Punching production line

Abstract

The invention discloses a stamping production line, and relates to the technical field of stamping, a workbench of the stamping production line is provided with a stamping position, a three-dimensional manipulator is arranged on one side or two sides of the stamping position, the three-dimensional manipulator comprises a frame body, a telescopic arm and a material taking mechanism, and the frame body ascends and descends relative to the stamping position; the telescopic arm is movably connected between the frame body and the material taking mechanism, the telescopic arm can rotate and stretch relative to the frame body, and the material taking mechanism can be close to the conveying mechanism along with stretching of the telescopic arm, so that a to-be-stamped part on the conveying mechanism can be clamped; the telescopic arm can also rotate and retract relative to the frame body, and the material taking mechanism can be away from the stamping position along with retraction of the telescopic arm, so that the to-be-stamped part can be put down and away from the stamping position; by means of the arrangement, the telescopic arm can be stored below the frame body, the occupied space is reduced, then the space occupied by the three-dimensional mechanical arm on a stamping production line is small, the to-be-stamped part of the larger specification can be placed in the space of the stamping production line, and the stamped part of the larger specification can be machined.

Description

Technical Field

[0001] The present invention relates to the field of stamping technology, and particularly relates to a stamping production line. Background Art

[0002] The manipulator of a traditional stamping production line needs to be provided with a relatively long straight arm so that the driving device can drive the straight arm to extend deep into the machine tool, and then the gripper on the straight arm is used to grip the sheet to be stamped inside the machine tool or place the sheet to be stamped under the stamping mechanism. Then, the driving device drives the straight arm to move from inside the machine tool to outside the machine tool to prevent the stamping mechanism from pressing on the manipulator when pressing the sheet to be stamped.

[0003] In the actual production process, due to the overly long straight arm of the manipulator, which occupies a large space and the space of the stamping production line is limited, it is necessary to reduce the size of the sheet to be stamped in order to install the manipulator in the limited space. Summary of the Invention

[0004] The main object of the present invention is to provide a stamping production line, aiming to solve the problem that the straight arm of the manipulator of a traditional stamping production line is relatively long and occupies a large space, resulting in the need to reduce the size of the sheet to be stamped.

[0005] To achieve the above object, the stamping production line proposed by the present invention includes:

[0006] A workbench, which is provided with a stamping position;

[0007] A transportation mechanism, which is arranged on the workbench and is used to move the workpiece to be stamped in the direction of the stamping position;

[0008] A three-dimensional manipulator, which is arranged on the workbench and is located on one side or both sides of the stamping position. The three-dimensional manipulator includes a frame, a telescopic arm and a material taking mechanism. The frame is arranged on the side of the stamping position and the frame moves up and down relative to the stamping position; the telescopic arm is movably connected between the frame and the material taking mechanism, and the telescopic arm rotates and extends relative to the frame to drive the material taking mechanism to extend towards the transportation mechanism, and the material taking mechanism abuts against the workpiece to be stamped on the transportation mechanism; or the telescopic arm rotates and retracts relative to the frame to drive the material taking mechanism to rotate and retract towards the frame, and the material taking mechanism disengages from the workpiece to be stamped at the stamping position;

[0009] A stamping mechanism, which is arranged on the workbench and is used to process the workpiece to be stamped at the stamping position.

[0010] In one embodiment, the telescopic arm has a first rotating arm movably connected to the frame body and a second rotating arm movably connected to the material taking mechanism; the second rotating arm rotates and extends relative to the first rotating arm so that the material taking mechanism extends towards the workbench; or the second rotating arm rotates and folds relative to the first rotating arm so that the material taking mechanism retracts towards the frame body.

[0011] In one embodiment, the material taking mechanism includes a transverse movement mechanism and a material taking assembly. The transverse movement mechanism moves relative to the frame body along the length direction of the workbench, and the material taking assembly is detachably mounted on the transverse movement mechanism;

[0012] The three-dimensional manipulator further includes a quick-change structure. The quick-change structure has a first docking structure mounted on the transverse movement mechanism and a second docking structure mounted on the material taking assembly. The first docking structure is connected to the second docking structure so that the transverse movement mechanism is connected to the material taking assembly.

[0013] In one embodiment, the transverse movement mechanism includes a moving beam, a slide rail, a sliding part, a fixing part, a driving device, a rack and a gear. The moving beam is provided with a slide rail and a rack. The rack is arranged to avoid the slide rail. The fixing part is movably mounted on the slide rail. The fixing part is provided with a sliding part slidably connected to the slide rail. On the side of the fixing part facing away from the moving beam, the driving device is fixedly mounted. The output end of the driving device extends to the inside of the fixing part and is fixedly mounted with a gear. The gear is meshed and connected with the rack;

[0014] The material taking assembly includes a connecting rod and a plurality of material taking hands. The plurality of material taking hands are mounted on the connecting rod;

[0015] The first docking structure is mounted on the side of the moving beam facing the connecting rod, and the second docking structure is mounted on the connecting rod and is arranged corresponding to the second docking structure.

[0016] In one embodiment, the stamping production line further includes a feeding mechanism. The feeding mechanism is located on one side of the workbench, and the feeding mechanism places the workpieces to be stamped;

[0017] The transportation mechanism includes a blanking manipulator and a feeding slide table. The feeding slide table is movably mounted on the workbench. The blanking manipulator is located between the feeding mechanism and the feeding slide table and moves relative to the feeding mechanism towards the feeding slide table to transport the workpieces to be stamped on the feeding mechanism to the feeding slide table; the feeding slide table moves relative to the feeding mechanism along the direction of the stamping position to drive the workpieces to be stamped to move towards the stamping position.

[0018] In one embodiment, the feeding mechanism includes a lifting assembly, a placing table, and a plurality of magnetic layer separators. The placing table is provided with a plurality of workpieces to be stamped. The plurality of magnetic layer separators are arranged on the placing table and surround the plurality of workpieces to be stamped. The lifting mechanism is used to lift the placing table so as to lift the plurality of workpieces to be stamped and the plurality of magnetic layer separators. The magnetic layer separator includes a positioning frame and a magnetic member. The positioning frame is arranged on the placing table. The magnetic member is movably installed on the positioning frame and moves up and down on the positioning frame to adsorb the workpiece to be stamped and drive the workpiece to be stamped to move up and down.

[0019] In one embodiment, the feeding mechanism further includes a sensor. The sensor is arranged on the placing table and faces the workpiece to be stamped. The sensor is electrically connected to the plurality of magnetic layer separators and is used to sense the workpiece to be stamped.

[0020] In one embodiment, the stamping production line further includes a feeding mechanism and a shearing machine. The shearing machine is arranged on one side of the feeding slide away from the stamping position and is used to cut the workpiece to be stamped. The feeding mechanism is arranged between the shearing machine and the feeding slide and is used to transport the cut workpiece to be stamped to the feeding slide.

[0021] In one embodiment, the feeding mechanism has a conveying surface. The shearing machine includes an upper tool rest and a lower tool rest. The surface of the lower tool rest facing the upper tool rest is in the same plane as the conveying surface. The upper tool rest is arranged above the lower tool rest to cut the workpiece to be stamped.

[0022] In one embodiment, the feeding mechanism includes a first feeding mechanism and a second feeding mechanism, which are respectively arranged on both sides of the workbench;

[0023] The blanking manipulator includes a mounting frame and a material fixing hand. The mounting frame straddles the first feeding mechanism and the second feeding mechanism. The material fixing hand moves along the width direction of the workbench on the mounting frame to fix the workpiece to be stamped on the first feeding mechanism and transport it to the feeding slide, or to fix the workpiece to be stamped on the second feeding mechanism to the feeding slide.

[0024] In one embodiment, the blanking manipulator further includes a first driving motor, an extension frame, and a sliding frame. The material fixing hand is movably installed on the extension frame, and the extension frame is vertically and movably installed on the sliding frame. The mounting frame is provided with a guide rail, and the sliding frame is slidably connected to the guide rail of the mounting frame. The first driving motor is arranged on the sliding frame to drive the sliding frame to slide on the mounting frame, and further drive the material fixing hand on the extension frame to slide;

[0025] The feeding manipulator further includes a second driving motor, a sliding frame, a rotating gear and a fixed rack. The second driving motor is arranged on the sliding frame, the fixed rack is arranged on the extension frame, the output end of the driving motor is connected to the rotating gear, the rotating gear is meshed and connected with the fixed rack, the second driving motor drives the rotating gear to rotate, and the rotating gear is in meshing transmission with the fixed rack to drive the extension frame to move up and down on the sliding frame.

[0026] In one embodiment, the feeding slide includes a track and a receiving body. The track extends along the length direction of the workbench, the receiving body is slidably connected to the track, and the receiving body is used for receiving the workpiece to be punched and moving along the length direction of the workbench on the track.

[0027] The technical solution of the present invention is to provide a three-dimensional manipulator on one side or both sides of the stamping position of the workbench. The three-dimensional manipulator includes a frame body, a telescopic arm and a material taking mechanism. The frame body moves up and down relative to the stamping position; the telescopic arm is movably connected between the frame body and the material taking mechanism, and the telescopic arm rotates and extends relative to the frame body. The telescopic arm can rotate and extend relative to the frame body. The material taking mechanism can approach the transportation mechanism as the telescopic arm extends, and thus can clamp the workpiece to be punched on the transportation mechanism. The telescopic arm can also rotate and retract relative to the frame body, and the material taking mechanism can move away from the stamping position as the telescopic arm retracts, and thus can put down the workpiece to be punched and move away from the stamping position. With such a setting, the three-dimensional manipulator realizes material taking and material discharging through the telescopic arm and the material taking mechanism. The telescopic arm can be stored in the frame body, reducing the occupied space. Furthermore, the space occupied by the three-dimensional manipulator in the stamping production line is small, and workpieces to be punched with larger specifications can be placed in the space of the stamping production line to process workpieces with larger specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0029] Figure 1 It is a schematic structural diagram of an embodiment of the stamping production line provided by the present invention;

[0030] Figure 2 It is a schematic structural diagram of an embodiment of the three-dimensional manipulator in the stamping production line provided by the present invention;

[0031] Figure 3 It is a schematic structural diagram of an embodiment of the telescopic arm in the stamping production line provided by the present invention;

[0032] Figure 4 Schematic exploded view of an embodiment of the telescopic arm in the stamping production line provided by the present invention;

[0033] Figure 5 Schematic exploded view of an embodiment of the material taking mechanism in the stamping production line provided by the present invention;

[0034] Figure 6 Schematic exploded view of an embodiment of the material taking mechanism in another perspective in the stamping production line provided by the present invention;

[0035] Figure 7 Schematic view of an embodiment of the frame and Z-axis mechanism in the stamping production line provided by the present invention;

[0036] Figure 8 Schematic exploded view of an embodiment of the frame and Z-axis mechanism in the stamping production line provided by the present invention;

[0037] Figure 9 Schematic exploded view of an embodiment of the frame and Z-axis mechanism in another perspective in the stamping production line provided by the present invention;

[0038] Figure 10 Schematic view of an embodiment of the blanking manipulator in the stamping production line provided by the present invention;

[0039] Figure 11 Schematic view of an embodiment of the feeding slide in the stamping production line provided by the present invention;

[0040] Figure 12 Schematic view of an embodiment of the feeding mechanism in the stamping production line provided by the present invention;

[0041] Figure 13 Schematic exploded view of an embodiment of the feeding mechanism in the stamping production line provided by the present invention;

[0042] Figure 14 Schematic view of an embodiment of the magnetic stratifier in the stamping production line provided by the present invention;

[0043] Figure 15 Schematic view of an embodiment of the shearing machine and feeding mechanism in the stamping production line provided by the present invention.

[0044] Explanation of the reference numerals in the drawings:

[0045] 100, stamping production line; 11, stamping position; 20, transportation mechanism; 21, material unloading manipulator; 210, mounting frame; 211, material fixing hand; 212, first drive motor; 213, second drive motor; 214, sliding frame; 215, rotating gear; 216, fixed rack; 217, extension frame; 218, guide rail; 22, feeding slide; 220, track; 221, receiving body; 222, lifting part; 223, material clamping hand;

[0046] 30. Three-dimensional manipulator; 31. Frame; 32. Z-axis mechanism; 320. Fixed crossbeam; 321. Fixed mounting plate; 322. Lifting track; 323. Rack B; 324. Lifting motor; 325. Lifting slide; 326. Driving gear; 327. Positioning gear;

[0047] 33, telescopic arm; 331, first rotating arm; 332, second rotating arm; 333, sleeve seat A; 334, motor assembly A; 3340, reduction motor A; 3341, joint drive motor A; 335, motor assembly B; 3350, reduction motor B; 3351, joint drive motor B; 336, sleeve seat B;

[0048] 34. Material taking mechanism; 341. Transverse movement mechanism; 3410. Moving beam; 3411. Slide rail; 3412. Sliding part; 3413. Fixed part; 3414. Driving device; 3415. Rack; 3416. Gear; 342. Material taking assembly; 3420. Connecting rod; 3421. Material taking hand; 35. Quick change structure; 351. First docking structure; 352. Second docking structure;

[0049] 40. Feeding mechanism; 41. Lifting assembly; 42. Placing table; 43. Magnetic layering device; 430. Positioning frame; 431. Magnetic member; 44. Sensor; 45. First feeding mechanism; 46. Second feeding mechanism;

[0050] 50. Feeding mechanism; 51. Conveying surface; 60. Shearing machine; 61. Upper knife holder; 62. Lower knife holder.

[0051] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0053] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0054] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0055] The manipulator of the traditional stamping production line 100 needs to be provided with a relatively long straight arm so that the driving device 3414 can drive the straight arm to extend deep into the machine tool, and then use the gripper on the straight arm to grip the sheet to be stamped inside the machine tool or place the sheet to be stamped under the stamping mechanism. Then, the driving device 3414 drives the straight arm to move from inside the machine tool to the outside of the machine tool to prevent the stamping mechanism from pressing on the manipulator when pressing the sheet to be stamped.

[0056] In the actual production process, due to the overly long straight arm of the manipulator, which occupies a large space and the space of the stamping production line 100 is limited, it is only possible to reduce the size of the sheet to be stamped in order to install the manipulator in the limited space.

[0057] The present invention provides a stamping production line 100. Please refer to Figures 1 to 3 , in an embodiment of the present invention, the stamping production line 100 provided by the present invention includes:

[0058] A workbench, the workbench is provided with a stamping position 11;

[0059] A transport mechanism 20, the transport mechanism 20 is arranged on the workbench and is used to move the workpiece to be stamped in the direction of the stamping position 11;

[0060] Three-dimensional manipulator 30, the three-dimensional manipulator 30 is arranged on the workbench and is located on one side or both sides of the stamping position 11. The three-dimensional manipulator 30 includes a frame body 31, a telescopic arm 33 and a material taking mechanism 34. The frame body 31 is arranged on the side of the stamping position 11, and the frame body 31 moves up and down relative to the stamping position 11; the telescopic arm 33 is movably connected between the frame body 31 and the material taking mechanism 34. The telescopic arm 33 rotates and extends relative to the frame body 31 to drive the material taking mechanism 34 to extend towards the direction of the transportation mechanism 20, and the material taking mechanism 34 abuts against the workpiece to be stamped on the transportation mechanism 20; or the telescopic arm 33 rotates and retracts relative to the frame body 31 to drive the material taking mechanism 34 to rotate and retract towards the direction of the frame body 31, and the material taking mechanism 34 disengages from the workpiece to be stamped at the stamping position 11.

[0061] Stamping mechanism, the stamping mechanism is arranged on the workbench, and the stamping mechanism is used for processing the workpiece to be stamped at the stamping position 11.

[0062] Among them, please refer to Figure 1 、 Figure 7 、 Figure 8 and Figure 9 The frame body 31 of the three-dimensional manipulator 30 can be installed on the Z-axis mechanism 32. The Z-axis mechanism 32 includes a fixed cross beam 320, a fixed mounting back plate 321, a lifting track 322, a lifting slide block 325, a rack B 323, a driving gear 326, a positioning gear 327, and a lifting motor 324. The fixed mounting back plate 321 is fixedly installed on the fixed cross beam 320. The lifting track 322 is installed on the frame body 31. The lifting slide block 325 connected to the lifting track 322 is arranged on the fixed mounting back plate 321. The rack B 323 is fixedly arranged inside the frame body 31. The positioning gear 327 is fixedly arranged inside the fixed mounting back plate 321. The lifting motor 324 is fixedly installed outside the fixed mounting back plate 321. The output end of the lifting motor 324 extends to the inside of the fixed mounting back plate 321 and is installed with the driving gear 326. The driving gear 326 is meshed and connected with the rack B 323 and the positioning gear 327.

[0063] The specific operation mode of the Z-axis mechanism 32 is as follows: The fixed cross beam 320 is fixedly installed. The frame body 31 is connected to the fixed cross beam 320 through the fixed mounting back plate 321. The lifting of the frame body 31 is specifically realized by the cooperation of the lifting slide block 325 fixed on the fixed mounting back plate 321 and the lifting track 322 fixed on the frame body 31, so that the frame body 31 can move up and down in the Z-axis direction.

[0064] Optionally, the material taking mechanism 34 can be a suction hand to adsorb the workpiece to be punched. The material taking mechanism 34 can also be a clamping hand to clamp and fix the workpiece to be punched. The material taking mechanism 34 can also be two plate structures that lift the punched part from left and right sides.

[0065] The technical solution of the present invention is to provide a three-dimensional manipulator 30 on one side or both sides of the punching position 11 of the workbench. Please refer to Figure 1 and Figure 2 , the three-dimensional manipulator 30 includes a frame body 31, a telescopic arm 33 and a material taking mechanism 34. The frame body 31 moves up and down relative to the punching position 11; the telescopic arm 33 is movably connected between the frame body 31 and the material taking mechanism 34. The telescopic arm 33 rotates and extends relative to the frame body 31. The telescopic arm 33 can rotate and extend relative to the frame body 31. The material taking mechanism 34 can approach the transportation mechanism 20 as the telescopic arm 33 extends, and then can clamp the workpiece to be punched on the transportation mechanism 20; the telescopic arm 33 can also rotate and retract relative to the frame body 31. The material taking mechanism 34 can move away from the punching position 11 as the telescopic arm 33 retracts, and then can put down the workpiece to be punched and move away from the punching position 11. With such a setting, the three-dimensional manipulator 30 realizes material taking and placing through the telescopic arm 33 and the material taking mechanism 34. The telescopic arm 33 can be accommodated in the frame body 31, reducing the occupied space. Furthermore, the three-dimensional manipulator 30 occupies a smaller space in the punching production line 100, and larger-sized workpieces to be punched can be placed in the space of the punching production line 100 to process larger-sized punched parts.

[0066] It can be understood that the existing manipulator is provided with a relatively long straight arm. During the operation of the punching production line 100, it is often necessary to first move the straight arm from the outside of the machine tool back to the inside of the machine tool for material taking and material moving; then, the straight arm needs to be moved from the inside of the machine tool to the outside of the machine tool to prevent the punching mechanism from pressing on the manipulator when pressing the workpiece to be punched. That is, the straight arm of the existing manipulator needs to move from the outside of the machine tool to the inside of the machine tool and then from the inside of the machine tool to the outside of the machine tool. The overall movement range of the straight arm is very large, the working time of the manipulator becomes longer, and the subsequent punching process of the punching mechanism also needs to wait for the time when the straight arm extends for material taking, placing and moving away, resulting in low punching efficiency of the punching production line 100.

[0067] In contrast, in one embodiment, the three-dimensional manipulator 30 of the present invention can be arranged on the workbench. The entire working process of the three-dimensional manipulator 30 can be carried out on the workbench. The telescopic arm 33 and the material taking mechanism 34 do not need to move from the outside of the workbench to the inside of the workbench or from the inside of the workbench to the outside of the workbench. The efficiency of the three-dimensional manipulator 30 for taking and placing materials on the workbench is greatly improved. Moreover, the stamping mechanism of the present application does not need to spend a long time waiting for the three-dimensional manipulator 30 to move from the inside of the workbench to the outside of the workbench and then move back from the outside of the workbench to the inside of the workbench, thereby improving the stamping efficiency.

[0068] Furthermore, the telescopic arm 33 of the three-dimensional manipulator 30 of the present invention can be retracted below the frame body 31, so that the three-dimensional manipulator 30 occupies a small space, and larger-sized workpieces to be stamped can be placed in the space of the stamping production line 100 to process larger-sized stamped parts.

[0069] Specifically, in one embodiment, please refer to Figures 1 to 4 , the telescopic arm 33 has a first rotating arm 331 movably connected to the frame body 31 and a second rotating arm 332 movably connected to the material taking mechanism 34; the second rotating arm 332 rotates and extends relative to the first rotating arm 331 to make the material taking mechanism 34 extend towards the workbench; or the second rotating arm 332 rotates and folds relative to the first rotating arm 331 to make the material taking mechanism 34 retract towards the frame body 31.

[0070] The telescopic arm 33 can be a Y-axis mechanism. Please refer to Figure 4, the Y-axis mechanism includes the first rotating arm 331, the sleeve seat A 333, the motor assembly A 334, the second rotating arm 332, the motor assembly B 335, the sleeve seat B 336 and the mounting seat; the motor assembly A 334 is used to drive the second rotating arm 332 to rotate, and the motor assembly A 334 includes a reduction motor A 3340 and a joint drive motor A 3341; the motor assembly B 335 is used to drive the first rotating arm 331 to rotate, and the motor assembly B 335 includes a reduction motor B 3350 and a joint drive motor B 3351; the first end of the first rotating arm 331 is fixedly connected to the top of the fixed frame, the second end of the first rotating arm 331 is fixedly connected to the sleeve seat A 333, and both ends of the second rotating arm 332 are fixedly connected with sleeve seats B 336. The lower output end of the reduction motor A 3340 is fixedly connected to the inside of the sleeve seat A 333, and the upper input end of the reduction motor A 3340 is fixedly connected to the sleeve seat B 336 at the first end of the second rotating arm 332. The joint drive motor A 3341 is fixedly installed on the joint telescopic shaft B, and the output end of the joint drive motor A 3341 is rotationally connected to the reduction motor A 3340. The joint drive motor B 3351 is fixedly installed on the mounting seat. The lower output end of the joint drive motor B 3351 and the reduction motor B 3350 is fixedly connected to the sleeve seat B 336 at the second end of the second rotating arm 332, the upper output end of the reduction motor B 3350 is connected to the bottom of the mounting seat, and the output end of the joint drive motor B 3351 is in transmission connection with the reduction motor B 3350.

[0071] The specific operation mode of the Y-axis mechanism is as follows: the joint drive motor B 3351 drives the reduction motor B 3350 to rotate, and the sleeve seat B 336 fixedly connected to the bottom of the reduction motor B 3350 drives the second rotating arm 332 to rotate synchronously. Similarly, the joint drive motor A 3341 finally drives the first rotating arm 331 to rotate. When the second rotating arm 332 rotates counterclockwise and the joint drive motor A 3341 rotates clockwise, the end of the joint drive motor A 3341 approaches the direction of the joint drive motor B 3351, and finally the X-axis mechanism fixed to the end of the joint drive motor A 3341 realizes the forward and backward movement in the Y-axis direction.

[0072] In an embodiment, the first rotating arm 331 rotates and extends in the direction of the feeding slide 22 on the frame 31, and the second rotating arm 332 rotates and extends at an angle with the second rotating arm 332 below, thereby driving the material taking mechanism 34 to extend towards the feeding slide 22, and the material taking mechanism 34 can clamp the workpiece to be punched on the feeding slide 22.

[0073] The three - dimensional manipulator 30 can extend the material - taking mechanism 34 forward in the direction of the feeding slide 22 by rotating and stretching the first rotating arm 331 and the second rotating arm 332, so that the material - taking mechanism 34 can clamp the workpiece to be stamped on the feeding slide 22, and the three - dimensional manipulator 30 completes the material - taking operation.

[0074] The material - taking mechanism 34 of the three - dimensional manipulator 30 can move horizontally in the direction of the stamping position 11. When the material - taking mechanism 34 clamps the workpiece to be stamped at the stamping position 11, the first rotating arm 331 and the second rotating arm 332 of the three - dimensional manipulator 30 can be driven to rotate and retract in the direction of the frame 31. When the first rotating arm 331 and the second rotating arm 332 are folded under the frame 31, the distance between the material - taking mechanism 34 connected to the second rotating arm 332 and the frame 31 is reduced, and the distance between the material - taking mechanism 34 and the stamping position 11 or the feeding slide 22 is increased. The material - taking mechanism 34 no longer abuts against the workpiece to be stamped. In this way, it can be avoided that the workpiece to be stamped is pressed down by the stamping mechanism onto the material - taking mechanism 34.

[0075] Since the straight arm of the existing manipulator needs to move from the outside of the machine tool to the inside of the machine tool and then from the inside of the machine tool to the outside of the machine tool, a relatively large transmission mechanism needs to be installed on the manipulator to drive the straight arm to move. The transmission mechanism and the straight arm occupy a large space, which is not conducive to reducing the size of the stamping production line 100. There is also not much space on the stamping production line 100 to place larger - sized workpieces to be stamped, thereby restricting the size of the workpieces to be stamped.

[0076] In contrast, the first rotating arm 331 and the second rotating arm 332 of the present application can be rotated respectively through the motor assembly A334 and the motor assembly B335, without the need for a large - sized transmission mechanism. The three - dimensional manipulator 30 of the present application occupies a small space, which is convenient for the design of reducing the size of the stamping production line 100. And there is more space on the stamping production line 100 to place larger - sized workpieces to be stamped, thereby facilitating the processing of larger - sized workpieces to be stamped.

[0077] In one embodiment, the workpiece to be stamped is a plate structure. Further, three-dimensional manipulators 30 are installed on both sides of the stamping position 11. When it is necessary to clamp the workpiece to be stamped on the feeding slide 22, the telescopic arms 33 of the two three-dimensional manipulators 30 rotate and extend: the first rotating arm 331 and the second rotating arm 332 of the telescopic arm 33 on the left side of the stamping position 11 extend to the right, and the first rotating arm 331 and the second rotating arm 332 of the telescopic arm 33 on the right side of the stamping position 11 extend to the left. At this time, the distance between the material taking mechanism 34 on the left side of the stamping position 11 and the material taking mechanism 34 on the right side of the stamping position 11 is reduced, and the two material taking mechanisms 34 can abut against the workpiece to be stamped on the feeding slide 22. Then, the frame 31 rises through the Z-axis mechanism 32 so that the two material taking mechanisms 34 lift the workpiece to be stamped, thereby separating the workpiece to be stamped from the feeding slide 22, and the two three-dimensional manipulators 30 complete the material taking step. Then, the two three-dimensional manipulators 30 can move together in the direction of the stamping position 11 to transport the workpiece to be stamped to the stamping position 11. When the two three-dimensional manipulators 30 reach the stamping position 11, the first rotating arm 331 and the second rotating arm 332 of the two telescopic arms 33 rotate and retract under the frame 31, thereby increasing the distance between the two material taking mechanisms 34, and the workpiece to be stamped can fall from the two material taking mechanisms 34 and then fall into the stamping position 11. The stamping mechanism is activated, and the stamping mechanism descends to process the workpiece to be stamped at the stamping position 11.

[0078] Since the material taking mechanism 34 of the three-dimensional manipulator 30 of the present application can directly extend and retract through the telescopic arm 33, without spending time waiting for the telescopic arm 33 to extend from the outside of the workbench to the inside of the workbench, the material taking and placing rates are improved. The telescopic arm 33 does not require a large transmission mechanism for driving and transmission, and can retract into the frame 31, so that the telescopic arm 33 occupies a small space, and the saved space can be used to expand the stamping position 11 of the stamping production line 100, and then larger-sized workpieces to be stamped can be placed, which is convenient for the stamping production line 100 to process larger-sized workpieces to be stamped. It can be understood that the three-dimensional manipulator 30 reduces the overall length of the three-dimensional manipulator 30 to 50% of that of the traditional straight arm through the folding and storage method of the telescopic arm 33.

[0079] In order to drive the material taking mechanism 34 to extend or retract smoothly, the number of telescopic arms 33 installed on the three-dimensional robotic arm is two, and both of the two telescopic arms 33 are provided with a first rotating arm 331 and a second rotating arm 332. Among them, the two telescopic arms 33 are arranged oppositely, and the two telescopic arms 33 rotate and extend together to drive the material taking mechanism 34 to extend forward smoothly; the two telescopic arms 33 rotate and retract together to drive the material taking mechanism 34 to retract smoothly.

[0080] In one embodiment, see Figure 2 , Figure 5 and Figure 6 The material picking mechanism 34 includes a transverse movement mechanism 341 and a material picking assembly 342. The transverse movement mechanism 341 moves along the length direction of the workbench relative to the frame 31, and the material picking assembly 342 is detachably mounted on the transverse movement mechanism 341.

[0081] The material picking mechanism 34 may be an X-axis mechanism, which can move on the workbench relative to the frame 31 along the length direction of the workbench. The X-axis mechanism includes a transverse movement mechanism 341 and a material picking assembly 342. The transverse movement mechanism 341 moves on the workbench along the length direction of the workbench to drive the material picking assembly 342 to move, and then can drive the material picking assembly 342 to reciprocate between the stamping position 11 and the feeding slide 22.

[0082] Specifically, the transverse movement mechanism 341 can move from the feeding slide 22 to the stamping position 11 to drive the material picking component 342 to move to the stamping position 11 and put it down after the feeding slide 22 absorbs the part to be stamped; thereafter, the transverse movement mechanism 341 can move from the stamping position 11 to the feeding slide 22 to drive the material picking component 342 to leave the stamping position 11 and move to the feeding slide 22 to absorb the next part to be stamped.

[0083] In one embodiment, see Figure 5 and Figure 6 The transverse movement mechanism 341 includes a moving beam 3410, a slide rail 3411, a sliding part 3412, a fixed part 3413, a driving device 3414, a rack 3415 and a gear 3416. The moving beam 3410 is equipped with a slide rail 3411 and a rack 3415. The rack 3415 is arranged to avoid the slide rail 3411. The fixed part 3413 is connected to the slide rail 3411 through a sliding part. The driving device 3414 is fixedly installed on the side of the fixed part 3413 away from the moving beam 3410. The output end of the driving device 3414 extends to the inner side of the fixed part 3413 and is fixedly installed with a gear 3416. The gear 3416 is meshed and connected with the rack 3415. Specifically, the fixed portion 3413 is provided with a sliding portion 3412, and the movable beam 3410 is provided with a slide rail 3411 corresponding to the sliding portion 3412, so that the movable beam 3410 can move on the fixed portion 3413. The driving device 3414 is a motor.

[0084] The specific operation mode of the lateral movement mechanism 341 is as follows: The driving motor drives the gear 3416 to rotate. The gear 3416 is in a meshing state with the rack 3415, causing the rack 3415 to move left and right. The rack 3415 is fixed to the moving beam 3410, enabling the moving beam 3410 to move in the left and right X-axis directions. Moreover, the cooperation between the sliding part 3412 and the slide rail 3411 allows the moving beam 3410 to slide. Since the material taking component 342 is fixedly connected to the moving beam 3410, the left and right movement of the moving beam 3410 can be controlled to control the left and right movement of the material taking component 342, so that the material taking component 342 can move into place and pick up the workpieces to be punched.

[0085] In one embodiment, please refer to Figure 5 and Figure 6 , the material taking component 342 includes a connecting rod 3420 and a plurality of material taking hands 3421, and the plurality of material taking hands 3421 are installed on the connecting rod 3420. Among them, the material taking hand 3421 can be an end effector. A plurality of end effectors are installed on the connecting rod 3420 through mounting parts, and the connecting rod 3420 is connected to the moving beam 3410, so that the plurality of end effectors can move synchronously with the lateral movement mechanism 341, and further enable the plurality of end effectors to reciprocate between the feeding slide table 22 and the punching position 11.

[0086] Furthermore, please refer to Figure 5 , to facilitate the replacement of different styles of the material taking component 342 to adapt to different specifications of the workpieces to be punched, the three-dimensional manipulator 30 further includes a quick-change structure 35. The quick-change structure 35 has a first docking structure 351 installed on the lateral movement mechanism 341 and a second docking structure 352 installed on the material taking component 342. The first docking structure 351 is connected to the second docking structure 352 to connect the lateral movement mechanism 341 to the material taking component 342.

[0087] Among them, the first docking structure 351 and the second docking structure 352 can be docked by means of mutual magnetic attraction; they can also be locked to each other by means of snap connection.

[0088] Specifically, the first docking structure 351 is installed on the side of the moving beam 3410 facing the connecting rod 3420, and the second docking structure 352 is installed on the connecting rod 3420 and is arranged corresponding to the second docking structure 352.

[0089] When the old material taking component 342 needs to be replaced and repaired, or when other material taking components 342 need to be replaced, the first docking structure 351 on the connecting rod 3420 can be separated from the second docking structure 352 on the old material taking component 342, and then the first docking mechanism can be combined with the second docking mechanism on the new material taking component 342 to achieve the operation of quickly replacing the material taking component 342. The cross-moving mechanism 341 of the present invention can be docked with the second docking structure 352 of different styles of material taking components 342 through the first docking structure 351, so that the material taking component 342 is convenient to disassemble and install, and the cross-moving mechanism 341 is adapted to different material taking components 342.

[0090] Please refer to Figure 1 , the cross-moving mechanism 341 on the left side of the three-dimensional manipulator 30 can be connected to the second docking structure 352 of the material taking component 342 on the other side through the first docking structure 351, so that the cross-moving mechanism 341 on the left side can be connected to the material taking component 342 on the right side. In this way, the position of the three-dimensional manipulator 30 on the left side is transferred to the right side to pick and place the workpieces to be stamped on the feeding slide 22 at the right stamping position 11. Without moving and disassembling the entire three-dimensional manipulator 30, the position transfer of the three-dimensional manipulator 30 can be realized, thereby improving the assembly and disassembly efficiency. And one three-dimensional manipulator 30 can be adapted to different stamping positions 11.

[0091] In an embodiment, please refer to Figure 12 and Figure 13 , the stamping production line 100 further includes a feeding mechanism 40, the feeding mechanism 40 is located on one side of the workbench, and the feeding mechanism 40 places the workpieces to be stamped.

[0092] Specifically, the feeding mechanism 40 places a plurality of workpieces to be stamped, the feeding mechanism 40 is arranged on one side of the workbench, please refer to Figure 10 and Figure 11 , the transportation mechanism 20 includes a blanking manipulator 21 and a feeding slide 22, the feeding slide 22 is movably installed on the workbench, the blanking manipulator 21 is located between the feeding mechanism 40 and the feeding slide 22, and moves relative to the feeding mechanism 40 in the direction of the feeding slide to transport the workpieces to be stamped on the feeding mechanism 40 to the feeding slide 22; the feeding slide 22 moves relative to the feeding mechanism 40 in the direction of the stamping position 11 to drive the workpieces to be stamped in the direction of the stamping position 11.

[0093] In an embodiment, please refer to Figure 1 , Figure 12 and Figure 13, the feeding mechanism 40 includes a first feeding mechanism 45 and a second feeding mechanism 46, and the first feeding mechanism 45 and the second feeding mechanism 46 are respectively arranged on both sides of the workbench. The blanking manipulator 21 includes a mounting frame 210 and a material fixing hand 211. The mounting frame 210 straddles the first feeding mechanism 45 and the second feeding mechanism 46; the material fixing hand 211 moves along the width direction of the workbench on the mounting frame 210 to fix the workpiece to be stamped on the first feeding mechanism 45 and transport it to the feeding slide 22, or to fix the workpiece to be stamped on the second feeding mechanism 46 and transport it to the feeding slide 22.

[0094] The stamping production line 100 of the present invention is provided with a first feeding mechanism 45 and a second feeding mechanism 46. The blanking manipulator 21 can alternately feed between the first feeding mechanism 45 and the second feeding mechanism 46 to reduce the time of waiting for the first feeding mechanism 45 to feed or reduce the time of waiting for the second feeding mechanism 46 to feed.

[0095] Specifically, in an embodiment, the blanking manipulator 21 further includes a first driving motor 212, an extension frame 217 and a sliding frame 214. The material fixing hand 211 is movably installed on the extension frame 217, and the extension frame 217 is vertically movably installed on the sliding frame 214; the mounting frame 210 is provided with a guide rail 218, and the sliding frame 214 is slidably connected to the guide rail 218 of the mounting frame 210; the first driving motor 212 is arranged on the sliding frame 214 to drive the sliding frame 214 to slide on the mounting frame 210, and further drive the material fixing hand 211 on the extension frame 217 to slide;

[0096] Please refer to Figure 10 , the blanking manipulator 21 further includes a second driving motor 213, a sliding frame 214, a rotating gear 215 and a fixed rack 216. The second driving motor 213 is arranged on the sliding frame 214, the fixed rack 216 is arranged on the extension frame 217, the output end of the driving motor is connected to the rotating gear 215, and the rotating gear 215 is meshed and connected to the fixed rack 216. Since the extension frame 217 is vertically movably installed on the sliding frame 214, the second driving motor 213 can drive the rotating gear 215 to rotate and drive the extension frame 217 to move up and down on the sliding frame 214 through the meshing transmission between the rotating gear 215 and the fixed rack 216.

[0097] Further, please refer to Figure 11, the feeding slide table 22 described in 3 includes a track 220 and a receiving body 221. The track 220 extends along the length direction of the workbench. The receiving body 221 is slidably connected to the track 220. The receiving body 221 is used to receive the workpiece to be stamped and move along the length direction of the workbench on the track 220.

[0098] In one embodiment, the feeding slide table 22 is arranged on the workbench, and three-dimensional manipulators 30 are installed on both sides of the feeding slide table 22 so that the three-dimensional manipulators 30 can transfer the workpiece to be stamped on the feeding slide table 22 to the stamping position 11.

[0099] In one embodiment, please refer to Figure 11 , the feeding mechanism 40 includes a lifting assembly 41, a placement table 42 and a plurality of magnetic layer separators 43. A plurality of workpieces to be stamped are placed on the placement table 42. The plurality of magnetic layer separators 43 are arranged on the placement table 42 and surround the plurality of workpieces to be stamped. The lifting mechanism is used to lift the placement table 42 to lift the plurality of workpieces to be stamped and the plurality of magnetic layer separators 43; please refer to Figures 12 to 14 , the magnetic layer separator 43 includes a positioning frame 430 and a magnetic member 431. The positioning frame 430 is arranged on the placement table 42. The magnetic member 431 is movably installed on the positioning frame 430 and moves up and down on the positioning frame 430 to adsorb the workpiece to be stamped and drive the workpiece to be stamped to move up and down.

[0100] Specifically, the lifting assembly 41 is arranged at the bottom of the placement table 42. The lifting assembly 41 is provided with a lifting cylinder. The output end of the lifting cylinder is connected to the placement table 42. The lifting cylinder can lift the placement table 42 to lift the plurality of workpieces to be stamped and the magnetic layer separators 43 on the placement table 42. Among them, the lifting assembly 41 can adopt an existing lifting device.

[0101] The magnetic member 431 of the magnetic layer separator 43 is a magnet. The magnet rises on the positioning frame 430. The magnet can adsorb one of the plurality of workpieces to be stamped placed on the placement table 42 and drive the workpiece to be stamped to rise so that the workpiece to be stamped is separated from other workpieces to be stamped, thereby facilitating the feeding manipulator 21 to adsorb the separated workpiece to be stamped.

[0102] Among them, in order to be able to smoothly drive the topmost workpiece to be stamped to rise, the number of the magnetic layer separators 43 is at least three. At least three magnetic layer separators 43 are arranged around the workpiece to be stamped and lift together.

[0103] To sense the height of the workpiece to be punched on the placement table 42, so as to control the rising height of the magnetic layer separator 43 and prevent the magnetic layer separator 43 from rising excessively. In one embodiment, the feeding mechanism 40 further includes a sensor 44. The sensor 44 is disposed on the placement table 42 and faces the workpiece to be punched. The sensor 44 is electrically connected to the plurality of magnetic layer separators 43, and the sensor 44 is used to sense the workpiece to be punched.

[0104] In one embodiment, please refer to Figure 15 , the stamping production line 100 further includes a feeding mechanism 50 and a shearing machine 60. The shearing machine 60 is disposed on a side of the feeding slide 22 away from the stamping position 11. The shearing machine 60 is used to cut the workpiece to be punched; the feeding mechanism 50 is disposed between the shearing machine 60 and the feeding slide 22, and the feeding mechanism 50 is used to transport the cut workpiece to be punched to the feeding slide 22.

[0105] The stamping production line 100 of the present invention is provided with at least two feeding links: One feeding link is: transporting the workpiece to be punched from the two feeding mechanisms 40 to the feeding slide 22 by the loading manipulator 21; Another feeding link is: transporting the cut workpiece to be punched on the shearing machine 60 to the feeding slide 22 by the feeding mechanism 50. The at least two feeding links provided by the present invention greatly improve the feeding rate and reduce the waiting time of the stamping mechanism for feeding. Moreover, the two feeding links do not conflict with each other. The loading manipulator 21 transports the workpiece to be punched on the feeding mechanism 40 located on the side of the workbench to the feeding slide 22, and the transportation direction of the loading manipulator 21 is to move along the width direction of the workbench; while the feeding mechanism 50 on the other feeding link transports the workpiece to be punched from the shearing machine 60 located in front of the workbench to the feeding slide 22, and the transportation direction of the feeding mechanism 50 is to move along the length direction of the workbench. Further, the loading manipulator 21 is provided with a mounting frame 210, and the height of the loading manipulator 21 is higher than that of the feeding mechanism 50, thereby avoiding the loading manipulator 21 from obstructing the transportation of the feeding mechanism 50. It can be seen that the transportation directions of the two feeding links are different, and the transportation heights of the two feeding links are also different, so that the two feeding links can feed alternately or synchronously.

[0106] In one embodiment, the feeding mechanism 50 has a conveying surface 51; please refer to Figure 15 , the shearing machine 60 includes an upper tool rest 61 and a lower tool rest 62. The surface of the lower tool rest 62 facing the upper tool rest 61 is in the same plane as the conveying surface 51, and the upper tool rest 61 is disposed above the lower tool rest 62 to cut the workpiece to be punched.

[0107] Specifically, the feeding mechanism 50 is a conveyor belt. Among them, the conveyor belt has a conveying surface 51, and the lower tool rest 62 is arranged on the same plane as the conveying surface 51 of the conveyor belt. The upper tool rest 61 descends and cuts the workpiece to be punched at the lower tool rest 62, and the cut workpiece to be punched can be smoothly pushed onto the conveying surface 51 of the conveyor belt, and then conveyed to the feeding slide 22 through the conveyor belt.

[0108] In an embodiment, the workpiece to be punched is a plate structure; three-dimensional manipulators 30 are installed on both sides of the punching position 11.

[0109] The process of the punching production line 100 of the present application can be as follows:

[0110] The feeding mechanism 40 jacks up a plurality of workpieces to be punched, and the magnetic separator 43 separates the workpiece to be punched at the uppermost layer from the adjacent lower workpiece to be punched. Then, the feeding manipulator 21 sucks or clamps the workpiece to be punched and places it on the feeding slide 22. Next, the feeding slide 22 receives the workpiece to be punched and moves in the direction of the punching position 11.

[0111] After the feeding slide 22 approaches the punching position 11, the transverse movement mechanisms 341 of the two three-dimensional manipulators 30 both move in the direction of the feeding slide 22; when the transverse movement mechanism 341 reaches the feeding slide 22, the telescopic arms 33 of the two three-dimensional manipulators 30 have rotated and extended, and the material taking assembly 342 can abut against the workpiece to be punched on the feeding slide 22, so that the workpiece to be punched can be fixed by the material taking assemblies of the two three-dimensional manipulators 30, one on the left and one on the right. Then, the frames 31 of the two three-dimensional manipulators 30 rise together to drive the telescopic arms 33 and the workpiece to be punched to rise, and the workpiece to be punched is separated from the feeding slide 22; then, the transverse movement mechanism 341 moves in the direction of the punching position 11; when it reaches the punching position 11, the telescopic arm 33 has rotated and retracted, and the workpiece to be punched falls from the telescopic arm 33, and the punching mechanism descends to process the workpiece to be punched at the punching position 11. During the process of the punching mechanism descending and processing the workpiece to be punched, the feeding slide 22 moves in the direction away from the punching position 11, and the transverse movement mechanism 341 of the three-dimensional manipulator 30 also moves in the direction away from the punching position 11, so as to perform the material taking step of the next workpiece to be punched subsequently.

[0112] Among them, the feeding slide 22 may further include a lifting part 222 and a clamping hand 223. The lifting part 222 is arranged between the receiving body 221 and the feeding mechanism 50 to lift the workpiece to be punched transported by the feeding mechanism 50. The clamping hand 223 is arranged above the lifting part 222 and is used to clamp the workpiece to be punched on the lifting part 222 and place it on the receiving body 221.

[0113] Since the punching production line 100 is equipped with a shearing machine 60 and a feeding mechanism 50, the process of the punching production line 100 of the present application may further be:

[0114] The shearing machine 60 cuts the workpiece to be punched. After being cut, the workpiece to be punched enters the feeding mechanism 50, and then the feeding mechanism 50 transports the cut workpiece to be punched to the material transportation. After that, the lifting part 222 on the feeding slide 22 lifts the cut workpiece to be punched so that the clamping hand on the feeding slide 22 can clamp the cut workpiece to be punched and place it on the receiving body 221 of the feeding slide 22, and the receiving body 221 slides on the track 220 in the direction of the punching position 11.

[0115] Then, after the feeding slide 22 approaches the punching position 11, the transverse movement mechanisms 341 of the two three-dimensional manipulators 30 both move in the direction of the feeding slide 22. When the transverse movement mechanism 341 reaches the feeding slide 22, the telescopic arms 33 of the two three-dimensional manipulators 30 have rotated and extended, and the material taking assembly 342 can abut against the workpiece to be punched on the feeding slide 22, so that the workpiece to be punched can be fixed by the material taking assemblies of the two three-dimensional manipulators 30, one on the left and one on the right. Then, the frames 31 of the two three-dimensional manipulators 30 rise together to drive the telescopic arms 33 and the workpiece to be punched to rise, and the workpiece to be punched is separated from the feeding slide 22. Then, the transverse movement mechanism 341 moves in the direction of the punching position 11. When reaching the punching position 11, the telescopic arm 33 has rotated and retracted, and the workpiece to be punched falls from the telescopic arm 33, and the punching mechanism descends to process the workpiece to be punched at the punching position 11. During the process of the punching mechanism descending and processing the workpiece to be punched, the feeding slide 22 moves in the direction away from the punching position 11, and the transverse movement mechanism 341 of the three-dimensional manipulator 30 also moves in the direction away from the punching position 11, so as to perform the material taking step of the next workpiece to be punched subsequently.

[0116] The above is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied to other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A stamping production line, characterized in that: include: A workbench, wherein the workbench is provided with a stamping position; A transport mechanism, which is disposed on the workbench and is used to move the workpiece to be stamped toward the stamping position; A three-dimensional manipulator, the three-dimensional manipulator is arranged on the workbench and is located on one side or both sides of the stamping position, the three-dimensional manipulator comprises a frame, a telescopic arm and a material-picking mechanism, the frame is arranged on the side of the stamping position, and the frame is lifted and lowered relative to the stamping position; the telescopic arm is movably connected between the frame and the material-picking mechanism, the telescopic arm rotates and extends relative to the frame to drive the material-picking mechanism to extend in the direction of the transport mechanism, and the material-picking mechanism abuts against the part to be stamped on the transport mechanism; or the telescopic arm rotates and retracts relative to the frame to drive the material-picking mechanism to rotate and retract in the direction of the frame, and the material-picking mechanism is separated from the part to be stamped at the stamping position; A stamping mechanism is arranged on the workbench and is used for processing the workpiece to be stamped at the stamping position.

2. The stamping production line according to claim 1, characterized in that: The telescopic arm comprises a first rotating arm movably connected to the frame and a second rotating arm movably connected to the material picking mechanism; the second rotating arm is rotated and extended relative to the first rotating arm so that the material picking mechanism extends toward the workbench; or the second rotating arm is rotated and folded relative to the first rotating arm so that the material picking mechanism retracts toward the frame.

3. The stamping production line according to claim 1, characterized in that: The material picking mechanism comprises a transverse movement mechanism and a material picking assembly, wherein the transverse movement mechanism moves along the length direction of the workbench relative to the frame, and the material picking assembly is detachably mounted on the transverse movement mechanism; The three-dimensional manipulator also includes a quick-change structure, which has a first docking structure installed on the transverse movement mechanism and a second docking structure installed on the material picking assembly. The first docking structure is connected to the second docking structure so that the transverse movement mechanism is connected to the material picking assembly.

4. The stamping production line according to claim 3, characterized in that: The transverse movement mechanism comprises a moving beam, a slide rail, a sliding part, a fixed part, a driving device, a rack and a gear. The moving beam is equipped with the slide rail and the rack, the rack is arranged to avoid the slide rail, the fixed part is connected to the slide rail through the sliding part, the driving device is fixedly installed on the side of the fixed part away from the moving beam, the output end of the driving device extends to the inner side of the fixed part and is fixedly installed with a gear, and the gear is meshed and connected with the rack; The material picking assembly comprises a connecting rod and a plurality of material picking hands, wherein the plurality of material picking hands are mounted on the connecting rod; The first docking structure is installed on a side of the moving beam facing the connecting rod, and the second docking structure is installed on the connecting rod and is arranged corresponding to the second docking structure.

5. The stamping production line according to any one of claims 1 to 4, characterized in that: The stamping production line further comprises a feeding mechanism, which is located at one side of the workbench and has the parts to be stamped placed on the feeding mechanism; The transport mechanism includes a material placing robot and a feeding slide. The feeding slide is movably installed on the workbench. The material placing robot is located between the feeding mechanism and the feeding slide, and moves relative to the feeding mechanism toward the feeding slide to transport the parts to be stamped of the feeding mechanism to the feeding slide; the feeding slide moves relative to the feeding mechanism along the direction of the stamping position to drive the parts to be stamped to move toward the stamping position.

6. The stamping production line according to claim 5, characterized in that: The feeding mechanism includes a lifting assembly, a placing table and a plurality of magnetic layering devices, the placing table is provided with a plurality of parts to be stamped, the plurality of magnetic layering devices are arranged on the placing table and are arranged around the plurality of parts to be stamped, the lifting mechanism is used to lift the placing table to lift the plurality of parts to be stamped and the plurality of magnetic layering devices; the magnetic layering device includes a positioning frame and a magnetic member, the positioning frame is arranged on the placing table, the magnetic member is movably installed on the positioning frame, and is lifted and lowered on the positioning frame to absorb the parts to be stamped and drive the parts to be stamped to lift and lower; The feeding mechanism also includes a sensor, which is arranged on the display table and faces the workpiece to be stamped. The sensor is connected to the multiple magnetic layering devices by electrical signals, and is used to sense the workpiece to be stamped.

7. The stamping production line according to claim 5, characterized in that: The stamping production line further includes a feeding mechanism and a shearing machine, wherein the shearing machine is arranged on a side of the feeding slide away from the stamping position, and the shearing machine is used to cut the workpieces to be stamped; the feeding mechanism is arranged between the shearing machine and the feeding slide, and the feeding mechanism is used to transport the cut workpieces to be stamped to the feeding slide; The feeding mechanism has a conveying surface; the shearing machine includes an upper tool holder and a lower tool holder, a side of the lower tool holder facing the upper tool holder is located in the same plane as the conveying surface, and the upper tool holder is arranged above the lower tool holder to shear the parts to be punched.

8. The stamping production line according to claim 5, characterized in that: The feeding mechanism comprises a first feeding mechanism and a second feeding mechanism, wherein the first feeding mechanism and the second feeding mechanism are respectively arranged on both sides of the workbench; The material unloading robot includes a mounting frame and a material fixing arm, wherein the mounting frame spans the first feeding mechanism and the second feeding mechanism; the material fixing arm moves along the width direction of the workbench on the mounting frame to fix the parts to be stamped on the first feeding mechanism and transport them to the feeding slide, or to fix the parts to be stamped on the second feeding mechanism to the feeding slide.

9. The stamping production line according to claim 8, characterized in that: The material discharging manipulator further comprises a first driving motor, an extension frame and a sliding frame, the material solidifying hand is movably mounted on the extension frame, and the extension frame is vertically movably mounted on the sliding frame; the mounting frame is provided with a guide rail, and the sliding frame is slidably connected to the guide rail of the mounting frame; the first driving motor is arranged on the sliding frame to drive the sliding frame to slide on the mounting frame, thereby driving the material solidifying hand on the extension frame to slide; The unloading robot also includes a second driving motor, a sliding frame, a rotating tooth and a fixed rack. The second driving motor is arranged on the sliding frame, and the fixed rack is arranged on the extension frame. The output end of the driving motor is connected with the rotating tooth, and the rotating tooth is meshingly connected with the fixed rack. The second driving motor drives the rotating tooth to rotate, and the rotating tooth is meshingly transmitted with the fixed rack to drive the extension frame to rise and fall on the sliding frame.

10. The stamping production line according to claim 8, characterized in that: The feeding slide comprises a track and a receiving body, wherein the track is extended along the length direction of the workbench, the receiving body is slidably connected to the track, the receiving body is used to receive the part to be punched and move on the track along the length direction of the workbench.

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