High-efficiency multi-station stamping line mechanical hand

Abstract

The application provides a high-efficiency multi-station stamping line manipulator, and mainly relates to the field of continuous feeding manipulators of multi-station stamping mechanisms. The high-efficiency multi-station stamping line manipulator comprises a support frame, a plurality of groups of vertical sliding rails are arranged on the two sides of the bottom of the support frame, a lifting frame is arranged on the vertical sliding rails in a sliding mode, a lifting power mechanism is arranged between the support frame and the lifting frame, extension arms are arranged on the two sides of the horizontal rail in a sliding mode, limit sliding channels are arranged at the bottom of the extension arms, coaxial linear guides are arranged in the limit sliding channels on the same side in a sliding mode, a plurality of groups of clamps are arranged on the inner sides of the linear guides, inner sliding rails are arranged on the inner sides of the front ends of the linear guides, a grabbing frame is arranged below the positioning frame, a plurality of grabbing suction cups are arranged below the grabbing frame, a pressing cylinder is arranged below the pressing frame, and a jacking frame for stacking raw material plates is arranged below the front end of the linear guide. The application has the beneficial effects that the application can guarantee the continuity of the taking and using of the plate materials, and the production efficiency is improved.

Description

Technical Field

[0001] This invention mainly relates to the field of continuous feeding robots for multi-station stamping mechanisms, specifically a high-efficiency multi-station stamping line robot. Background Technology

[0002] Stamping is a highly efficient process for forming sheet metal parts. It utilizes a press and dies to partially separate and plastically deform the sheet metal to complete the workpiece. More complex workpieces may require two or more stamping processes to complete, with different dies used for each process, allowing the sheet metal to be deformed or separated multiple times to finish the workpiece. Continuous stamping production lines can meet this demand for continuous stamping, enabling rapid and efficient automated stamping processes.

[0003] In a stamping production line, robotic arms connect the various stations, enabling rapid workpiece transfer and ensuring efficient stamping. Currently, robotic arms used to connect the stations in a stamping production line are mainly divided into two categories. One type involves placing a separate robotic arm between two adjacent stations to transfer workpieces. This structure requires a large distance between the two stations and a separate power and control system for the robotic arm, resulting in higher costs and larger space requirements. The other type uses a linkage robotic arm to simultaneously pick up and place workpieces at all stamping stations. This structure is advantageous due to its low cost and ease of maintenance, but it cannot effectively grip raw material sheets. Therefore, this type of linkage robotic arm is usually used in conjunction with a feeding device and a separate feeding robotic arm for the first station. This structure is often limited by feeding efficiency and the positioning of the sheet material, frequently resulting in discontinuous stamping operations, thus affecting overall production efficiency. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a highly efficient multi-station stamping line robot. It innovates upon existing linkage robots, ensuring the continuity of sheet material handling and improving production efficiency.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] A high-efficiency multi-station stamping line robot includes a support frame. Several sets of vertical slide rails are arranged on both sides of the bottom of the support frame. A lifting frame is slidably mounted on the vertical slide rails. At least one lifting power mechanism is arranged between the support frame and the lifting frame. Several transverse rails are arranged on the lifting frame. Extension arms are slidably mounted on both sides of the transverse rails. At least two transverse displacement drive mechanisms parallel to the transverse rails are arranged on the lifting frame. The transverse displacement drive mechanisms are used to drive the extension arms on both sides to move towards or in opposite directions. A limiting slide is provided at the bottom of each extension arm. A linear guide rail is coaxially slidably mounted within the limiting slide on the same side. At least one of the extension arms on the same side is equipped with a sliding power mechanism. The sliding power mechanism is used to push the linear guide rail to reciprocate within the limiting slide. Several sets of clamps are arranged inside the linear guide rails, with the clamps on two linear guide rails corresponding one-to-one. The inner sides of the front ends of both linear guide rails are equipped with inner clamps. The system includes a side slide rail, two inner slide rails with sliding frames slidably mounted therein, a gripping drive mechanism at the front end of the linear guide rail for driving the sliding frames to slide along the inner slide rails, a telescopic sleeve inside the sliding frame with a buffer spring inside, a positioning frame at the end of the telescopic sleeve, several sliding sleeves inside the positioning frame, a gripping frame below the positioning frame with a sliding shaft on the gripping frame that slides with the sliding sleeves, a return spring between the sliding shaft and the sliding sleeve, a pressing head at the center of the gripping frame, several gripping suction cups below the gripping frame, a pressing frame above the front end of the linear guide rail, a pressing cylinder below the pressing frame with a pressing head at the front end of the piston rod of the pressing cylinder corresponding to the pressing head, and a lifting frame below the front end of the linear guide rail for stacking raw material plates to lift the top plate to the same height.

[0007] The lifting frame is a square frame structure. The lifting frame is connected to the longitudinal beams on both sides by several crossbeams. The crossbeams are located in the gap between the two press stations. The transverse rail is set at the bottom of the crossbeams.

[0008] The lateral displacement driving mechanism is a double-headed cylinder, with the front ends of the piston rods at both ends of the double-headed cylinder being fixedly connected to the tops of the extension arms on both sides.

[0009] The sliding power mechanism is an extension cylinder, which is fixedly connected to the outside of the extension arm, and the front end of the piston rod of the extension cylinder is fixedly connected to the outside of the linear guide rail.

[0010] The linear guide rail has a long groove on its outer front end, which passes through the inner slide rail. A driver is slidably installed in the long groove. The inner side of the driver is fixedly connected to the sliding frame. The gripping drive mechanism is a synchronous belt mechanism, and the outer side of the driver is fixedly connected to the belt body of the synchronous belt mechanism.

[0011] The telescopic sleeve includes a fixed sleeve and a sliding rod. The fixed sleeve is provided with a front positioning plate and a rear positioning plate. There is a sliding cavity between the front positioning plate and the rear positioning plate. The rear positioning plate and the rear end of the fixed sleeve are spring cavities where a buffer spring is installed. A sliding block is provided at the end of the sliding rod. The sliding block is slidably connected in the sliding cavity.

[0012] The top of the sliding shaft has a positioning platform that extends above the sliding sleeve. The return spring is located between the positioning platform and the sliding sleeve. When the positioning platform is lifted to its highest point by the sliding sleeve, the top of the sliding shaft does not exceed the positioning frame.

[0013] The gripping frame is equipped with several suction cup sleeves that correspond one-to-one with the gripping suction cups. The gripping suction cups are slidably connected to the suction cup sleeves. A linkage frame is connected between the gripping suction cups on the same side. A linkage cylinder is provided between the gripping frame and the linkage frame. At least one limiting block is provided at the bottom of the gripping frame. When the linkage frame is lifted by the linkage cylinder, the bottom surface of the limiting block is lower than the height of the gripping suction cup.

[0014] The lifting frame includes a lifting base, a lifting power mechanism, and several sets of lifting slides. A support platform is slidably mounted on the lifting slide. The lifting power mechanism is used to drive the support platform to step forward. Right-angle limit rods are set at the four corners of the lifting frame. When the uppermost plate is lifted to the grab position, the uppermost plate just disengages from the limit rod.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] This invention utilizes a linkage-type robotic arm to continuously transport workpieces between stamping stations, thereby improving the overall efficiency of stamping. The synchronized movement of multiple grippers within the robotic arm ensures synchronous transfer between workpieces, further preventing interference in material transfer between stations and thus allowing for a confident increase in workpiece transfer speed.

[0017] This invention adds a suction cup mechanism and a sheet material feeding mechanism to the front end of the robot arm, thereby enabling the placement of sheet material at the first stamping station, making the overall stamping process more continuous, reducing the intermittent time of the stamping station, and thus improving the overall processing efficiency.

[0018] The present invention, through the structural setting of the telescopic sleeve between the sliding frame and the positioning frame, can ensure that the positioning frame can remain in a relatively stable position when the linear guide rail moves in opposite directions to grasp and put down the workpiece, thereby ensuring stable grasping of sheet material. Attached Figure Description

[0019] Appendix Figure 1 This is a structural entity diagram of the material grasping state of the sheet metal according to the present invention;

[0020] Appendix Figure 2 This is a schematic diagram of the workpiece transfer state to the next stamping station according to the present invention;

[0021] Appendix Figure 3 This is a schematic diagram of the structure from the main viewpoint of the present invention;

[0022] Appendix Figure 4 This is a schematic diagram of the left-view structure of the present invention;

[0023] Appendix Figure 5 This is a schematic diagram of the positioning frame part of the present invention;

[0024] Appendix Figure 6 This is a schematic diagram of the extension arm structure of the present invention;

[0025] Appendix Figure 7 This is a schematic diagram of the telescopic sleeve structure of the present invention;

[0026] Appendix Figure 8 This is a partially enlarged structural diagram of part A of the present invention;

[0027] Appendix Figure 9 This is a partially enlarged structural diagram of part B of the present invention;

[0028] Appendix Figure 10 This is a partially enlarged structural diagram of part C of the present invention.

[0029] The following are the reference numerals in the attached diagram: 1. Support frame; 2. Lifting frame; 3. Lifting power mechanism; 4. Extension arm; 5. Linear guide rail; 6. Sliding frame; 7. Positioning frame; 8. Gripping frame; 9. Lifting frame; 10. Pressing frame; 11. Vertical slide rail; 12. Pressing cylinder; 13. Pressing head; 21. Transverse rail; 22. Transverse displacement drive mechanism; 41. Limiting slide rail; 42. Sliding power mechanism; 51. Clamp; 52. Inner slide rail; 53. Gripping drive mechanism; 54. 61. Long groove; 71. Telescopic sleeve; 82. Sliding sleeve; 83. Sliding shaft; 84. Return spring; 85. Pressing head; 86. Gripping suction cup; 87. Suction cup sleeve; 88. Linkage frame; 89. Linkage cylinder; 80. Limit block; 91. Lifting seat; 92. Lifting power mechanism; 93. Lifting slide; 94. Bearing platform; 95. Limit rod; 611. Fixed cylinder; 612. Sliding rod; 613. Front positioning plate; 614. Rear positioning plate; 615. Sliding block. Detailed Implementation

[0030] The present invention will be further described in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined in this application.

[0031] like Figure 1-10 As shown, the present invention discloses a high-efficiency multi-station stamping line robot for transferring materials in a multi-station stamping line. In this embodiment, a four-station stamping line is used as an example. The stamping line employs a frame structure to support the stamping power mechanism. This stamping line robot includes a support frame 1, which is mounted on the top of the stamping line frame.

[0032] The support frame 1 has several sets of vertical slide rails 11 on both sides of its bottom. A lifting frame 2 slides along these vertical slide rails 11. At least one lifting power mechanism 3 is located between the support frame 1 and the lifting frame 2. This lifting power mechanism 3 drives the lifting frame 2 to move vertically along the vertical slide rails 11. The lifting power mechanism 3 is a lifting cylinder. The lifting of the lifting frame 2 is mainly used to remove and lower the workpiece from the mold. Therefore, to match the height of the press at the stamping station, the lifting height of the lifting frame 2 can be between 10-20 cm. Specifically, the lifting frame 2 has a square frame structure. Several crossbeams connect the longitudinal beams on both sides of the lifting frame 2. These crossbeams are located in the gap between two press stations, and the transverse rail 21 is located at the bottom of the crossbeams. The crossbeams in the lifting frame 2 reinforce the overall strength. Simultaneously, by utilizing only the small space between the stamping stations, the stations can be arranged closely together, thereby reducing the travel of the robotic arm, saving workpiece transfer time, and improving stamping efficiency.

[0033] The lifting frame 2 is equipped with several transverse tracks 21. Extension arms 4 are slidably mounted on both sides of each transverse track 21, extending downwards. The tops of the extension arms 4 are stably slidably connected to the transverse tracks 21 via sliding pairs. The lifting frame 2 is equipped with at least two transverse displacement drive mechanisms 22 parallel to the transverse tracks 21. These mechanisms drive the extension arms 4 on both sides to move synchronously in opposite directions. In this embodiment, the transverse displacement drive mechanism 22 is a double-headed cylinder, with the piston rods at both ends of the cylinder fixedly connected to the tops of the extension arms 4 on both sides. Driven by the double-headed cylinder, the extension arms 4 on both sides can move stably in opposite directions, thereby completing the subsequent clamping and unloading of the workpiece.

[0034] The bottom of the extension arm 4 is provided with a limiting slide 41, and a linear guide rail 5 is coaxially slidably arranged within the limiting slide 41 on the same side. The linear guide rail 5 reciprocates along the layout direction of the stamping station. At least one of the extension arms 4 on the same side is provided with a sliding power mechanism 42, which is used to push the linear guide rail 5 to reciprocate within the limiting slide 41. The reciprocating sliding of the linear guide rail 5 along the layout direction of the stamping station corresponds to the displacement of the workpiece between adjacent stations, thereby performing workpiece pick-up and drop operations. Specifically, the sliding power mechanism 42 is an extension cylinder, which is fixedly connected to the outside of the extension arm 4, and the front end of the piston rod of the extension cylinder is fixedly connected to the outside of the linear guide rail 5. Through the extension action of the extension cylinder, the linear guide rail 5 can be driven to slide rapidly under the limitation of the limiting slide 41, thereby increasing the displacement rate of the linear guide rail 5 and improving the workpiece transfer efficiency.

[0035] Several sets of clamps 51 are arranged inside the linear guide rail 5. The clamps 51 correspond to each stamping station. The clamps 51 are "C"-shaped clamps, and the clamps 51 on the two linear guide rails 5 correspond one-to-one. The pair of "C"-shaped clamps on both sides cooperate to clamp the two sides of the workpiece, completing the workpiece pick-up and drop operation. By retracting the lateral displacement drive mechanism 22, the extension arms 4 on both sides can be driven to move towards each other. At this time, the clamps 51 on both sides move towards each other, thereby clamping and fixing the two sides of the workpiece. By extending the displacement drive mechanism 22, the extension arms 4 on both sides can be driven to move in opposite directions. At this time, the clamps 51 on both sides move in opposite directions, thereby completing the release of the workpiece and placing it on the next station.

[0036] Both linear guide rails 5 have inner slide rails 52 on their inner front sides. A sliding frame 6 is slidably mounted within each inner slide rail 52. The sliding frame 6 has an independent drive system, allowing it to slide independently within the inner slide rail 52 while the linear guide rails 5 slide. A gripping drive mechanism 53 is installed at the front end of each linear guide rail 5, driving the sliding frame 6 to slide along the inner slide rail 52. Specifically, a long groove 54 is formed on the outer front end of each linear guide rail 5, penetrating the inner slide rail 52. A driver is slidably mounted within the long groove 54, with its inner side fixedly connected to the sliding frame 6. The gripping drive mechanism 53 is a synchronous belt mechanism, with its outer side fixedly connected to the belt body of the synchronous belt mechanism. Limit sensors are installed on both sides of the long groove 54, limiting the displacement of the driver. This allows the synchronous belt mechanism to precisely move the sliding frame 6 at the front end of the linear guide rail 5, determining the starting and ending points of the sliding frame 6, facilitating the gripping of the sheet material and its release from the first stamping station.

[0037] A telescopic sleeve 61 is provided inside the sliding frame 6, and a buffer spring is provided inside the telescopic sleeve 61. The end of the telescopic sleeve 61 is connected to the positioning frame 7. The telescopic sleeves 61 on both sides cooperate with the positioning frame 7 to ensure that the positional relationship of the positioning frame 7 relative to the sliding frame 6 is fixed when the linear guide rails 5 on both sides move in opposite directions. Specifically, when the telescopic sleeve 6 is compressed to its shortest state and stretched to its longest state, a positioning device can complete the positioning of the telescopic sleeve 6 during compression or extension, thereby ensuring that the positioning frame 7 is in the center position between the two linear guide rails 5 when the two linear guide rails are in their closest and farthest positions. Specifically, the positioning structure for realizing the extension and retraction of the telescopic sleeve 6 is as follows. The telescopic sleeve 61 includes a fixed cylinder 611 and a sliding rod 612. A front positioning piece 613 and a rear positioning piece 614 are provided inside the fixed cylinder 611. The center of the front positioning piece 613 and the rear positioning piece 614 both have through holes, and the diameter of the through holes is the same as the diameter of the sliding rod 612. The front positioning plate 613 and the rear positioning plate 614 form a sliding cavity. The rear positioning plate 614 and the rear end of the fixed cylinder 611 form a spring cavity for mounting a buffer spring. A sliding block 615 is provided at the end of the slide rod 612. The diameter of the sliding block 615 is the same as the diameter of the sliding cavity, so that the slide rod 612 can slide stably under the limitation of the fixed cylinder 611. The buffer spring is in the spring cavity, and its front end passes through the through hole of the rear positioning plate 614 and abuts against the sliding block 615. When the two linear guide rails 5 move towards each other to the minimum distance under the drive of the lateral displacement drive mechanism 22, the slide rod 612 presses the buffer spring, and the sliding block 615 abuts against the rear positioning plate 614 to complete the positioning of the positioning frame 7 at the minimum distance. When the two linear guide rails 5 move in opposite directions to the maximum distance under the drive of the lateral displacement mechanism 22, the sliding block 615 of the slide rod 612 abuts against the front positioning plate 613 to complete the positioning of the positioning frame 7 at the maximum distance. At this time, the buffer spring is in its maximum extension state.

[0038] The buffer spring ensures the relative stability of the positioning frame 7 when the two linear guide rails 5 switch between the maximum and minimum spacing. The positioning plate and the sliding block 615 cooperate to complete the final positioning, so that the positioning frame 7 can be in the center of the two linear guide rails 5 when releasing the plate at the minimum spacing, and can also be in the center of the two linear guide rails 5 when gripping the plate at the maximum spacing.

[0039] The positioning frame 7 is equipped with several sliding sleeves 71. A gripping frame 8 is installed below the positioning frame 7. A sliding shaft 81 is provided on the gripping frame 8 to slide in cooperation with the sliding sleeves 71. A return spring 82 is installed between the sliding shaft 81 and the sliding sleeves 71. The top of the sliding shaft 81 has a positioning platform that is higher than the sliding sleeves 71. The return spring 82 is located between the positioning platform and the sliding sleeves 71. When the positioning platform is lifted to its highest point by the sliding sleeves 71, the top of the sliding shaft 81 does not exceed the positioning frame 7. Driven by the gripping drive mechanism 53, the positioning frame 7 can be driven to slide back and forth between the gripping position of the sheet metal and the first stamping position. This height setting of the sliding shaft 81 can prevent interference between the sliding shaft 81 and the press.

[0040] The gripping frame 8 has a clamping head 83 at its center, and several gripping suction cups 84 are arranged below the gripping frame 8. The gripping suction cups 84 grip the sheet material using negative pressure. A lowering frame 10 is arranged above the front end of the linear guide rail 5, and a lowering cylinder 12 is located below the lowering frame 10. The piston rod of the lowering cylinder 12 has a lowering head 13 corresponding to the clamping head 83 at its front end. When the positioning frame 7 moves to the gripping position, the lowering cylinder 12 extends and engages with the clamping head 83 through the lowering head 13, causing the gripping frame 8 to descend as a whole, and the gripping suction cups 84 complete the gripping of the sheet material. After the sheet material is gripped, the lowering cylinder 12 retracts, and under the elastic action of the return spring 82, the gripping frame 8 is lifted to its highest position.

[0041] A lifting frame 9 for stacking raw material sheets is provided below the front end of the linear guide rail 5. The lifting frame 9 is used to lift the top sheet to the same height. The lifting frame 9 includes a lifting base 91, a lifting power mechanism 92, and several sets of lifting slides 93. A support platform 94 is slidably mounted on the lifting slides 93. The lifting power mechanism 92 is used to drive the support platform 94 to step forward. Specifically, the lifting power mechanism 92 adopts a transmission chain mechanism. Through the traction of the transmission chains on both sides, the support platform 94 can be steadily lifted. Right-angle limit rods 95 are provided at the four corners of the lifting frame 9. The limit rods 95 limit the sheet, so that the sheet can be relatively restrained on the support platform 94. When the top sheet is lifted to the gripping position, the top sheet just disengages from the limit rod 95. After the raw material sheet is freed from the restriction of the limit rod 95, it can be better gripped by the gripping suction cup 84, minimizing interference with the limit rod 95.

[0042] Specifically, when using this device in conjunction with a continuous stamping line to perform continuous stamping processing on workpieces, the control process is as follows:

[0043] S1: First, the lifting power mechanism 3 drives the lifting frame 2 to descend. Then, the extension arm 4 is driven by the lateral displacement drive mechanism 22 to tighten to the closest state. At this time, the fixture 51 clamps the stamping workpieces on both sides of each station.

[0044] S2: Then the lifting power mechanism 3 drives the lifting frame 2 to rise, and the sliding power mechanism 42 drives the linear guide rail 5 to slide downstream between the two workstations. Then the lifting power mechanism 3 drives the lifting frame 2 to fall, placing the workpiece on the next stamping workstation.

[0045] S3: After the workpiece is lowered, the extension arm 4 is driven by the lateral displacement drive mechanism 22 to open to its farthest state, and the positioning mechanism on the next stamping station completes the positioning of the workpiece. Subsequently, the lifting power mechanism 3 drives the lifting frame 2 to rise, and the sliding power mechanism 42 drives the linear guide rail 5 to reset.

[0046] S4: Simultaneously, when the sliding power mechanism 42 drives the linear guide rail 5 to reset and begin its operation, the gripping drive mechanism 53 drives the sliding frame 6 to move to the front end of the linear guide rail 5. After the linear guide rail 5 is reset, the sliding frame 6 is in the gripping position for the sheet material. At this time, through the downward pressing action of the pressure cylinder 12, the pressure head 13 pushes the clamping head 83, driving the gripping suction cup 84 to grip the sheet material below under negative pressure. Then, the pressure cylinder 12 retracts, and the gripping suction cup 84 carries the sheet material and rises under the action of the reset spring 82. The gripping drive mechanism 53 drives the sliding frame 6 to move to the end of the inner slide rail 52 on the linear guide rail 5. This action can be synchronized with step S2. Before the lifting power mechanism 3 in step S2 drives the lifting frame 2 to descend and place the workpiece on the next stamping station, the sliding frame 6 has already completed the action of moving to the end of the inner slide rail 52 on the linear guide rail 5. At this time, the sheet material is placed on the first stamping station.

[0047] In another embodiment, to prevent adhesion when gripping the raw material sheet using the gripping suction cups 84, several suction cup sleeves 85 corresponding one-to-one with the gripping suction cups 84 are provided on the gripping frame 8. The gripping suction cups 84 are slidably connected to the suction cup sleeves 85, and a linkage frame 86 connects the gripping suction cups 84 on the same side. The linkage frame 86 can drive multiple gripping suction cups 84 to rise and fall synchronously. A linkage cylinder 87 is installed between the gripping frame 8 and the linkage frame 86. The linkage cylinder 87 serves as a power mechanism to drive the linkage frames 86 on both sides to rise and fall synchronously. At least one limiting block 88 is provided at the bottom of the gripping frame 8. When the linkage frame 86 is lifted by the linkage cylinder 87, the bottom surface of the limiting block 88 is lower than the height of the gripping suction cup 84. Therefore, when the linkage cylinder 87 lifts the plate material, the limiting block 88 pushes the middle of the plate, thereby bending the plate relatively and releasing the plate material that may be stuck below. This ensures that the gripping suction cup 84 can only grip one plate at a time, avoiding interference with subsequent stamping operations.

Claims

1. A high-efficiency multi-station stamping line robot, comprising a support frame (1), characterized in that: The support frame (1) has several sets of vertical slide rails (11) on both sides of its bottom. A lifting frame (2) is slidably mounted on the vertical slide rails (11). At least one lifting power mechanism (3) is provided between the support frame (1) and the lifting frame (2). Several transverse rails (21) are provided on the lifting frame (2). Extension arms (4) are slidably mounted on both sides of the transverse rails (21). At least two transverse displacement drive mechanisms (22) parallel to the transverse rails (21) are provided on the lifting frame (2). The transverse displacement drive mechanisms (22) are used to drive the extension arms (4) on both sides to move in opposite directions. A limiting slide rail (41) is provided at the bottom of the extension arm (4). A linear guide rail (5) is slidably mounted coaxially in the limiting slide rail (41) on the same side. At least one of the extension arms (4) on the same side is provided with a sliding power mechanism (42). The sliding power mechanism (42) is used to push the linear guide (5) to slide back and forth in the limiting slide (41). Several sets of clamps (51) are provided on the inner side of the linear guide (5). The clamps (51) on the two linear guides (5) correspond one to one. The inner side of the front end of the two linear guides (5) is provided with an inner slide rail (52). A sliding frame (6) is slidably arranged in the two inner slide rails (52). A gripping drive mechanism (53) is provided at the front end of the linear guide (5). The gripping drive mechanism (53) is used to drive the sliding frame (6) to slide along the inner slide rail (52). A telescopic sleeve is provided on the inner side of the sliding frame (6). (61) The telescopic sleeve (61) includes a fixed sleeve (611) and a sliding rod (612). A front positioning piece (613) and a rear positioning piece (614) are provided inside the fixed sleeve (611). A sliding cavity is formed between the front positioning piece (613) and the rear positioning piece (614). A spring cavity for installing a buffer spring is formed between the rear positioning piece (614) and the rear end of the fixed sleeve (611). A sliding block (615) is provided at the end of the sliding rod (612). The sliding block (615) is slidably connected in the sliding cavity. A buffer spring is provided inside the telescopic sleeve (61). A positioning frame (7) is connected to the end of the telescopic sleeve (61). A plurality of sliding sleeves (71) are provided inside the positioning frame (7). A grab is provided below the positioning frame (7). The gripper (8) is provided with a sliding shaft (81) that slides with the sliding sleeve (71). A return spring (82) is provided between the sliding shaft (81) and the sliding sleeve (71). A pressing head (83) is provided at the center of the gripper (8). Several gripping suction cups (84) are provided below the gripper (8). A pressing frame (10) is provided above the front end of the linear guide (5). A pressing cylinder (12) is provided below the pressing frame (10). A pressing head (13) corresponding to the pressing head (83) is provided at the front end of the piston rod of the pressing cylinder (12). A lifting frame (9) for stacking raw material plates is provided below the front end of the linear guide (5). The lifting frame (9) is used to lift the uppermost plate to the same height.

2. The high-efficiency multi-station stamping line robot according to claim 1, characterized in that: The lifting frame (2) is a square frame structure. The lifting frame (2) is connected to the longitudinal beams on both sides by several crossbeams. The crossbeams are located in the gap between the two press stations. The transverse track (21) is set at the bottom of the crossbeams.

3. The high-efficiency multi-station stamping line robot according to claim 1, characterized in that: The lateral displacement drive mechanism (22) is a double-headed cylinder, and the front ends of the piston rods at both ends of the double-headed cylinder are fixedly connected to the top of the extension arms (4) on both sides respectively.

4. The high-efficiency multi-station stamping line robot according to claim 1, characterized in that: The sliding power mechanism (42) is an extension cylinder, which is fixedly connected to the outside of the extension arm (4), and the front end of the piston rod of the extension cylinder is fixedly connected to the outside of the linear guide rail (5).

5. The high-efficiency multi-station stamping line robot according to claim 1, characterized in that: The linear guide (5) has a long groove (54) on the outer side of its front end. The long groove (54) passes through the inner slide rail (52). A driver is slidably installed in the long groove (54). The inner side of the driver is fixedly connected to the sliding frame (6). The gripping drive mechanism (53) is a synchronous belt mechanism. The outer side of the driver is fixedly connected to the belt body of the synchronous belt mechanism.

6. The high-efficiency multi-station stamping line robot according to claim 1, characterized in that: The top of the sliding shaft (81) has a positioning platform, which is higher than the sliding sleeve (71). The return spring (82) is arranged between the positioning platform and the sliding sleeve (71). When the positioning platform is lifted to the highest point by the sliding sleeve (71), the top of the sliding shaft (81) does not exceed the positioning frame (7).

7. The high-efficiency multi-station stamping line robot according to claim 1, characterized in that: The gripping frame (8) is provided with a plurality of suction cup sleeves (85) corresponding one-to-one with the gripping suction cups (84). The gripping suction cups (84) and the suction cup sleeves (85) are slidably connected. A linkage frame (86) is connected between the gripping suction cups (84) on the same side. A linkage cylinder (87) is provided between the gripping frame (8) and the linkage frame (86). At least one limiting block (88) is provided at the bottom of the gripping frame (8). When the linkage frame (86) is lifted by the linkage cylinder (87), the bottom surface of the limiting block (88) is lower than the height of the gripping suction cups (84).

8. A high-efficiency multi-station stamping line robot according to any one of claims 1-7, characterized in that: The lifting frame (9) includes a lifting seat (91), a lifting power mechanism (92), and several sets of lifting slides (93). A support platform (94) is slidably arranged on the lifting slide (93). The lifting power mechanism (92) is used to drive the support platform (94) to step forward. Right-angle limit rods (95) are set at the four corners of the lifting frame (9). When the uppermost plate is lifted to the grab position, the uppermost plate just disengages from the limit rod (95).

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