 connected to the extension bracket 24. Linear bearings 50 are mounted on both sides of the cylinder 48. Shaft supports 53 are mounted on both sides of the rear end of the extension bracket 24 to fix the guide post 49. The extension bracket 24 is connected to the linear bearings 50 through the guide post 49, achieving linear guidance of the extension bracket 24 relative to the secondary mounting bracket 36. The cylinder 48 pushes and the extension synchronous belt 43 drives the end suction cup assembly 4 to extend a long distance. The end rotary table 23 is mounted on the extension bracket 24. The rotary drive motor 18 is mounted on the end rotary table 23. The end rotating plate 37 is mounted on the end of the end rotary table 23. The rotary drive motor 18 realizes the rotation of the end. The horizontal adjustment bar 38 and the vertical adjustment bar 52 are mounted on the end rotating plate 37. The suction cup 39 is mounted on the vertical adjustment bar 52 and is used to pick up sheet metal materials. The suction range of the suction cup 39 is adjusted by adjusting the position between the horizontal adjustment bar 38 and the vertical adjustment bar. The vision camera is mounted at the front end of the extension bracket. Through the vision recognition of the vision camera, the loading and unloading robot realizes stable gripping of sheet metal materials on the conveyor belt.

[0024] The present invention uses a synchronous pulley pair consisting of a double-speed synchronous belt 29 and a double-speed synchronous pulley 32 in the end suction cup assembly 4 to install the synchronous pulley pair on the first-stage mounting plate 33. The upper side of the double-speed synchronous belt 29 is connected to the fixing plate 26, and the lower side is connected to the second-stage mounting bracket 36. This achieves a proportional relationship between the displacement distance of the first-stage mounting plate 33 and the displacement distance of the second-stage mounting bracket 36 while the fixing plate 26 remains stationary. Through the drive of the cylinder 48 and the linear guidance of the guide posts 49 on both sides, the long-distance displacement of the protruding bracket 24 is achieved. The device is connected to the end rotary plate via the end rotary table 23 mounted on the extension bracket 24. The rotation of the end rotary plate is achieved by the end rotary drive motor 25 mounted on the end rotary table 23, which facilitates coordinate position control in the program. Example 2

[0025] This application also discloses an embodiment of a sheet metal stamping production line, which includes a punch press and the aforementioned loading and unloading robots are installed on the punch press to achieve automated and efficient sheet metal stamping operations.

[0026] For specific usage, please refer to the attached document. Figure 12 ; The sheet metal stamping line has multiple punch presses (the rest are not shown) and a conveyor belt. The punch presses are arranged linearly and laterally, and the conveyor belt is arranged along the working opening of the punch presses. Operators only need to load sheet metal at the starting point of the production line. The conveyor belt automatically delivers the sheet metal to the designated gripping position. The loading and unloading robot in front of the punch press, driven by the vertical drive motor 13 and the horizontal drive motor 17, moves the end suction cup assembly 4 to the vision recognition position. After the vision camera 54 recognizes the sheet metal position, it moves the end suction cup 39 to the sheet metal gripping position through the vertical drive motor 13, the horizontal drive motor 17, and the end rotation drive motor 25. After the sheet metal is picked up by the suction cup 39, it is moved to a higher position and turned around under the drive of the rotation drive motor 18, delivering the sheet metal to the position pointing towards the punch press. The extension drive motor 41, through the extension timing pulley 44 and the extension... The synchronous belt 43 drives the lead screw 45 to rotate, the nut seat 46 moves and drives the first-stage mounting plate 33 to move, the pressure plate 28 drives the double-speed synchronous belt 29 to move, and the pressure plate 28 on the other side drives the second-stage mounting bracket 36 to move, realizing the stroke doubling displacement action. At the same time, the cylinder 48 pushes and extends under the guidance of the guide column 49 to realize the long-distance extension action, sending the sheet metal to the punching position. Then the loading and unloading robot exits to perform the stamping work. After the stamping work is completed, the loading and unloading robot grabs and takes it out and places it on the other side of the conveyor belt for the next stamping process. The subsequent loading and unloading robots are the same, with a total of five processes. After completion, the operator takes the sheet metal off the conveyor belt.

[0027] As is known from common technical knowledge, this application can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this application or equivalent to this application are included in this application.

Claims

1. A loading and unloading robot for transporting sheet metal on a punch press, characterized in that, include Two parallel vertical beam assemblies (1) are fixed to the side wall of the punch press opening; A crossbeam assembly (2) is installed between two vertical beam assemblies (1) and has a degree of freedom of movement in the height direction of the vertical beam assembly (1); An end mounting bracket assembly (3) is movably mounted on the crossbeam assembly (2) and can move along the length of the crossbeam assembly (2); The end suction cup assembly (4) is used for telescopic transfer of the sheet metal, and the end suction cup assembly (4) is rotatably mounted on the bottom of the end mounting bracket assembly (3); The end mounting bracket assembly (3) includes an end mounting bracket (16) and a slewing bearing (21). The end mounting bracket (16) has a horizontal slider (20) and a horizontal drive gear (19) that are slidably connected to the horizontal linear guide rail (11) on one side, and a horizontal drive motor (17) and a rotary drive motor (18) on the other side. The horizontal drive motor (17) is connected to the horizontal drive gear (19). The output shaft of the rotary drive motor (18) passes through the end mounting bracket (16) and is connected to the rotary drive gear (22). The rotary drive gear (22) meshes with the inner gear ring of the rotary bearing (21). The end suction cup assembly (4) is fixedly connected to the outer ring of the rotary bearing (21). The end suction cup assembly (4) includes an adsorption part, a secondary mounting bracket (36), a primary mounting plate (33), and a fixing plate (26). The adsorption part is fixedly installed at the end of the secondary mounting bracket (36), the primary mounting plate (33) is slidably installed on the top surface of the secondary mounting bracket (36), and the fixing plate (26) is also slidably connected to the primary mounting plate (33). The fixing plate (26) is rotatably mounted on the end mounting bracket assembly (3). A connecting assembly is installed between the secondary mounting bracket (36), the primary mounting plate (33) and the fixing plate (26). The primary mounting plate (33) moves so that the secondary mounting bracket (36) moves at a double speed. One side of the primary mounting plate (33) and the fixed plate (26) are slidably connected by a primary slide rail assembly. The other side of the primary mounting plate (33) and the secondary mounting bracket (36) are slidably connected by a secondary slide rail assembly. A driving body is provided on the side of the secondary mounting bracket (36) away from the primary mounting plate (33). The driving body drives the primary mounting plate (33) and cooperates with the adapter assembly to make the secondary mounting bracket (36) move at a double speed. The drive unit includes a lead screw (45) and an extension drive motor (41). The lead screw (45) is rotatably mounted on the side of the secondary mounting bracket (36) away from the primary mounting plate (33), and the secondary mounting bracket (36) is provided with a through groove. The extension drive motor (41) is fixed on the secondary mounting bracket (36) and is connected to the lead screw (45) for transmission. The lead screw (45) is threadedly fitted with a nut seat (46), and the nut seat (46) passes through the through groove and is fixedly connected to the primary mounting plate (33). The adapter assembly includes two pressure plates (28) and a double-speed synchronous pulley; The primary mounting plate (33) has support shafts (51) rotatably mounted at both ends along its length direction. A double-speed synchronous belt (29) is installed between the two support shafts (51). One of the pressure plates (28) is fixedly connected to the primary mounting plate (33) and the double-speed synchronous belt (29) on the same side as the primary mounting plate (33). The other pressure plate (28) is fixedly connected to the secondary mounting bracket (36) and the secondary mounting bracket (36) on the same side as the secondary mounting bracket (36). The adsorption part is retractable and includes a cylinder (48), an extension bracket (24), a guide post (49), an end rotation drive motor (25), and a suction cup (39). The cylinder (48) is fixed on the inner end wall of the secondary mounting bracket (36), and the guide post (49) is movably mounted on the end wall of the secondary mounting bracket (36) through the linear bearing (50), and one end is fixedly connected to the extension bracket (24). The output shaft of the cylinder (48) passes through the inner end wall of the secondary mounting bracket (36) and is fixed to the extension bracket (24). It also includes an end turntable (23), which is located on the bottom surface of the protruding bracket (24). The suction cup (39) is fixed on the end turntable (23) by the bracket. The end turntable drive motor (25) is installed on the top surface of the protruding bracket (24) and is connected to the end turntable (23) in a transmission.

2. The loading and unloading robot according to claim 1, characterized in that, The vertical beam assembly (1) includes a vertical beam (8), a vertical rack (7), and a vertical linear guide (6); The vertical beam (8) is fixed on the side wall of the punch press opening, and the vertical rack (7) and the vertical linear guide (6) are vertically parallel and fixed on the surface of the vertical beam (8). The vertical beam (8) is also fixed with vertical baffles (5) at both ends. The two ends of the crossbeam assembly (2) are correspondingly slidably connected to the vertical linear guide (6).

3. The loading and unloading robot according to claim 2, characterized in that, The beam assembly (2) includes a transverse rack (12), a transverse linear guide (11), two vertical drive motors (13), and two vertical drive gears (14). The transverse baffle (10) has vertical sliders (15) fixed at both ends, which are slidably engaged with the vertical linear guide rail (6). The vertical drive gear (14) is rotatably mounted at both ends of the transverse baffle (10) and meshes with the adjacent vertical rack (7). The vertical drive motor (13) is fixed at both ends of the transverse baffle (10) and rotatably connected with the vertical drive gear (14). The transverse linear guide rail (11) and the transverse rack (12) are laterally parallel to each other on the surface of the transverse baffle (10). The end mounting bracket assembly (3) is slidably connected to the transverse linear guide rail (11).

4. A stamping production line, characterized in that, The invention includes a punch press and a conveyor belt, wherein the conveyor belt is arranged on one side of the punch press feed port, and the punch press is equipped with a loading and unloading robot according to any one of claims 1 to 3.

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