High-speed stamping transfer robot

Abstract

The invention relates to the technical field of transfer robots, and discloses a high-speed stamping transfer robot which comprises a base, the top of the base is rotatably connected with a large arm, the other end of the large arm is fixedly provided with a load mounting plate, the load mounting plate is slidably connected with a sliding rail, and the top of the sliding rail is rotatably connected with a small arm. The bottom of the other end of the small arm is rotationally connected with a connecting arm, and the bottom of the other end of the connecting arm is rotationally connected with a tail end picker. The high-speed stamping transfer robot has the advantage of up-down short stroke, the up-down movement distance of the high-speed stamping transfer robot can be shortened as much as possible during use, the whole robot is almost only responsible for movement on a plane, on the premise that the arm extension requirement is met, the arm length of a large arm of the robot is as short as possible, and the work efficiency is improved. The time consumed by the large arm in the rotating motion process is remarkably shortened, high-speed operation can be achieved, and more importantly, the stability of continuous motion of the robot can be greatly improved.

Description

Technical Field

[0001] The invention relates to a handling robot, in particular to a high-speed stamping handling robot. Background Art

[0002] In the automated production lines of light industry, home appliances, 3C electronics and automobile manufacturing, such as sorting, packaging, encapsulation, especially in material handling, loading and unloading of machine tools, etc., which are repetitive, boring and dangerous, in order to reduce the labor intensity of human beings and improve work efficiency, it is often necessary to place repetitive work robots in the operation process. In the stamping industry such as home appliances and automobile cover parts, the production of a workpiece is usually a continuous stamping production of multiple presses, so the transportation of sheet materials between presses is crucial, which directly affects the quality of stamping products and the efficiency of the entire stamping production line. In industrial production, it is often necessary to complete the action of picking and placing workpieces to transport the workpieces to the stations that need processing such as stamping. With the development of automation technology, in order to obtain higher efficiency of picking and placing, the picking and placing of workpieces is usually completed by industrial robots. Therefore, facing the actual needs of simplified structure, low cost and light weight of robots, it is necessary to propose further solutions.

[0003] At present, the traditional SCARA four-axis planar robot mainly uses the fourth axis to have the functions of rotation and lifting at the same time, which leads to the defects of small load, small lifting and lowering stroke, and small working range. In addition, the end structure of the general industrial robot arm is relatively large, because most of the motors at the end of the arm are directly connected to the reducer, which invisibly increases the volume and weight of the end of the arm, which in turn affects the flexibility of the robot arm, especially when the robot arm is operating in some relatively small spaces. It will have a greater impact, thereby limiting the application space of the robot. In addition, the traditional SCARA four-axis planar robot has poor stability during continuous motion when in use, and improving the stability of its continuous motion while meeting the arm span requirements is an unresolved problem in this field. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a high-speed stamping and handling robot having the advantages of large lifting stroke, large operating range, small size and light weight at the end of the arm. It at least solves the problems of small lifting stroke, small operating range, large size and heavy weight at the end of the arm of the prior art stamping and handling robots.

[0005] To achieve the above object, the present invention provides the following technical solutions.

[0006] A high-speed stamping and handling robot comprises a base, the top of the base is rotatably connected to a large arm, the other end of the large arm is fixedly mounted with a load mounting plate, the load mounting plate is slidably connected to a slide rail, the top of the slide rail is rotatably connected to a small arm, the other end of the small arm is rotatably connected to a connecting arm at the bottom, and the other end of the connecting arm is rotatably connected to an end picker at the bottom.

[0007] Furthermore, a motor 1 is fixedly installed inside the base, and a reducer 1 is connected to the output end of the motor 1. The output end of the reducer 1 is fixedly installed at the bottom of the right end of the boom. The inside of the boom is hollow, which is convenient for laying cables inside.

[0008] Furthermore, a motor 2 is fixedly mounted on the bottom of the slide rail, a screw rod is fixedly mounted on the output end of the motor 2, the screw rod is arranged along the length direction of the slide rail, a threaded hole is opened on the load mounting plate, and the load mounting plate is threadedly connected to the slider of the screw rod; a fixing plate is fixedly mounted on the top of the slide rail, the interior of the fixing plate is hollow, a motor 3 is fixedly mounted on the bottom of the fixing plate, a reducer 2 is fixedly mounted on the top of the fixing plate, a driving pulley is fixedly mounted on the output end of the motor 3, a driven pulley is fixedly mounted on the input end of the reducer 2, the driving pulley and the driven pulley are connected by a synchronous belt and placed inside the fixed plate, and the output end of the reducer 2 is fixedly mounted on the front end of the forearm.

[0009] Furthermore, the interior of the forearm is hollow, and a motor four is fixedly mounted on the upper surface of the middle part of the forearm, the output end of the motor four passes through the interior of the forearm, a driving pulley is fixedly mounted on the output end of the motor four, a reducer three is fixedly mounted on the bottom wall at the rear end of the forearm, a driven pulley is fixedly mounted on the top input end of the reducer three, the driving pulley and the driven pulley are connected by a synchronous belt, and the bottom output end of the reducer three is fixedly mounted on the top of the front end of the connecting arm.

[0010] Furthermore, an upper chuck is fixedly installed on the rear end of the connecting arm, a fixed shaft is fixedly installed on the bottom of the upper chuck, a lower chuck is fixedly installed on the bottom of the fixed shaft, the axes of the upper chuck, the fixed shaft and the lower chuck coincide, a motor five is fixedly installed on the bottom of the lower chuck, and a threading hole is opened through the center of the upper chuck, the fixed shaft and the lower chuck.

[0011] Furthermore, the end picker includes a rotating part fixedly mounted on the fifth output end of the motor, support frames are fixedly mounted on both sides of the rotating part, a plurality of suction cups are fixedly mounted on the bottom of the support frame, a connecting hole is opened inside the rotating part, the support frame is hollow, the connecting hole is connected to the suction cup through the support frame, and a suction part is fixedly mounted on the front side of the rotating part.

[0012] Furthermore, the rotating part includes a mounting platform and a U-shaped plate, the mounting platform is T-shaped, the U-shaped plate is U-shaped, the connecting hole is provided in the U-shaped plate, four groups of suspension rods are fixedly installed at the bottom of the mounting platform, the four groups of suspension rods are distributed in a matrix, a sliding column is provided at the bottom of the suspension rod, the diameter of the sliding column is larger than the diameter of the suspension rod, four groups of sliding holes are provided at the top of the U-shaped plate, and the sliding column is slidably connected in the sliding hole; an embedding groove is provided through the side surface of the mounting platform, a mounting hole is provided at the top of the mounting platform, the mounting hole is connected with the embedding groove, the fixed shaft is rotatably connected in the mounting hole, the lower chuck is rotatably connected in the embedding groove, a pressure sensor is fixedly installed at the bottom of the mounting platform, and the U-shaped plate fits the bottom of the pressure sensor.

[0013] Furthermore, the air suction part includes a hose fixedly installed on the front side of the U-shaped plate, the hose is connected to the connecting hole, a support is fixedly installed on the front end surface of the hose, the support is fixedly installed on the bottom of the connecting arm, a cross plate is fixedly installed on the rear end surface of the hose, two groups of C-shaped grooves are opened through the surface of the cross plate, two groups of sleeves are fixedly installed on the bottom of the connecting arm, a straight groove is opened through the top of the sleeve, the sleeve passes through the C-shaped groove, a spring is arranged in the sleeve, two ends of the spring are respectively fixedly installed on the rear side of the cross plate and the inner wall of the sleeve, and the hose between the support and the cross plate is wavy.

[0014] Compared with the prior art, the high-speed stamping and handling robot provided by the present invention has the following beneficial effects: The high-speed stamping and handling robot has a simple structure and has the advantages of high speed, high precision, high performance, strong stability, and easy operation and control. In addition, since the motor at the end of its forearm is rear-mounted and driven by a synchronous belt, the mechanical structure of the end is compact and the height of the end of the forearm is greatly reduced, which is convenient for the end picker to enter the interior of the stamping machine to work. For example, in the manufacturing process of stamping and forming metal workpieces, it can effectively avoid the interference problem with the metal mold during the material picking and unloading process, thereby achieving the purpose of high-speed transportation; compared with traditional robots, the forearm can realize internal and external double rotation movement, and the robot has a large range of movement; the joint arrangement is simple, which helps to reduce the volume of the upper arm and the lower arm, and reduces the weight of the robot; the main parts such as the upper arm and the lower arm are made of aluminum alloy, which reduces the weight of the moving parts and reduces the motion inertia, corresponding to the overall drive energy consumption reduction, saving operating costs; the slide rail of the high-speed stamping and handling robot is arranged at the end of the upper arm, which is convenient for reducing the load of the screw guide rail, reducing the load inertia of the output end of the structure, and extending the service life of the screw guide rail; The high-speed stamping and handling robot in the present invention has the advantage of short up and down strokes. When in use, the distance of its up and down movement can be shortened as much as possible. The entire robot is almost only responsible for movement on the plane. On the premise that it meets the arm span requirements, the length of the robot's upper arm is as short as possible, which significantly shortens the time spent by the upper arm in rotational movement. It can not only achieve high-speed operation, but more importantly, it can greatly improve the stability of the robot's continuous movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the three-dimensional structure of the high-speed stamping and handling robot in the embodiment; Figure 2 It is a schematic diagram of the front cross-sectional structure of the base of the high-speed stamping and handling robot in the embodiment; Figure 3 A schematic diagram of the top view of the high-speed stamping and handling robot in the embodiment; Figure 4 Schematic diagram of the three-dimensional structure of the high-speed stamping and handling robot when the forearm is externally rotated in the embodiment; Figure 5 It is a schematic diagram of the three-dimensional structure of the connecting arm and the end picker of the high-speed stamping and handling robot in the embodiment; Figure 6 It is a schematic diagram of the three-dimensional structure of the rotating parts of the high-speed stamping and handling robot in the embodiment; Figure 7 It is a schematic diagram of the three-dimensional structure of the air suction component of the high-speed stamping and handling robot in the embodiment.

[0016] In the figure: 100, base; 200, upper arm; 300, load mounting plate; 400, slide rail; 500, lower arm; 600, connecting arm; 700, end picker; 201, motor 1; 202, reducer 1; 401, motor 2; 402, fixed plate; 403, motor 3; 404, reducer 2; 501, motor 4; 502, reducer 3; 503, driven pulley; 504, synchronous belt; 601, upper chuck; 602, fixed shaft; 603, lower chuck; 604, Motor five; 605, threading hole; 701, rotating part; 702, supporting frame; 703, suction cup; 704, connecting hole; 705, suction part; 7011, mounting table; 7012, U-shaped plate; 7013, suspension rod; 7014, sliding hole; 7015, embedded groove; 7016, mounting hole; 7017, pressure sensor; 7051, hose; 7052, support; 7053, horizontal plate; 7054, C-shaped groove; 7055, sleeve; 7056, linear groove; 7057, spring. DETAILED DESCRIPTION

[0017] The technical solutions in the present invention are clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-Figure 4 A high-speed stamping handling robot includes a base 100, the top of the base 100 is rotatably connected to a large arm 200, the interior of the large arm 200 is hollow, and it is convenient to lay cables inside; a motor 201 is fixedly installed inside the base 100, and a reducer 202 is connected to the output end of the motor 201, and the output end of the reducer 202 is fixedly installed at the bottom of the right end of the large arm 200. The large arm 200 is driven to rotate by the cooperation of the motor 201 and the reducer 202. A load mounting plate 300 is fixedly installed at the other end of the large arm 200, and the load mounting plate 300 is slidably connected to a slide rail 400, and the top of the slide rail 400 is rotatably connected to a small arm 500, and the large arm 200 and the small arm 500 are both made of aluminum alloy. The bottom of the other end of the small arm 500 is rotatably connected to a connecting arm 600, and the bottom of the other end of the connecting arm 600 is rotatably connected to an end picker 700.

[0019] See also Figure 4 The bottom of the slide rail 400 is fixedly mounted with a second motor 401, and the output end of the second motor 401 is fixedly mounted with a lead screw, which is arranged along the length direction of the slide rail 400. The load mounting plate 300 is provided with a threaded hole, and the load mounting plate 300 is threadedly connected to the slider of the lead screw. The lead screw is arranged inside the slide rail 400, which is not shown in the figure. The second motor 401 drives the lead screw to rotate, thereby driving the slide rail 400 and the load mounting plate 300 to slide relative to each other, and then driving the small arm 500 to rise and fall relative to the large arm 200. A fixed plate 402 is fixedly installed on the top of the slide rail 400, and the interior of the fixed plate 402 is hollow. A motor 3 403 is fixedly installed on the bottom of the fixed plate 402, and a reducer 2 404 is fixedly installed on the top of the fixed plate 402. A driving pulley is fixedly installed on the output end of the motor 3 403, and a driven pulley is fixedly installed on the input end of the reducer 2 404. The driving pulley and the driven pulley are connected by a synchronous belt and placed inside the fixed plate 402. The output end of the reducer 2 404 is fixedly installed on the front end of the small arm 500. The small arm 500 is driven to rotate relative to the slide rail 400 through the cooperation of the motor 3 403 and the reducer 2 404.

[0020] See also Figure 3-Figure 4The interior of the forearm 500 is hollow, and a motor 4 501 is fixedly installed on the upper surface of the middle part of the forearm 500. The output end of the motor 4 501 runs through the interior of the forearm 500. A driving pulley is fixedly installed on the output end of the motor 4 501. A reducer 3 502 is fixedly installed on the bottom wall of the rear end of the forearm 500. A driven pulley 503 is fixedly installed on the top input end of the reducer 3 502. The driving pulley and the driven pulley 503 are connected by a synchronous belt 504. The bottom output end of the reducer 3 502 is fixedly installed on the front end top of the connecting arm 600. In order to show the internal cavity of the forearm 500 in the figure, a window is opened on the top of the rear end of the forearm 500 to expose the reducer 3 502, the driven pulley 503 and the synchronous belt 504. In practice, a sealing cover is provided at the window to prevent dust from entering the interior of the forearm 500. The motor 4 501 drives the driving pulley to rotate, and cooperates with the transmission function of the synchronous belt 504 to drive the driven pulley 503 to rotate, thereby driving the output end of the reducer 3 502 to rotate, and driving the connecting arm 600 to rotate relative to the small arm 500. The motor 4 501 is arranged on the front half of the small arm 500 to reduce the weight of the rear end of the small arm 500.

[0021] See also Figure 5-Figure 6 The upper chuck 601 is fixedly installed at the rear end of the connecting arm 600, a fixed shaft 602 is fixedly installed at the bottom of the upper chuck 601, a lower chuck 603 is fixedly installed at the bottom of the fixed shaft 602, the axes of the upper chuck 601, the fixed shaft 602 and the lower chuck 603 coincide, a motor 5 604 is fixedly installed at the bottom of the lower chuck 603, and a threading hole 605 is opened through the center of the upper chuck 601, the fixed shaft 602 and the lower chuck 603. The threading hole 605 is used to thread a cable, and the cable passes through the threading hole 605 and is connected to the motor 5 604 to supply power to the motor 5 604.

[0022] See also Figure 5-Figure 7 The end picker 700 includes a rotating member 701 fixedly mounted on the output end of the motor 5604. The mounting angles of the support frame 702 and the suction cup 703 can be adjusted, so that it is not only suitable for the transportation of large sheets, but also can meet the handling and transportation of special-shaped sheets. The support frames 702 are fixedly mounted on both sides of the rotating member 701. A plurality of suction cups 703 are fixedly mounted on the bottom of the support frame 702. A connecting hole 704 is opened inside the rotating member 701. The support frame 702 is hollow. The connecting hole 704 is connected to the suction cup 703 through the support frame 702. A suction member 705 is fixedly mounted on the front side of the rotating member 701. The front end of the suction member 705 is connected to the suction pump, so that the suction cup 703 is vacuumed to adsorb the object. The rotating member 701 is driven to rotate by the motor 5604 to adjust the angle of the adsorbed object.

[0023] The rotating member 701 includes a mounting platform 7011 and a U-shaped plate 7012. The mounting platform 7011 is T-shaped, the U-shaped plate 7012 is U-shaped, the connecting hole 704 is provided in the U-shaped plate 7012, four groups of suspension rods 7013 are fixedly installed at the bottom of the mounting platform 7011, and the four groups of suspension rods 7013 are arranged in a matrix. The bottom of the suspension rods 7013 is provided with a sliding column, and the diameter of the sliding column is larger than the diameter of the suspension rod 7013. Four groups of sliding holes 7014 are provided at the top of the U-shaped plate 7012, and the sliding column is slidably connected in the sliding hole 7014; the inner diameter of the sliding hole 7014 is equal to the diameter of the sliding column, and the diameter at the opening of the sliding hole 7014 is equal to the diameter of the suspension rod 7013. The U-shaped plate 7012 can move up and down relative to the mounting platform 7011, and the U-shaped plate 7012 is prevented from being separated from the mounting platform 7011.

[0024] A groove 7015 is formed through the side of the mounting platform 7011, and a mounting hole 7016 is formed on the top of the mounting platform 7011. The mounting hole 7016 is connected to the groove 7015, and the fixed shaft 602 is rotatably connected in the mounting hole 7016. The lower clamping plate 603 is rotatably connected in the groove 7015, and the output end of the motor 5 604 is fixedly installed on the bottom wall of the groove 7015. Thus, the connecting arm 600 is stably connected to the rotating member 701, and the rotating member 701 can rotate relative to the lower clamping plate 603. A pressure sensor 7017 is fixedly installed at the bottom of the mounting platform 7011, and the signal of the pressure sensor 7017 is connected to the controller. The U-shaped plate 7012 is attached to the bottom of the pressure sensor 7017. When the slide rail 400 slides downward relative to the load mounting plate 300, driving the small arm 500, the connecting arm 600 and the end picker 700 to move downward, and the suction cup 703 is attached to the object, the U-shaped plate 7012 moves upward relative to the mounting platform 7011, and the U-shaped plate 7012 presses the pressure sensor 7017 and transmits the pressure signal to the controller. Then the controller controls the suction pump to start and vacuumize the suction cup 703.

[0025] The air suction member 705 includes a hose 7051 fixedly installed on the front side of the U-shaped plate 7012, the hose 7051 is connected to the connecting hole 704, a support 7052 is fixedly installed on the front end surface of the hose 7051, the support 7052 is fixedly installed on the bottom of the connecting arm 600, a horizontal plate 7053 is fixedly installed on the rear end surface of the hose 7051, two groups of C-shaped grooves 7054 are penetrated on the surface of the horizontal plate 7053, two groups of sleeves 7055 are fixedly installed on the bottom of the connecting arm 600, a linear groove 7056 is penetrated on the top of the sleeve 7055, the sleeve 7055 passes through the C-shaped groove 7054, a spring 7057 is arranged in the sleeve 7055, and two ends of the spring 7057 are respectively fixedly installed on the rear side of the horizontal plate 7053 and the inner wall of the sleeve 7055, and the hose 7051 between the support 7052 and the horizontal plate 7053 is wavy. The elasticity of the spring 7057 makes the horizontal plate 7053 tend to approach the support 7052. When the rotating member 701 rotates relative to the lower clamping plate 603, the hose 7051 is pulled and the horizontal plate 7053 moves backward. After the rotating member 701 rotates in the opposite direction to reset, the horizontal plate 7053 moves forward again to reset the hose 7051.

[0026] When in use, the motor 201 and the reducer 202 cooperate to drive the upper arm 200 to rotate relative to the base 100; the motor 2 401 then drives the screw to rotate, driving the slide rail 400 to move up and down relative to the load mounting plate 300, driving the small arm 500, the connecting arm 600 and the end picker 700 to rise and fall; the motor 4 501 then drives the active pulley to rotate, and cooperates with the transmission action of the synchronous belt 504 to drive the driven pulley 503 to rotate, thereby driving the output end of the reducer 3 502 to rotate, and driving the connecting arm 600 to deflect relative to the small arm 500; and the motor 5 604 can drive the rotating member 701 to rotate, driving the support frame 702 to deflect, and adjusting the angle of the adsorbed object.

[0027] When the forearm 500 descends and the suction cup 703 is attached to the surface of the object, the U-shaped plate 7012 is pressed against the surface of the pressure sensor 7017. The pressure sensor 7017 transmits the pressure signal to the controller, and the controller controls the suction pump to start, vacuuming the suction cup 703 so that the suction cup 703 is adsorbed on the surface of the object.

Claims

1. A high-speed stamping and handling robot, comprising a base (100), characterized in that: The top of the base (100) is rotatably connected to a large arm (200), the other end of the large arm (200) is fixedly mounted with a load mounting plate (300), the load mounting plate (300) is slidably connected to a slide rail (400), the top of the slide rail (400) is rotatably connected to a small arm (500), the other end of the small arm (500) is rotatably connected to a connecting arm (600), and the other end of the connecting arm (600) is rotatably connected to an end picker (700) at its bottom.

2. The high-speed stamping and handling robot according to claim 1, characterized in that: A motor 1 (201) is fixedly installed inside the base (100), the output end of the motor 1 (201) is connected to a reducer 1 (202), the output end of the reducer 1 (202) is fixedly installed at the bottom of the right end of the upper arm (200), and the upper arm (200) is hollow inside.

3. The high-speed stamping and handling robot according to claim 1, characterized in that: A second motor (401) is fixedly mounted on the bottom of the slide rail (400), a lead screw is fixedly mounted on the output end of the second motor (401), the lead screw is arranged along the length direction of the slide rail (400), a threaded hole is opened on the load mounting plate (300), and the load mounting plate (300) is threadedly connected to the slider of the lead screw; a fixed plate (402) is fixedly mounted on the top of the slide rail (400), the interior of the fixed plate (402) is hollow, a third motor (403) is fixedly mounted on the bottom of the fixed plate (402), a second reducer (404) is fixedly mounted on the top of the fixed plate (402), a driving pulley is fixedly mounted on the output end of the third motor (403), a driven pulley is fixedly mounted on the input end of the second reducer (404), the driving pulley and the driven pulley are connected by a synchronous belt and placed inside the fixed plate (402), and the output end of the second reducer (404) is fixedly mounted on the front end of the forearm (500).

4. The high-speed stamping and handling robot according to claim 1, characterized in that: The interior of the forearm (500) is hollow, a motor four (501) is fixedly mounted on the upper surface of the middle part of the forearm (500), the output end of the motor four (501) passes through the interior of the forearm (500), a driving pulley is fixedly mounted on the output end of the motor four (501), a reducer three (502) is fixedly mounted on the bottom wall at the rear end of the forearm (500), a driven pulley (503) is fixedly mounted on the top input end of the reducer three (502), the driving pulley and the driven pulley (503) are connected via a synchronous belt (504), and the bottom output end of the reducer three (502) is fixedly mounted on the top of the front end of the connecting arm (600).

5. The high-speed stamping and handling robot according to claim 1, characterized in that: An upper chuck (601) is fixedly mounted on the rear end of the connecting arm (600), a fixed shaft (602) is fixedly mounted on the bottom of the upper chuck (601), a lower chuck (603) is fixedly mounted on the bottom of the fixed shaft (602), the axes of the upper chuck (601), the fixed shaft (602) and the lower chuck (603) coincide, a motor five (604) is fixedly mounted on the bottom of the lower chuck (603), and a threading hole (605) is opened through the center of the upper chuck (601), the fixed shaft (602) and the lower chuck (603).

6. The high-speed stamping and handling robot according to claim 1, characterized in that: The end picker (700) comprises a rotating member (701) fixedly mounted on the output end of motor five (604), support frames (702) are fixedly mounted on both the left and right sides of the rotating member (701), a plurality of suction cups (703) are fixedly mounted on the bottom of the support frame (702), a connecting hole (704) is provided inside the rotating member (701), the support frame (702) is hollow, the connecting hole (704) is connected to the suction cup (703) through the support frame (702), and a suction member (705) is fixedly mounted on the front side of the rotating member (701).

7. The high-speed stamping and handling robot according to claim 6, characterized in that: The rotating member (701) comprises a mounting platform (7011) and a U-shaped plate (7012); the mounting platform (7011) is T-shaped, the U-shaped plate (7012) is U-shaped, the connecting hole (704) is provided in the U-shaped plate (7012), four groups of suspension rods (7013) are fixedly installed at the bottom of the mounting platform (7011), the four groups of suspension rods (7013) are arranged in a matrix, a sliding column is provided at the bottom end of the suspension rod (7013), the diameter of the sliding column is larger than the diameter of the suspension rod (7013), and four groups of sliding holes (7014) are provided at the top of the U-shaped plate (7012). The sliding column is slidably connected in the sliding hole (7014); a groove (7015) is formed through the side of the mounting platform (7011); a mounting hole (7016) is formed on the top of the mounting platform (7011); the mounting hole (7016) is connected to the groove (7015); the fixed shaft (602) is rotatably connected in the mounting hole (7016); the lower clamping plate (603) is rotatably connected in the groove (7015); a pressure sensor (7017) is fixedly installed at the bottom of the mounting platform (7011); and the U-shaped plate (7012) is fitted to the bottom of the pressure sensor (7017).

8. The high-speed stamping and handling robot according to claim 1, characterized in that: The air suction member (705) comprises a hose (7051) fixedly mounted on the front side of the U-shaped plate (7012), the hose (7051) being connected to the connecting hole (704), a support (7052) fixedly mounted on the front surface of the hose (7051), the support (7052) fixedly mounted on the bottom of the connecting arm (600), a horizontal plate (7053) fixedly mounted on the rear surface of the hose (7051), two groups of C-shaped grooves (7054) being formed through the surface of the horizontal plate (7053), and the connecting arm Two groups of sleeves (7055) are fixedly installed at the bottom of (600), and a straight groove (7056) is opened through the top of the sleeve (7055). The sleeve (7055) passes through the C-shaped groove (7054). A spring (7057) is arranged in the sleeve (7055), and the two ends of the spring (7057) are respectively fixedly installed on the rear side of the horizontal plate (7053) and the inner wall of the sleeve (7055). The hose (7051) between the support (7052) and the horizontal plate (7053) is wavy.

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