Discharging positioning mechanism, bending equipment based on industrial robot and control system of bending equipment

Abstract

The invention belongs to the field of plate processing, particularly relates to a discharging positioning mechanism, bending equipment based on an industrial robot and a control system of the bending equipment, and aims to solve the problem that a special turnover frame is needed in the conversion and adjustment process in order to ensure the stacking regularity and control the clamping direction according to the bending direction in the bending process. According to the technical scheme, the industrial robot bending device comprises a supporting frame arranged on the ground and a first discharging table in the supporting frame, rectangular holes are formed in the two sides of the supporting frame, and lifting blocks are arranged in the rectangular holes in a sliding mode through guide rail sliding blocks. Automatic and intelligent stacking after the plates are bent is achieved, the discharging positioning mechanism ensures that the plates are stacked neatly and stably through self-adaptive clamping and precise releasing of the clamping blocks and precise control of the lifting mechanism, and positive and negative alternate stacking of the plates is achieved through cooperation of the limiting assembly and the releasing assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of sheet metal processing, and particularly to a feeding and positioning mechanism, a bending device based on an industrial robot, and its control system. Background Art

[0002] In modern manufacturing, sheet metal bending is an indispensable part of many industrial fields, widely used in industries such as automobile manufacturing, home appliance production, and building decoration. After the sheet metal is processed by a bending machine, it needs to be stacked orderly for subsequent handling, storage, or further processing. Some manufacturers use robots to convey the sheet metal and achieve automatic stacking to improve processing efficiency.

[0003] However, the existing robots still have the following disadvantages during use:

[0004] To ensure the neatness of stacking, it is necessary to control the flipping of the sheet metal during the stacking process to stack the front and back sides of the bent sheet metal in turn, and also to control the clamping direction according to the bending direction during the bending process. A special flipping frame is required during this conversion and adjustment process, which increases the use of equipment and at the same time increases the movement stroke of the robot, making it inconvenient to use in factories with limited space. Summary of the Invention

[0005] The purpose of the present invention is to solve the disadvantages in the prior art that in order to ensure the neatness of stacking and control the clamping direction according to the bending direction during the bending process, a special flipping frame is required during this conversion and adjustment process, and to propose a feeding and positioning mechanism, a bending device based on an industrial robot, and its control system.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A feeding and positioning mechanism, a bending device based on an industrial robot, and its control system, including

[0008] A feeding and positioning mechanism used for stacking the bent sheet metal, including a support frame arranged on the ground and a first feeding table inside the support frame. Rectangular holes are opened on both sides of the support frame, and lifting blocks are slidably arranged in the rectangular holes through guide rails and sliders. A rotating shaft is rotatably penetrated through the inner sides of the lifting blocks through bearings. A rotating block is fixedly welded to the inner side of the rotating shaft. Two clamping blocks used in cooperation with the sheet metal are movably arranged on one side of the rotating block, and the two clamping blocks clamp the sheet metal during the placement of the sheet metal.

[0009] The lifting mechanism is arranged in the support frame and is used to drive the clamped plate to move downward. It includes a releasing component to release the fixation of the plate after the plate is placed in place, and also includes a limiting component to control the flipping of the plate during the placement process, so as to stack the plates in the positive and negative directions in sequence.

[0010] In a possible design, the lifting mechanism includes two screw rods that are rotatably installed in a support frame through bearings, a motor is fixed in the support frame by bolts, the output end of the motor is connected to the screw rod through two sets of synchronous wheels and synchronous belts, and the lifting block is threadedly sleeved on the screw rod.

[0011] In a possible design, two rectangular grooves are provided on one side of the rotating block, and the clamping block is slidably arranged in the rectangular grooves. The two clamping blocks are provided with a first inclined surface for use with the plate on one side close to each other, and the two clamping blocks are provided with a second inclined surface for use with the plate on one side close to each other, and two springs are arranged in the rectangular grooves.

[0012] In a possible design, the release component includes a second electric push rod fixedly arranged on one side of the rotating block, one side of the rotating block is slidably arranged on the sliding seat through a guide rail slider, the output end of the second electric push rod is welded to the sliding seat, one side of the sliding seat is provided with a guide hole corresponding to the clamping block, one side of the rotating block is provided with a waist-shaped hole corresponding to the clamping block, the same pin is arranged in the waist-shaped hole and the guide hole, one end of the pin is welded to the clamping block, and the clamping block is driven to move in the rectangular groove by utilizing the inclined surface of the guide hole to release the clamping of the plate.

[0013] In one possible design, the limit assembly includes a rack that is slidably arranged on one side of the support frame through a guide rail slider, and the outer wall of the rotating shaft is provided with a gear that meshes with the rack through a key and keyway fixing sleeve. A fixing part is provided on one side of the rack for controlling the fixation of the rack and the support frame as well as the rack and the lifting block. During the lifting and lowering movement of the lifting block, the fixing and floating of the rack are used to control the start and stop of the rotation of the rotating block.

[0014] In a possible design, the fixing member includes two fixing seats fixed on one side of the rack, a first electric push rod is fixedly provided through one side of the fixing seat, a same plug rod is slidably provided through one side of the two fixing seats, an output end of the first electric push rod is fixedly connected to the plug rod, a first fixing block is fixedly provided on one side of the support frame, two second fixing blocks are fixedly provided on one side of the lifting block, and a socket matching the plug rod is provided on one side of the second fixing block and the first fixing block.

[0015] The bending equipment based on an industrial robot is used in cooperation with the above-mentioned feeding and positioning mechanism, and includes a bending machine and a walking system arranged on the ground. A robot is fixedly provided at the top of the walking system through bolts, and a jaw for clamping a plate is fixedly provided at the output end of the robot through bolts.

[0016] A second material table for placing the original plate is provided on one side of the walking system. Two extension frames are fixedly provided on one side of the second material table. A reference positioning table is fixedly provided at the top of the two extension frames by welding. The reference positioning table is set to be inclined, and the reference positioning of the plate is carried out by using the inclined surface and the corner.

[0017] The control system is applied to the above-mentioned bending equipment based on an industrial robot, and includes a control console arranged on one side of the bending machine. The controller in the control console is connected to the bending machine, the walking system, the robot, the jaw, the motor, the second electric push rod and the first electric push rod through wires to control their start and stop.

[0018] In the present invention, the feeding and positioning mechanism, the bending equipment based on an industrial robot and its control system can control the lifting block to move up and down through the motor, and can place the plate on the first feeding table. This step can be run simultaneously with the robot. During the process of the robot transporting the plate into the bending machine, the plates can be automatically stacked on the first feeding table in sequence, reducing the moving stroke of the robot, improving the bending efficiency of the plates, and being able to separately flip and adjust the clamping position of the bent plates.

[0019] In the present invention, the feeding and positioning mechanism, the bending equipment based on an industrial robot and its control system, through the inclined surface design of the clamping block 7 and the elastic clamping of the spring 23, the edge of the plate automatically presses the clamping block to achieve adaptive clamping, avoiding the slipping or tilting of the plate, and cooperating with the release component, can drive the sliding seat 17 to move up and down through the second electric push rod 20, and accurately control the clamping block 7 to release the plate to ensure the accurate stacking position.

[0020] In the present invention, the feeding and positioning mechanism, the bending equipment based on an industrial robot and its control system, through the cooperation of the rack and the gear, can flip the plate during the placing process, and the limiting component is fixed by the engagement of the rack 10 and the gear 9 and the insertion rod 14 of the first electric push rod 12 to realize the flexible rotation or locking of the rotating block 6, ensuring that the plates can be flipped alternately forward and backward during stacking to form a neat stacking structure and improving the space utilization rate.

[0021] In the present invention, through the collaborative design of a feeding and positioning mechanism, a bending device based on an industrial robot, and a control system, the automation and intelligence of stacking the bent plates are realized. The feeding and positioning mechanism ensures the neat and stable stacking of the plates through the adaptive clamping and precise release of the clamping blocks, combined with the precise control of the lifting mechanism. The cooperation of the limiting component and the releasing component realizes the alternating stacking of the plates in positive and negative directions, improving the space utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 FIG. 6 is a schematic structural diagram of the first feeding table and the support frame of the feeding and positioning mechanism proposed by the present invention;

[0023] Figure 2 FIG. 7 is a schematic structural diagram of another perspective of the support frame of the feeding and positioning mechanism proposed by the present invention;

[0024] Figure 3 FIG. 8 is a schematic structural diagram of the installation structure of the rack and the gear of the feeding and positioning mechanism proposed by the present invention;

[0025] Figure 4 FIG. 9 is a schematic structural diagram of the installation structure of the lifting block and the rotating block of the feeding and positioning mechanism proposed by the present invention;

[0026] Figure 5 FIG. 10 is a schematic cross-sectional structure diagram of the rotating block of the feeding and positioning mechanism proposed by the present invention;

[0027] Figure 6 FIG. 11 is a schematic cross-sectional structure diagram of the support frame of the feeding and positioning mechanism proposed by the present invention;

[0028] Figure 7 FIG. 12 is a schematic structural diagram of the robot and the bending machine of the feeding and positioning mechanism, the bending device based on the industrial robot, and its control system proposed by the present invention.

[0029] In the figures: 1, first feeding table; 2, support frame; 3, rectangular hole; 4, lifting block; 5, screw; 6, rotating block; 7, clamping block; 8, rotating shaft; 9, gear; 10, rack; 11, fixed seat; 12, first electric push rod; 13, first fixing block; 14, inserting rod; 15, inserting hole; 16, second fixing block; 17, sliding seat; 18, guiding hole; 19, pin; 20, second electric push rod; 21, waist-shaped hole; 22, rectangular groove; 23, spring; 24, first inclined surface; 25, second inclined surface; 26, motor; 27, synchronous pulley; 28, synchronous belt; 29, walking system; 30, robot; 31, clamping jaw; 32, bending machine; 33, second feeding table; 34, extension frame; 35, reference positioning table; 36, control console. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] Example 1

[0032] In order to improve processing efficiency, some sheet metal processing manufacturers use robots to transport sheets and realize automatic stacking. During the stacking and bending process, a special turning frame is required, which not only increases the robot's moving range, but also increases the equipment footprint. For this purpose, this application provides a positioning mechanism.

[0033] Reference Figures 1 - 7 The material discharging and positioning mechanism comprises: a support frame 2 arranged on the ground and a first material discharging platform 1 located in the support frame 2. Rectangular holes 3 are provided on both sides of the support frame 2, and a lifting block 4 is slidably arranged in the rectangular hole 3 through a guide rail slider, and a rotating shaft 8 is rotatably arranged on the inner side of the lifting block 4 through a bearing, and a rotating block 6 is fixedly arranged on the inner side of the rotating shaft 8 by welding, and two clamping blocks 7 used in conjunction with the plate are movably arranged on one side of the rotating block 6, and the two clamping blocks 7 clamp the plate during the plate placement process.

[0034] The lifting mechanism is arranged in the support frame 2, and is used for driving the clamped plate to move downward, and includes a releasing component and a limiting component.

[0035] Specific structure of the lifting mechanism: The lifting mechanism includes two screw rods 5 that are rotatably arranged in the support frame 2 through bearings, and a motor 26 is fixedly arranged in the support frame 2 by bolts. The output end of the motor 26 is connected to the screw rod 5 through two sets of synchronous wheels 27 and synchronous belts 28, and the lifting block 4 is threadedly sleeved on the screw rod 5. When the motor 26 is started, the screw rod 5 can be driven to rotate through the synchronous wheels 27 and the synchronous belt 28. Since the lifting block 4 is threadedly sleeved on the screw rod 5 and is slidably connected to the rectangular hole 3 through the guide rail slider, the lifting block 4 can move up and down along the screw rod 5, thereby driving the clamped plate to move up and down.

[0036] The release assembly includes a second electric push rod 20 fixedly arranged on one side of the rotating block 6, a sliding seat 17 is slidably arranged on one side of the rotating block 6 through a guide rail slider, the output end of the second electric push rod 20 is welded to the sliding seat 17, a guide hole 18 corresponding to the clamping block 7 is provided on one side of the sliding seat 17, the guide hole 18 is triangular and will not affect the movement of the clamping block 7, a waist-shaped hole 21 corresponding to the clamping block 7 is provided on one side of the rotating block 6, the same pin 19 is arranged in the waist-shaped hole 21 and the guide hole 18, and one end of the pin 19 is welded to the clamping block 7. When the plate is placed in place, the second electric push rod 20 is started, driving the sliding seat 17 to move, and the inclined surface of the guide hole 18 drives the pin 19 to move, so that the clamping block 7 moves in the rectangular groove 22, compressing the spring 23, and releasing the clamping of the plate.

[0037] The limiting component specifically includes a rack 10 slidably arranged on one side of the support frame 2 through a guide rail slider. A gear 9 meshing with the rack 10 is fixedly sleeved on the outer wall of the rotating shaft 8 through a key and a keyway. A fixing member is arranged on one side of the rack 10 for controlling the fixation between the rack 10 and the support frame 2 and between the rack 10 and the lifting block 4.

[0038] The bending equipment based on an industrial robot is used in cooperation with the above-mentioned feeding and positioning mechanism. It includes a bending machine 32 and a traveling system 29 arranged on the ground. The bending machine 32 is a Huijia CNC 135T4000 stainless steel bending machine, a hydraulic full CNC plate folding machine. The traveling system 29 is a Tuogu heavy-duty seventh-axis traveling track slide. A robot 30 is fixedly arranged on the top of the traveling system 29 through bolts. The robot 30 is a manipulator palletizing robot of Suzhou Guchuang Intelligent Technology Co., Ltd. A clamping jaw 31 for clamping the plate is fixedly arranged at the output end of the robot 30 through bolts. The clamping jaw 31 is composed of a support frame and a plurality of vacuum suction cups, and can clamp the plate without damage. A second material table 33 for placing the original plate is arranged on one side of the traveling system 29. Two extension frames 34 are fixedly arranged on one side of the second material table 33. A reference positioning table 35 is fixedly arranged on the top of the two extension frames 34 by welding. The reference positioning table 35 is set obliquely, and the reference positioning of the plate is carried out by using the inclined plane and the corner. The robot 30 moves above the second material table 33 through the traveling system 29. The clamping jaw 31 clamps the original plate. The reference positioning table 35 performs reference positioning on the plate. Then the robot 30 moves the plate to the bending machine 32 for bending. After the bending is completed, the robot 30 moves the plate to the feeding and positioning mechanism for stacking.

[0039] The control system is applied to the above-mentioned bending equipment based on an industrial robot. It includes an operation console 36 arranged on one side of the bending machine 32. The controller in the operation console 36 is connected to the bending machine 32, the traveling system 29, the robot 30, the clamping jaw 31, the motor 26, the second electric push rod 20 and the first electric push rod 12 through wires to control their start and stop. The operator can input control instructions through the operation console 36. The controller controls the start and stop of the bending machine 32, the traveling system 29, the robot 30, the clamping jaw 31, the motor 26, the second electric push rod 20 and the first electric push rod 12 according to the instructions, and realizes operations such as bending, handling and stacking of the plate. The operation console serves as a human-computer interaction interface. The operator inputs control instructions through the operation console. It contains components such as a controller (such as a PLC, a single-chip microcomputer or an industrial computer) to receive the instructions input by the operation console, process the instructions and generate control signals, and coordinate the actions of each executing component.

[0040] System working principle

[0041] Instruction input: The operator inputs control instructions through the operation console.

[0042] Signal processing: The controller receives instructions and processes them to generate control signals.

[0043] Execution of actions: The control signals are transmitted through wires to each execution component to control its actions.

[0044] Feedback and monitoring: The system can monitor the status of each component in real time to ensure the normal operation of the device.

[0045] This application can be used in the field of sheet processing, and can also be used in other fields applicable to this application.

[0046] Embodiment 2

[0047] Reference Figures 1 - 7 , on the basis of Embodiment 1, an improvement is made: a feeding positioning mechanism, which is applied to the field of sheet processing. Two rectangular grooves 22 are opened on one side of the rotating block 6, and the clamping blocks 7 are slidably arranged in the rectangular grooves 22. First inclined surfaces 24 and second inclined surfaces 25 for cooperating with the sheet are opened on the mutually approaching sides of the two clamping blocks 7. Two springs 23 are arranged in the rectangular grooves 22, and both ends of the two springs 23 are fixed to the clamping blocks 7 and the groove walls of the rectangular grooves 22 through positioning pins. During the process of placing the sheet between the two clamping blocks 7, the edge of the sheet will squeeze the first inclined surface 24, causing the two clamping blocks 7 to move away from each other, and at the same time compressing the springs 23. When the sheet moves between the upper and lower clamping blocks 7, the elastic force of the springs 23 causes the clamping blocks 7 to apply a clamping force to the sheet, realizing the clamping of the sheet.

[0048] The fixing member includes two fixing seats 11 fixedly arranged on one side of the rack 10. A first electric push rod 12 is fixedly arranged through one side of the fixing seat 11. The same inserting rod 14 is slidably arranged through one side of the two fixing seats 11. The output end of the first electric push rod 12 is fixedly connected to the inserting rod 14. A first fixing block 13 is fixedly arranged on one side of the support frame 2. Two second fixing blocks 16 are fixedly arranged on one side of the lifting block 4. Insertion holes 15 adapted to the inserting rod 14 are opened on one sides of the second fixing blocks 16 and the first fixing block 13.

[0049] During the lifting movement of the lifting block 4, when it is necessary to control the rotation of the rotating block 6, the first electric push rod 12 is started, driving the inserting rod 14 to be withdrawn from the insertion hole 15 of the second fixing block 16 and making the inserting rod 14 inserted into the insertion hole 15 of the first fixing block 13. At this time, the rack 10 is fixed to the support frame 2, the gear 9 meshes with the rack 10, and the rotating shaft 8 will rotate when moving with the lifting block 4, driving the rotating block 6 to rotate; when the rotating block 6 does not need to rotate, the first electric push rod 12 drives the inserting rod 14 to be inserted into the insertion hole 15 of the second fixing block 16 and to be disengaged from the insertion hole 15 of the first fixing block 13. The rack 10 is fixed to the lifting block 4, the gear 9 will not rotate with the rotating shaft 8, and the rotating block 6 does not rotate, thereby realizing the control of the flipping of the sheet, so that the sheets are stacked alternately with the front and back sides.

[0050] During the using process, power on the device, then place the unprocessed plate on the second material table 33, then start the walking system 29 and the robot 30 to drive the gripper 31 to move, place the gripper 31 on the plate for clamping, then move the clamped plate to the reference positioning table 35, and then release it. During the releasing process, the plate can be positioned through the reference positioning table 35. Then start the gripper 31 for clamping, and move the plate into the bending machine 32 through the walking system 29 and the robot 30, and then start the bending machine 32 for bending;

[0051] Then start the walking system 29 and the robot 30 to drive the gripper 31 to move, so that the plate moves to the support frame 2, and then place it downward. During the placing process, the plate and the first inclined surface 24 can squeeze the clamping block 7 to move into the rectangular groove 22 and compress the spring 23. When the plate abuts against the lower clamping block 7, the upper clamping block 7 can reset and move under the action of the two springs 23, and cooperate with the lower clamping block 7 to clamp the plate. Then control the gripper 31 to release the plate, and drive the gripper 31 to move upward to a safe distance through the robot 30. Then start the motor 26. During the rotation of the motor 26, the two screws 5 can be driven to rotate through the synchronous pulley 27 and the synchronous belt 28. The rotation of the screw 5 can drive the lifting block 4 to move downward. During the downward movement of the lifting block 4, the rotating shaft 8 can be driven to rotate through the gear 9 and the rack 10. The rotation of the rotating shaft 8 can drive the rotating block 6 to flip until the plate flips 180 degrees. Then start the robot 30 to drive the gripper 31 to move onto the plate and clamp the plate;

[0052] Then drive the plate into the bending machine 32 for bending through the walking system 29, the robot 30 and the gripper 31. At the same time, start the motor 26 to rotate in the reverse direction to drive the lifting block 4 to move upward and reset. After the bending is completed, drive the bent plate to the lower clamping block 7 through the walking system 29, the robot 30 and the gripper 31, and use the upper clamping block 7 to cooperate with the lower clamping block 7 to clamp it. Then start the gripper 31 to release the plate, and continue to drive the gripper 31 to move onto the plate on the second material table 33 through the walking system 29 and the robot 30 for continuous conveying;

[0053] Meanwhile, start the motor 26 to drive the lifting block 4 to move downward. During the moving process, the rack 10 and the gear 9 are used to drive the rotating block 6 to turn over, which can drive the bent sheet to turn over. After turning over, the upper second fixing block 16 corresponds to the insertion rod 14. Then, start the first electric push rod 12 to retract, driving one end of the insertion rod 14 to disengage from the first fixing block 13 and insert into the upper second fixing block 16. At this time, when the lifting block 4 moves downward again, the rotating block 6 will not rotate until the sheet falls on the first feeding table 1. Then, start the second electric push rod 20 to retract. During the retracting process of the second electric push rod 20, it can drive the sliding seat 17 to move. During the moving process of the sliding seat 17, it can drive the pin 19 to move in the waist-shaped hole 21 through the guiding hole 18 and drive the clamping block 7 to move into the rectangular groove 22 until the two clamping blocks 7 completely disengage from the sheet. At this time, the sheet can fall on the first feeding table 1. Then, start the motor 26 to rotate in the reverse direction to drive the lifting block 4 to move upward until one end of the insertion rod 14 corresponds to the first fixing block 13. Then, start the first electric push rod 12 to extend, so that one end of the insertion rod 14 inserts into the first fixing block 13 and disengages from the upper second fixing block 16. Then, continue to start the motor 26 to rotate in the reverse direction to drive the lifting block 4 to move upward, which can cooperate with the rack 10 and the gear 9 to drive the rotating block 6 to rotate in the reverse direction and reset. When placing the next sheet, directly place the sheet between the two clamping blocks 7 and start the motor 26 to rotate, driving the lifting block 4 to move downward. At the same time, start the first electric push rod 12 to retract, driving the insertion rod 14 to move, so that one end of the insertion rod 14 disengages from the first fixing block 13 and inserts into the lower second fixing block 16, which can fix the rotating block 6 and make the sheet move directly downward and fall on the lower sheet, stacking them alternately in positive and negative directions in sequence.

[0054] However, as is well known to those skilled in the art, the working principles and wiring methods of the bending machine 32, the traveling system 29, the robot 30, the gripper 31, the motor 26, the second electric push rod 20, the first electric push rod 12, and the console 36 are common knowledge. They all belong to conventional means or well-known common sense, so they will not be elaborated here. Those skilled in the art can make any selection according to their needs or convenience.

[0055] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. The feeding and positioning mechanism is used for stacking after the sheet is bent. It is characterized in that The invention comprises a support frame (2) arranged on the ground and a first material discharging platform (1) in the support frame (2), rectangular holes (3) are provided on both sides of the support frame (2), a lifting block (4) is slidably provided in the rectangular hole (3) via a guide rail slider, a rotating shaft (8) is rotatably provided on the inner side of the lifting block (4) via a bearing, a rotating block (6) is fixedly provided on the inner side of the rotating shaft (8) by welding, and two clamping blocks (7) used in conjunction with a plate are movably provided on one side of the rotating block (6), and the two clamping blocks (7) clamp the plate during the placement of the plate; The lifting mechanism is arranged in the support frame (2) and is used to drive the clamped plate to move downward. It includes a release component, which releases the fixation of the plate after the plate is placed in place, and also includes a limit component, which controls the flipping of the plate during the placement process, so as to stack the plate in the front and back directions in sequence.

2. The feeding and positioning mechanism according to claim 1, wherein The lifting mechanism comprises two screw rods (5) which are rotatably arranged in a support frame (2) through bearings, a motor (26) is fixed in the support frame (2) by bolts, the output end of the motor (26) is connected to the screw rods (5) through two sets of synchronous wheels (27) and a synchronous belt (28), and the lifting block (4) is threadedly sleeved on the screw rods (5).

3. The feeding and positioning mechanism according to claim 1, characterized in that, Two rectangular grooves (22) are provided on one side of the rotating block (6), and the clamping block (7) is slidably arranged in the rectangular groove (22). The two clamping blocks (7) are provided with a first inclined surface (24) for use with a plate on one side close to each other, and a second inclined surface (25) for use with a plate on one side close to each other. Two springs (23) are arranged in the rectangular groove (22).

4. The feeding and positioning mechanism according to claim 3, characterized in that The release assembly comprises a second electric push rod (20) fixedly arranged on one side of the rotating block (6); one side of the rotating block (6) is slidably arranged on the sliding seat (17) through a guide rail slider; the output end of the second electric push rod (20) is welded to the sliding seat (17); one side of the sliding seat (17) is provided with a guide hole (18) corresponding to the clamping block (7); one side of the rotating block (6) is provided with a waist-shaped hole (21) corresponding to the clamping block (7); the waist-shaped hole (21) and the guide hole (18) are provided with a same pin column (19); one end of the pin column (19) is welded to the clamping block (7); the inclined surface of the guide hole (18) is used to drive the clamping block (7) to move in the rectangular groove (22) to release the clamping of the plate.

5. The feeding and positioning mechanism according to claim 1, wherein The limit assembly comprises a rack (10) which is slidably arranged on one side of the support frame (2) via a guide rail slider; the outer wall of the rotating shaft (8) is provided with a gear (9) which meshes with the rack (10) via a key and a keyway fixing sleeve; a fixing piece is provided on one side of the rack (10) for controlling the fixing of the rack (10) and the support frame (2) and the rack (10) and the lifting block (4); during the lifting and lowering movement of the lifting block (4), the fixing and floating of the rack (10) are used to control the start and stop of the rotation of the rotating block (6).

6. The feeding and positioning mechanism according to claim 5, characterized in that, The fixing member includes two fixing seats (11) fixedly arranged on one side of the rack (10). A first electric push rod (12) is fixedly arranged through one side of the fixing seat (11). The same insertion rod (14) is slidably arranged through one side of the two fixing seats (11). The output end of the first electric push rod (12) is fixedly connected to the insertion rod (14). A first fixing block (13) is fixedly arranged on one side of the support frame (2). Two second fixing blocks (16) are fixedly arranged on one side of the lifting block (4). Insertion holes (15) adapted to the insertion rod (14) are formed on one side of both the second fixing block (16) and the first fixing block (13).

7. A bending device based on an industrial robot, which is used in cooperation with the feeding and positioning mechanism according to any one of claims 1-6, characterized in that, It includes a bending machine (32) and a walking system (29) arranged on the ground. A robot (30) is fixedly arranged on the top of the walking system (29) through bolts. A clamping jaw (31) for clamping a plate is fixedly arranged at the output end of the robot (30) through bolts; A second material table (33) for placing the original plate is arranged on one side of the walking system (29). Two extension frames (34) are fixedly arranged on one side of the second material table (33). A reference positioning table (35) is fixedly arranged at the top of the two extension frames (34) by welding. The reference positioning table (35) is set to be inclined, and the reference positioning of the plate is carried out by using the inclined plane and the corner.

8. A control system, applied to the bending device based on an industrial robot according to claim 7, characterized in that It includes an operation console (36) arranged on one side of the bending machine (32). The controller in the operation console (36) is connected to the bending machine (32), the walking system (29), the robot (30), the clamping jaw (31), the motor (26), the second electric push rod (20) and the first electric push rod (12) through wires to control their starting and stopping.

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