Carrying manipulator for multi-station stamping of mobile phone middle plate

Abstract

The invention relates to the technical field of carrying manipulators, in particular to a carrying manipulator for multi-station stamping of mobile phone middle plates, which comprises four bases, an X-axis moving platform is mounted at the top of the base at the leftmost end, guide rails are mounted at the tops of the other three bases, and sliding seats are arranged on the guide rails and the X-axis moving platform. Every two adjacent sliding seats are connected through a connecting plate, a carrying mechanical arm is arranged on the front side of each sliding seat, and correcting mechanisms are arranged on the tops of the other three machine seats except the rightmost end. The middle plate can be pushed to move rightwards along the correction plates through the L-shaped push plate, the middle plate is accurately guided through the front correction plate and the rear correction plate, and position correction is conducted, so that correction work of the middle plate can be synchronously completed in the carrying process, and a carrying mechanical arm does not need to be additionally stopped to conduct middle plate correction; and therefore, unnecessary lifting actions and pause times of the carrying manipulator are reduced, and the carrying efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of handling manipulators, and in particular to a handling manipulator for multi-station stamping of a mobile phone mid-plate. Background Art

[0002] With the continuous improvement of the degree of automation, the handling robot has become an indispensable part of the medium plate multi-station stamping production line. It is responsible for transporting the medium plate to be processed from one station to the next and ensuring the position accuracy of each placement.

[0003] At present, the working steps of multi-station stamping of mobile phone middle plates are as follows: first, the lifting robot arm feeds the material upward, then the handling robot takes the material; then, the handling robot pauses and puts the middle plate down on the correction table for alignment correction. Before the cylinder performs the alignment correction, the handling robot moves up to avoid obstructing the movement of the cylinder. After the correction is completed, the handling robot moves down again, retrieves the corrected middle plate from the correction table, moves up to lift it, and then moves it to the punch press, and moves down again before punching to release the material. This process is repeated once before each punching operation (including the first, second and third punching), that is, each time the middle plate is placed on the punch press, the handling robot needs to pause first, put the middle plate down to the correction table for correction, and then carry and release the material. Therefore, in the process of loading the middle plate into the punch press, the handling robot needs to go through three lifting actions and pause once in the middle. Such a process is time-consuming and adds additional operating steps, which affects the handling efficiency, directly leading to an increase in the handling time of a single middle plate, thereby extending the production cycle of the entire production line. Summary of the invention

[0004] The present invention provides a handling robot for multi-station stamping of mobile phone middle plates, which aims to synchronously complete the correction of the middle plates during the middle plate handling process, without the need for the robot to pause to specifically perform the middle plate correction, thereby reducing unnecessary lifting actions and pause times, improving handling efficiency, shortening the handling time of a single middle plate, and thereby shortening the production cycle of the entire production line.

[0005] The present invention achieves the above-mentioned purpose through the following technical scheme: a handling manipulator for multi-station stamping of a mobile phone middle plate, comprising a machine base, wherein four machine bases are provided, an X-axis moving platform is installed on the top of the leftmost machine base, and guide rails are installed on the tops of the other three machine bases, and slides are provided on the guide rails and the X-axis moving platform, and two adjacent slides are connected by a connecting plate, and a handling manipulator is provided on the front side of each slide, and the handling manipulator comprises a lifting arm and a telescopic arm, and the lifting arm is arranged on the front side of the slide, and a telescopic arm is arranged on the lifting arm, and the telescopic arms on the leftmost and rightmost handling manipulators are fixedly connected to the lifting arm, and the telescopic arms on the middle two handling manipulators are rotatably connected to the lifting arm, and the middle A servo motor for driving the telescopic arm to rotate is installed on the lifting arms of the two handling robots. The telescopic end of the telescopic arm is connected to a connecting pipe, and the bottom end of the connecting pipe is connected to a suction cup. The outer walls of the connecting pipes of the other three handling robots except the rightmost end are provided with an L-shaped push plate that can be raised and lowered, which is used to push the middle plate to move. A correction mechanism is provided on the top of the other three machine bases except the rightmost end. The correction mechanism includes a workbench connected to the top of the machine base, and front and rear correction plates are provided on the top of the workbench. The left side of the correction plate is bent outward, and an adjusting part for adjusting the distance between the front and rear correction plates is provided on the workbench. A push-type robot for pushing the middle plate upward is provided on the left side of the leftmost machine base.

[0006] Preferably, the lifting arm includes a cylinder installed on the front side of the slide, the telescopic rod of the cylinder is connected to a slider, the front side of the slide is connected to a slide rail for guiding the slider to rise and fall, and the telescopic arm and the servo motor are both connected to the slider.

[0007] Preferably, the telescopic arm includes a fixed arm connected to a slider, a movable arm is slidably connected to the fixed arm, a fastening bolt for locking the movable arm is provided on the fixed arm, the output shaft of the servo motor is connected to the fixed arm, and a connecting pipe is connected to the movable arm.

[0008] Preferably, the push plate includes a slotted plate slidably connected to the outer wall of the connecting tube, the slotted plate is located between the telescopic arm and the suction cup, a push plate is slidably connected in the slot of the slotted plate, a screw is rotatably connected to the slotted plate, and the screw is threadedly connected to the push plate.

[0009] Preferably, two left and right mounting plates are connected to the front side of the workbench, and position sensors 1 are installed on both mounting plates. The left position sensor 1 corresponds to the area where the correction plate is bent outward, and the right position sensor 1 corresponds to the horizontal area of ​​the correction plate. Position sensors 2 are installed at the bottom of the other two guide rails except the rightmost end, and each position sensor 2 is located between two adjacent workbenches.

[0010] Preferably, the adjusting part includes a bidirectional screw and a slide plate. The top of the workbench is slidably connected to two front and rear slide plates through a slide groove. The two slide plates are respectively connected to two correction plates. A bidirectional screw is threadedly connected between the two slide plates. The bidirectional screw is rotatably connected to the machine base directly below it.

[0011] Preferably, the push-type manipulator includes a base connected to the lower left side of the leftmost machine base, a storage rack for storing middle plates is provided on the top of the base, and a lifting mechanical arm located on the rear side of the storage rack is provided on the top of the base for pushing the middle plate upward.

[0012] Preferably, the lifting robot arm includes a Z-axis moving platform connected to the top of the base, and a support plate for pushing the middle plate is connected to the slide of the Z-axis moving platform.

[0013] Preferably, the material storage rack includes a stepper motor installed on the top of the base, and the output shaft of the stepper motor is connected to a tray for storing the middle plate. The tray has four circumferentially spaced openings matching the pallet, and the top of the tray is connected to four groups of positioning rods circumferentially spaced for positioning the middle plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The L-shaped push plate can be used to push the middle plate to move to the right along the correction plate. Since the left side of the correction plate is bent outward, the middle plate can slide smoothly between the front and rear correction plates. During the entry process, the middle plate will be accurately guided by the front and rear correction plates and the position will be corrected. In this way, the present invention can complete the correction of the middle plate synchronously during the transportation process, and there is no need for the transportation robot to make additional pauses to specifically correct the middle plate, thereby reducing unnecessary lifting actions and pauses of the transportation robot, improving transportation efficiency, shortening the transportation time of a single middle plate, and thereby shortening the production cycle of the entire production line.

[0016] 2. The distance between the front and rear correction plates can be adjusted by the adjusting member to adapt to the middle plates of different widths. The position of the push plate on the L-shaped push plate is adjustable to adapt to the middle plates of different lengths. Therefore, the present invention can flexibly cope with middle plates of different sizes, with high flexibility and wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 .

[0018] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 .

[0019] Figure 3 It is a three-dimensional structural schematic diagram of the handling robot and the correction mechanism of the present invention.

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the handling robot of the present invention.

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure of the L-shaped push plate of the present invention.

[0022] Figure 6 It is a schematic diagram of the installation of the mounting plate, position sensor 1 and position sensor 2 of the present invention.

[0023] Figure 7 It is a schematic diagram of the installation of the push-type manipulator of the present invention.

[0024] Figure 8 It is a schematic diagram of the three-dimensional structure of the push-lift type manipulator of the present invention.

[0025] In the figure: 1-base, 2-X-axis moving platform, 3-guide rail, 4-slide seat, 5-handling manipulator, 51-lifting arm, 511-cylinder, 512-slide rail, 513-slider, 52-telescopic arm, 521-fixed arm, 522-movable arm, 523-fastening bolt, 53-servo motor, 54-connecting pipe, 55-suction cup, 56-L-shaped push plate, 561-slotted plate, 562-push plate, 563-screw, 6-connecting plate, 71 -workbench, 72-correction plate, 8-adjusting part, 81-bidirectional screw, 82-slide plate, 9-mounting plate, 10-position sensor 1, 11-position sensor 2, 12-push type manipulator, 121-base, 122-storage rack, 1221-stepping motor, 1222-tray, 1223-port, 1224-positioning rod, 123-lifting robot arm, 1231-Z-axis moving platform, 1232-pallet, 13-punch. DETAILED DESCRIPTION

[0026] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0027] See also Figure 1-6A handling manipulator for multi-station stamping of a mobile phone mid-plate comprises a machine base 1, and the machine base 1 is provided with four. An X-axis movable platform 2 is installed on the top of the leftmost machine base 1, and guide rails 3 are installed on the tops of the other three machine bases 1. Slides 4 are provided on the guide rails 3 and the X-axis movable platform 2. The slides 4 on the guide rails 3 slide with the guide rails 3. The slides 4 on the X-axis movable platform 2 are fixedly connected to the slide of the X-axis movable platform 2, and the slides 4 on the X-axis movable platform 2 can be driven to reciprocate left and right through the X-axis movable platform 2. The X-axis movable platform 2 is a prior art and will not be described in detail here. Two adjacent slides 4 are connected by a connecting plate 6, and the connecting plate 6 is fixed to the rear lower part of the slide 4 by bolts for easy disassembly and maintenance. A handling manipulator 5 is provided on the front side of each slide 4. The handling manipulator 5 The lifting arm 51 includes a lifting arm 51 and a telescopic arm 52. The lifting arm 51 is arranged on the front side of the slide 4. The telescopic arm 52 is arranged on the lifting arm 51. The telescopic arms 52 on the leftmost and rightmost handling manipulators 5 are fixedly connected to the lifting arm 51. The telescopic arms 52 on the two middle handling manipulators 5 are rotatably connected to the lifting arm 51 through a rotating shaft. The lifting arm 51 includes a cylinder 511 installed on the front side of the slide 4. A slider 513 is connected to the telescopic rod of the cylinder 511. A slide rail 512 for guiding the slider 513 to rise and fall is connected to the front side of the slide 4. The telescopic arm 52 includes a fixed arm 521, a movable arm 522 and a fastening bolt 523. The fixed arms 521 on the leftmost and rightmost telescopic arms 52 are fixedly connected to the slider 513. The fixed arms 521 on the two middle telescopic arms 52 are fixedly connected to the slider 513. The fixed arm 521 is rotatably connected to the slider 513 through a rotating shaft, and a movable arm 522 is slidably connected in the fixed arm 521. A fastening bolt 523 for locking the movable arm 522 is provided on the fixed arm 521. A servo motor 53 located at the lower side of its movable arm 522 is installed on the slider 513 of the two middle lifting arms 51. The output shaft of the servo motor 53 is connected to the fixed arm 521 to drive the telescopic arm 52 to rotate. A connecting pipe 54 is connected to the movable arm 522, and a suction cup 55 is connected to the bottom end of the connecting pipe 54. The outer wall of the connecting pipe 54 of the other three handling manipulators 5 except the rightmost end is slidably provided with an L-shaped push plate 56 that can be lifted and lowered, which is used to push the middle plate to move. The tops of the other three machine bases 1 except the rightmost end are provided with a correction mechanism. The structure includes a workbench 71 connected to the top of the machine base 1, and two front and rear correction plates 72 are arranged on the top of the workbench 71. The left side of the correction plate 72 is bent outward, and an adjusting member 8 for adjusting the distance between the front and rear correction plates 72 is provided on the workbench 71. A push-type manipulator 12 for pushing the middle plate upward is provided on the left side of the leftmost machine base 1. The front side of the workbench 71 is connected to two left and right mounting plates 9, and position sensors 10 are installed on the two mounting plates 9. The left position sensor 10 corresponds to the area where the correction plate 72 is bent outward, and the right position sensor 10 corresponds to the horizontal area of ​​the correction plate 72. Position sensors 2 11 are installed at the bottom of the other two guide rails 3 except the rightmost one, and each position sensor 2 11 is located between two adjacent workbenches 71.

[0028] First, arrange the four machine bases 1 from left to right, with the rightmost machine base 1 located on the right side of the rightmost punching machine 13, and the remaining three machine bases 1 located on the left sides of the three punching machines 13, respectively. Then, connect the connecting pipe 54 to an external vacuum pump through a hose, and then stack the middle plates to be punched from bottom to top on the push-type manipulator 12. The push-type manipulator 12 can push the middle plates upward so that the suction cup 55 on the leftmost transport manipulator 5 can smoothly absorb the middle plates. When it is necessary to transport the middle plate to the lower die seat of the punching machine 13 for punching, first control the cylinder 511 to drive the slider 513 to drive the telescopic arm 52 to move downward. The telescopic arm 52 moves downward and drives the suction cup 55 to move downward and contact the middle plate through the connecting pipe 54. Control the vacuum pump to extract the air in the suction cup 55, so that the middle plate can be stably sucked. The suction cup 55 on the leftmost transport robot 5 sucks the middle plate on the push-type robot 12, and the suction cups 55 on the other three transport robots 5 respectively suck the middle plates on the lower die seats of the three punching machines 13. Then control the cylinder 511 to drive the slider 513 to drive the telescopic arm 52 to move upward, which can drive the suction cup 55 to move upward, so as to lift the middle plate upward to above the top of the workbench 71, and the middle plate is then flush with the correction plate 72. Then the X-axis moving platform 2 is controlled to drive the upper slide 4 to move to the right, and the other three slides 4 are driven to move to the right synchronously through the connecting plate 6, so that the four handling manipulators 5 move to the right synchronously. When the handling manipulator 5 on the guide rail 3 is moved out of the punching machine 13, the telescopic arm 52 will not be hindered by the punching machine 13 and can rotate freely. At this time, the slide 4 on the guide rail 3 moves to the right until it is aligned with the position sensor 2 11. The position sensor 2 11 detects that the distance between it and the slide 4 reaches the preset value. The position sensor 2 11 sends a signal to the controller (the controller is not shown in the figure, the controller is the prior art, and it will not be repeated here). After receiving the signal, the controller controls the servo motor 53 to work, so as to drive the telescopic arm 52 to rotate 180 degrees, and the telescopic arms 52 on the middle two handling manipulators 5 rotate 180 degrees to rotate the L-shaped push plate 56 on them to the left, and rotate the middle plate taken out of the punching machine 13 to the workbench 71 located on the right side of the punching machine 13. The subsequent transport robot 5 continues to move rightward through the upper suction cup 55, and delivers the middle plate between the front and rear correction plates 72. When the connecting tube 54 moves rightward to align with the position sensor 10 on the left, the position sensor 10 on the left detects that the distance between it and the connecting tube 54 reaches the preset value, and the position sensor 10 on the left sends a signal to the controller. After receiving the signal, the controller controls the vacuum pump to input the outside air into the suction cup 55 to release the middle plate so that the middle plate can be corrected by the correction plate 72 later. After the suction cup 55 releases the middle plate, the L-shaped push plate 56 pushes the middle plate to move rightward along the correction plate 72. Since the left side of the correction plate 72 is bent outward, the middle plate can slide smoothly between the front and rear correction plates 72. During the entry process, the middle plate will be accurately guided by the front and rear correction plates 72 and the position will be corrected.In this way, the device can complete the correction of the middle plate synchronously during the handling process, without the need for the handling robot 5 to stop extra to perform the correction of the middle plate, thereby reducing the unnecessary lifting and lowering actions and the number of stops of the handling robot 5, improving the handling efficiency, shortening the handling time of a single middle plate, and thus shortening the production cycle of the entire production line. After the middle plate is corrected, when the connecting tube 54 moves to the right to align with the position sensor 10 on the right, the position sensor 10 on the right detects that the distance between it and the connecting tube 54 reaches the preset value, and the position sensor 10 on the right sends a signal to the controller. After receiving the signal, the controller controls the vacuum pump to extract the air in the suction cup 55 to re-absorb the middle plate, thereby ensuring that the middle plate is accurately transported to the punching machine 13. Then the handling robot 5 is controlled to lower the middle plate to the lower die seat of the punching machine 13, and the handling robot 5 at the far right places the finally punched middle plate on the machine base 1 at the far right. When the L-shaped push plate 56 moves down to contact the lower die seat of the punching machine 13, the L-shaped push plate 56 cannot continue to move down, and the L-shaped push plate 56 slides on the connecting tube 54 to avoid deformation of the lower die seat on the extrusion punching machine 13. When the connecting tube 54 drives the suction cup 55 to move up and contact the L-shaped push plate 56, the suction cup 55 continues to move up and pushes the L-shaped push plate 56 to move up. Then the X-axis moving platform 2 is controlled to drive the slide 4 on it to move to the left a suitable distance, so as to drive the handling robot 5 to move out of the punching machine 13 to the left, so as to avoid hindering the subsequent punching machine 13 from performing the middle plate stamping work. When the slide 4 on the guide rail 3 moves to the left to align with the position sensor 2 11, the position sensor 2 11 detects that the distance between it and the slide 4 reaches the preset value, and the position sensor 2 11 sends a signal to the controller. After receiving the signal, the controller controls the servo motor 53 to work, so as to drive the telescopic arm 52 to reverse 180 degrees and reset, thereby rotating the L-shaped push plate 56 on it to the right. When the middle plate needs to be sucked again, the X-axis moving platform 2 is controlled to drive the slide 4 on it to move to the left and reset. The spacing between the front and rear correction plates 72 can be adjusted by the adjustment member 8 to adapt to the middle plates of different widths. When the base 1 is placed next to the punching machine 13, if the distance between the suction cup 55 on the handling robot 5 and the punching machine 13 is not accurate, the fastening bolt 523 can be loosened to release the lock of the movable arm 522, and then the movable arm 522 can be moved left and right to adjust the left and right positions of the connecting pipe 54, the suction cup 55 and the L-shaped push plate 56. After the position adjustment is completed, tighten the fastening bolt 523 to lock the movable arm 522. In this way, the position of the suction cup 55 can be flexibly adjusted without moving the entire machine base 1 to ensure that a precise distance is maintained between it and the punching machine 13. There is no need to move the entire machine base 1 to adjust the position of the suction cup 55, and the operation is more time-saving and labor-saving.

[0029] See also Figure 4-Figure 5The L-shaped push plate 56 includes a slotted plate 561 slidably connected to the outer wall of the connecting tube 54, the slotted plate 561 is located between the telescopic arm 52 and the suction cup 55, a push plate 562 is slidably connected in the groove of the slotted plate 561, a screw 563 is rotatably connected to the slotted plate 561, and the screw 563 is threadedly connected to the push plate 562.

[0030] When the suction cup 55 releases the middle plate, the push plate 562 on the L-shaped push plate 56 moves to the right to push the middle plate further to the right, and enters between the front and rear correction plates 72 for correction. The push plate 562 can be adjusted in the left and right directions by rotating the screw 563 to adapt to middle plates of different lengths, and ensure that the middle plate is accurately transported to the lower die seat of the punching machine 13. For the middle plate that has shortened in length after punching and trimming, the push plate 562 can be adjusted in position to maintain a close fit with the side of the middle plate, thereby ensuring that it can be accurately transported to the lower die seat of the next punching machine 13 even if the length of the middle plate changes.

[0031] See also Figure 3 The adjusting member 8 comprises a bidirectional screw rod 81 and a slide plate 82. The top of the workbench 71 is slidably connected with two front and rear slide plates 82 through a slide groove. The two slide plates 82 are respectively connected to the two correction plates 72. A bidirectional screw rod 81 is threadedly connected between the two slide plates 82. The bidirectional screw rod 81 is rotatably connected to the machine base 1 directly below it. By rotating the bidirectional screw rod 81, the front and rear slide plates 82 can be driven closer to each other. By reversing the bidirectional screw rod 81, the front and rear slide plates 82 can be driven away from each other, so as to adjust the distance between the front and rear correction plates 72 to adapt to middle plates of different sizes. The adjustment operation is convenient and quick.

[0032] See also Figure 7-Figure 8The push-lift manipulator 12 includes a base 121 connected to the lower left side of the leftmost base 1, a storage rack 122 for storing the middle plate is provided on the top of the base 121, a lifting mechanical arm 123 for pushing the middle plate upward is provided on the top of the base 121, and the lifting mechanical arm 123 includes a Z-axis moving platform 1231 connected to the top of the base 121, the Z-axis moving platform 1231 is located at the rear side of the storage rack 122, and a support plate 1232 for pushing the middle plate is connected to the slide of the Z-axis moving platform 1231, and the support plate 1232 can be driven to rise and fall by the Z-axis moving platform 1231. This is prior art and will not be described in detail here. The material storage rack 122 includes a stepper motor 1221 installed on the top of the base 121, and a tray 1222 for storing the middle plate is connected to the output shaft of the stepper motor 1221. The tray 1222 is located on the front side of the Z-axis moving platform 1231, and four through openings 1223 matching the support plate 1232 are circumferentially spaced apart on the tray 1222. Four groups of positioning rods 1224 are circumferentially spaced apart on the top of the tray 1222 for positioning the middle plate. The number of positioning rods 1224 in each group is eight, and the eight positioning rods 1224 in each group are distributed at circumferential intervals along the middle plate.

[0033] The middle plates to be stamped are stacked from bottom to top and placed between the eight positioning rods 1224 in each group. The middle plates can be positioned by the positioning rods 1224 to avoid collapse of the middle plates, ensuring that the subsequent middle plates can be smoothly pushed upward by the pallet 1232. The Z-axis moving platform 1231 is controlled to drive the pallet 1232 to move upward to push the middle plates upward, so that the suction cup 55 on the leftmost transport robot 5 can smoothly absorb the middle plates. When all the middle plates in a group of positioning rods 1224 have been loaded, first control the Z-axis moving platform 1231 to drive the pallet 1232 to move down and reset, and then control the stepper motor 1221 to drive the tray 1222 to rotate 90 degrees, thereby driving the upper middle plate to rotate 90 degrees, so as to rotate the middle plates in the next group of positioning rods 1224 to the position above the pallet 1232, ready for the next round of pushing operation. The storage rack 122 allows four groups of middle plates to be stored at one time without pausing to wait for the placement of new middle plates, thereby ensuring the continuity of the middle plate pushing work upward.

[0034] The above-mentioned embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those skilled in the art, several modifications, improvements and substitutions can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A handling manipulator for multi-station stamping of a mobile phone mid-plate, comprising a machine base (1), wherein four machine bases (1) are provided, an X-axis moving platform (2) is installed on the top of the leftmost machine base (1), and guide rails (3) are installed on the tops of the other three machine bases (1), slides (4) are provided on the guide rails (3) and the X-axis moving platform (2), two adjacent slides (4) are connected by a connecting plate (6), and a handling manipulator (5) is provided on the front side of each slide (4), characterized in that: The transport robot (5) comprises a lifting arm (51) and a telescopic arm (52), wherein the lifting arm (51) is arranged at the front side of the slide seat (4), and the lifting arm (51) is provided with a telescopic arm (52), the telescopic arms (52) on the leftmost and rightmost transport robots (5) are fixedly connected to the lifting arm (51), and the telescopic arms (52) on the middle two transport robots (5) are rotatably connected to the lifting arm (51), and the lifting arms (51) of the middle two transport robots (5) are equipped with a servo motor (53) for driving the telescopic arms (52) to rotate, and the telescopic end of the telescopic arm (52) is connected to a connecting pipe (54), and the bottom end of the connecting pipe (54) is connected to a A suction cup (55) is provided on the outer wall of the connecting pipe (54) of the other three handling manipulators (5) except the rightmost end, and a lifting L-shaped push plate (56) is provided for pushing the middle plate to move. The tops of the other three machine bases (1) except the rightmost end are provided with a correction mechanism, and the correction mechanism includes a workbench (71) connected to the top of the machine base (1), and the top of the workbench (71) is provided with two front and rear correction plates (72), the left side of the correction plate (72) is bent outward, and the workbench (71) is provided with an adjustment member (8) for adjusting the distance between the front and rear correction plates (72), and the left side of the leftmost machine base (1) is provided with a push-type manipulator (12) for pushing the middle plate upward.

2. A mobile phone mid-plate multi-station stamping handling robot according to claim 1, characterized in that: The lifting arm (51) comprises a cylinder (511) installed on the front side of the slide seat (4); a sliding block (513) is connected to the telescopic rod of the cylinder (511); a sliding rail (512) for guiding the sliding block (513) to move up and down is connected to the front side of the slide seat (4); and the telescopic arm (52) and the servo motor (53) are both connected to the sliding block (513).

3. A mobile phone mid-plate multi-station stamping handling robot according to claim 2, characterized in that: The telescopic arm (52) comprises a fixed arm (521) connected to a slider (513), a movable arm (522) is slidably connected inside the fixed arm (521), a fastening bolt (523) for locking the movable arm (522) is provided on the fixed arm (521), an output shaft of the servo motor (53) is connected to the fixed arm (521), and a connecting pipe (54) is connected to the movable arm (522).

4. A handling robot for multi-station stamping of mobile phone middle plate according to claim 3, characterized in that: The L-shaped push plate (56) comprises a slotted plate (561) slidably connected to the outer wall of the connecting tube (54); the slotted plate (561) is located between the telescopic arm (52) and the suction cup (55); a push plate (562) is slidably connected in the groove of the slotted plate (561); a screw rod (563) is rotatably connected to the slotted plate (561); and the screw rod (563) is threadedly connected to the push plate (562).

5. A mobile phone mid-plate multi-station stamping handling robot according to claim 4, characterized in that: The front side of the workbench (71) is connected to two left and right mounting plates (9), and position sensors 1 (10) are mounted on both mounting plates (9). The left position sensor 1 (10) corresponds to the outwardly bent area of ​​the correction plate (72), and the right position sensor 1 (10) corresponds to the horizontal area of ​​the correction plate (72). Position sensors 2 (11) are mounted at the bottom of the other two guide rails (3) except the rightmost end, and each position sensor 2 (11) is located between two adjacent workbenches (71).

6. A mobile phone mid-plate multi-station stamping handling robot according to claim 5, characterized in that: The adjusting member (8) comprises a bidirectional screw rod (81) and a slide plate (82). The top of the workbench (71) is slidably connected to two front and rear slide plates (82) via a slide groove. The two slide plates (82) are respectively connected to the two correction plates (72). A bidirectional screw rod (81) is threadedly connected between the two slide plates (82). The bidirectional screw rod (81) is rotatably connected to the machine base (1) directly below the bidirectional screw rod (81).

7. A mobile phone mid-plate multi-station stamping handling robot according to claim 6, characterized in that: The push-type manipulator (12) comprises a base (121) connected to the lower left side of the leftmost machine base (1); a storage rack (122) for storing the middle plate is provided on the top of the base (121); and a lifting mechanical arm (123) is provided on the top of the base (121) and is located at the rear side of the storage rack (122) and is used to push the middle plate upward.

8. A transport robot for multi-station stamping of mobile phone middle plate according to claim 7, characterized in that: The lifting mechanical arm (123) comprises a Z-axis moving platform (1231) connected to the top of the base (121), and a support plate (1232) for pushing the middle plate is connected to the slide of the Z-axis moving platform (1231).

9. A mobile phone mid-plate multi-station stamping handling robot according to claim 8, characterized in that: The material storage rack (122) includes a stepper motor (1221) installed on the top of the base (121); a tray (1222) for storing the middle plate is connected to the output shaft of the stepper motor (1221); four openings (1223) matching the support plate (1232) are spaced apart along the circumference on the tray (1222); four groups of positioning rods (1224) are spaced apart along the circumference on the top of the tray (1222) for positioning the middle plate.

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