High-speed flexible stamping transfer robot

Abstract

The utility model discloses a high-speed flexible stamping transfer robot, which relates to the technical field of stamping transfer and comprises a front-back moving component, one side of the front-back moving component is fixedly connected with an up-down moving component, and the bottom of the up-down moving component is fixedly connected with a left-right moving component. The bottom of the left-right moving assembly is fixedly connected with a multi-angle steering assembly, the bottom of the multi-angle steering assembly is fixedly connected with a double-speed moving assembly, and one end of the double-speed moving assembly is fixedly connected with an end picker assembly. By means of eight-shaft linkage of the three plus two linear shafts and the three rotating shafts, the whole structure is compact, the large carrying distance can be achieved in a small space, meanwhile, four-freedom-degree posture adjustment of carried parts, the left-right moving assembly and the double-speed moving assembly are achieved, the triple-speed carrying speed is achieved, and the takt can reach 18 spm; and the urgent requirement of the stamping automation industry for high takt is met.

Description

Technical Field

[0001] The utility model relates to the technical field of stamping and handling, in particular to a high-speed flexible stamping and handling robot. Background Art

[0002] In the passenger car cover stamping industry, the stamping production of large covers generally uses multiple presses arranged in series. Therefore, the rapid handling of sheet materials between presses is crucial to improving the efficiency of stamping production.

[0003] With the diversified demand for passenger car appearance, small batches of multiple models and even personalized customization are on the rise, resulting in diversified development of passenger car covers, which in turn requires the posture adjustment of stamping parts in the stamping process, and requires the handling robot to have the posture adjustment function. For this purpose, a high-speed flexible stamping handling robot is proposed, which better takes into account the high-speed handling and flexible posture adjustment functions. Utility Model Content

[0004] The utility model provides a high-speed flexible stamping and handling robot to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0006] A high-speed flexible stamping and handling robot comprises a forward and backward moving component, one side of the forward and backward moving component is fixedly connected to an up and down moving component, the bottom of the up and down moving component is fixedly connected to a left and right moving component, the bottom of the left and right moving component is fixedly connected to a multi-angle steering component, the bottom of the multi-angle steering component is fixedly connected to a double-speed moving component, and one end of the double-speed moving component is fixedly connected to an end picker component.

[0007] A further improvement of the technical solution of the utility model is that the forward and backward moving component includes a beam, and the two ends of one side of the beam are fixedly connected to fixing parts fixedly connected to two columns on the front side or the rear side of the press, the side of the beam away from the fixing part is fixedly connected to a first slide rail, and the side of the beam close to the first slide rail is fixedly connected to a first rack, and the surface of the first rack is meshed with a first driving component.

[0008] A further improvement of the technical solution of the utility model is that: a mounting plate is fixedly connected to the surface of the first drive component, the first drive component includes a first motor, one end of the first motor is fixedly connected to the input shaft of the first reducer, the output shaft of the first reducer is fixedly connected to a gear, the surface of the gear is meshed with the surface of the first rack, a drag chain is arranged on the top of the beam, and one side of the mounting plate is slidably connected to the surface of the first slide rail.

[0009] A further improvement of the technical solution of the utility model is that: the up and down moving component includes a vertical beam, first mounting parts are arranged on both sides of the vertical beam, one side of the first mounting part is fixedly connected to one side of the mounting plate, the top of the first mounting part is fixedly connected to a balancer, one side of the vertical beam is fixedly connected to a second slide rail, the surface of the second slide rail is slidably connected to a first sliding part, and one side of the vertical beam is fixedly connected to a second rack.

[0010] A further improvement of the technical solution of the utility model is that: a second drive component is fixedly connected to one side of the first sliding member, the structure of the second drive component is the same as that of the first drive component, one side of the first sliding member is fixedly connected to one side of the mounting plate, and the surface of the second rack is meshed with the surface of one end of the second drive component.

[0011] A further improvement of the technical solution of the utility model is that the left and right moving assembly includes a fixed frame, the top of the fixed frame is fixedly connected to the bottom of the vertical beam, one side of the fixed frame is fixedly connected to a third driving assembly, the third driving assembly includes a driving motor, a second reducer and a synchronous wheel, the output shaft of the driving motor is fixedly connected to the input shaft of the reducer, the output shaft of the reducer is fixedly connected to the synchronous wheel, and the surface of the synchronous wheel is meshed with a first synchronous belt.

[0012] A further improvement of the technical solution of the utility model is that: a first tension wheel is arranged on both sides of one end of the third driving component, a first driven wheel is meshed with the inner walls at both ends of the first synchronous belt, both sides of the first driven wheel are rotatably connected to the inner walls at both ends of the fixed frame, a second sliding member is fixedly connected to the surface of the first synchronous belt, a third slide rail is fixedly connected to the bottom of the fixed frame, and both sides of the top of the second sliding member are slidably connected to the surface of the third slide rail.

[0013] A further improvement of the technical solution of the utility model is that the multi-angle steering assembly includes a second mounting member, the top of the second mounting member is fixedly connected to the bottom of the second sliding member, the inner wall of the second mounting member is fixedly connected to the first steering motor, one end of the rotating shaft of the first steering motor is fixedly connected to the third mounting member through a flange, the interior of the third mounting member is fixedly connected to the second steering motor, and the bottom of the second steering motor is fixedly connected to the fourth mounting member.

[0014] A further improvement of the technical solution of the utility model lies in that: the double-speed moving component includes a mounting frame, the surface of the mounting frame is fixedly connected to the top of the fourth mounting member, the surface of the mounting frame is fixedly connected to the fourth driving component, the surface of one end of the fourth driving component is meshed with a second synchronous belt, the two ends of the second synchronous belt are meshed with second driven wheels, second elastic wheels are arranged on both sides of the fourth driving component, the surface of the second synchronous belt is fixedly connected to the third sliding member, the two sides of the top of the third sliding member are slidably connected to fourth slide rails, the top of the fourth slide rails is fixedly connected to the bottom of the mounting frame, and the structure of the fourth driving component is the same as that of the third driving component.

[0015] A further improvement of the technical solution of the utility model lies in that: the end picker assembly includes a fifth mounting piece, the surface of the fifth mounting piece is fixedly connected to a fifth driving assembly, one end of the fifth driving assembly is meshed with a third synchronous belt, the structure of the fifth driving assembly is the same as that of the third driving assembly, the surface of the third synchronous belt is meshed with a synchronous wheel, one side of the synchronous wheel is fixedly connected to a carbon fiber beam, one end of the carbon fiber beam is fixedly connected to an adjusting motor, one end of the adjusting motor shaft is fixedly connected to a screw, the surface of the screw is threadedly connected to a driving nut, the bottom of the driving nut is fixedly connected to an adjusting block, the interior of the adjusting block is fixedly connected to an installation main pipe for installing a picking up suction cup, the top of the adjusting block is slidably connected to a fifth slide rail, and the top of the fifth slide rail is fixedly connected to the bottom of the carbon fiber beam.

[0016] Due to the adoption of the above technical solution, the utility model has achieved the following technical progress compared with the prior art:

[0017] 1. The utility model provides a high-speed flexible stamping handling robot, which adopts eight-axis linkage of three plus two linear axes and three rotating axes. The overall structure is compact, and a large handling distance can be achieved in a small space, while realizing four-degree-of-freedom posture adjustment of the handled parts.

[0018] 2. The utility model provides a high-speed flexible stamping handling robot, which achieves a triple-speed handling speed through left and right moving components and a double-speed moving component, and the beat can reach 18spm; it meets the urgent demand for high beats in the stamping automation industry.

[0019] 3. The utility model provides a high-speed flexible stamping and handling robot, which has simple motion trajectories of various components, is convenient for optimizing trajectory curves through kinematic analysis, can quickly optimize trajectories of different molds, has strong adaptability, is convenient and quick to install and debug, and shortens the debugging cycle.

[0020] 4. The utility model provides a high-speed flexible stamping and handling robot, the left and right moving components and the double-speed moving component part transmission mechanism adopt synchronous belt to drive the moving parts, which has a certain flexibility while ensuring precise transmission, and can reduce the contact impact between the end picker and the sheet material when picking up the material, and at the same time reduce the degree of damage caused by interference and collision with the mold in unexpected situations.

[0021] 5. The utility model provides a high-speed flexible stamping and handling robot. The mounting frame of the double-speed moving component is made of extruded aluminum alloy, which meets the strength and rigidity requirements while reducing the weight of the moving parts, reducing the motion inertia and reducing the load. The carbon fiber beam of the end picker component is made of carbon fiber material, which reduces the weight of the moving parts, reducing the motion inertia and reducing the load. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0023] Figure 2 This is a schematic diagram of the side structure of the front-rear moving component of the utility model;

[0024] Figure 3 This is a schematic cross-sectional view of the front-rear moving component of the utility model;

[0025] Figure 4 This is a schematic diagram of the structure of the up and down moving component of the utility model;

[0026] Figure 5 This is a schematic diagram of the side structure of the up and down moving component of the utility model;

[0027] Figure 6 This is a schematic diagram of the structure of the left-right moving component of the utility model;

[0028] Figure 7 This is a schematic cross-sectional view of the left-right moving component of the utility model;

[0029] Figure 8 This is a bottom view structural diagram of the left-right movable assembly of the utility model;

[0030] Fig. 9 This is a bottom view of the structure of the double-speed moving assembly of the utility model;

[0031] Fig.10 This is a schematic cross-sectional view of the double-speed moving component of the utility model;

[0032] Fig.11 This is a schematic diagram of the structure of the end pick-up assembly of the utility model;

[0033] Fig.12 For the utility model Fig.11A schematic diagram of the enlarged structure at B;

[0034] Fig.13 This is a schematic cross-sectional view of the end pick-up assembly of the utility model;

[0035] Fig.14 This is a bottom view of the structure of the end picker assembly of the utility model;

[0036] Fig.15 For the utility model Figure 1 A is an enlarged schematic diagram of the structure.

[0037] In the figure: 1. forward and backward moving assembly; 11. beam; 12. fixing member; 13. first slide rail; 14. first rack; 15. mounting plate; 16. first driving assembly; 161. first motor; 162. first reducer; 163. gear; 17. drag chain; 2. up and down moving assembly; 21. vertical beam; 22. first mounting member; 23. balancer; 24. second driving assembly; 25. second rack; 26. second slide rail; 27. first sliding member; 3. left and right moving assembly; 31. fixing frame; 32. third driving assembly; 33. first synchronous belt; 34. first tension wheel; 35. first driven wheel; 36. second slide member; 37. third slide rail; 4. Multi-angle steering assembly; 41. Second mounting piece; 42. First steering motor; 43. Third mounting piece; 44. Second steering motor; 45. Fourth mounting piece; 5. Double-speed moving assembly; 51. Mounting frame; 52. Fourth drive assembly; 53. Second synchronous belt; 54. Second tension wheel; 55. Second driven wheel; 56. Third sliding piece; 57. Fourth slide rail; 6. End picker assembly; 61. Fifth mounting piece; 62. Fifth drive assembly; 63. Third synchronous belt; 64. Synchronous wheel; 65. Carbon fiber beam; 66. Adjusting motor; 67. Screw; 68. Driving nut; 69. Adjusting block; 610. Mounting main pipe; 611. Fifth slide rail. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with the embodiments:

[0039] Example 1

[0040] like Figure 1-15As shown, the utility model provides a high-speed flexible stamping handling robot, including a forward and backward moving component 1, one side of the forward and backward moving component 1 is fixedly connected with an up and down moving component 2, the bottom of the up and down moving component 2 is fixedly connected with a left and right moving component 3, the bottom of the left and right moving component 3 is fixedly connected with a multi-angle steering component 4, the bottom of the multi-angle steering component 4 is fixedly connected with a double-speed moving component 5, one end of the double-speed moving component 5 is fixedly connected with an end picker component 6, the forward and backward moving component 1 includes a beam 11, both ends of one side of the beam 11 are fixedly connected with a fixing member 12 fixedly connected to two columns on the front side or the rear side of the press, a side of the beam 11 away from the fixing member 12 is fixedly connected with a first slide rail 13, a side of the beam 11 close to the first slide rail 13 is fixedly connected with a first rack 14, the surface of the first rack 14 is meshed with a first drive component 16, the surface of the first drive component 16 is fixedly connected with a mounting plate 15, the first drive component 16 includes a first motor 161, one end of the first motor 161 is fixedly connected to the first rack 14, and the first rack 14 is meshed with a first drive component 16. The input shaft of a reducer 162 is fixedly connected, and the output shaft of the first reducer 162 is fixedly connected with a gear 163, the surface of the gear 163 is meshed with the surface of the first rack 14, a drag chain 17 is arranged on the top of the beam 11, and one side of the mounting plate 15 is slidably connected with the surface of the first slide rail 13, the up and down moving component 2 includes a vertical beam 21, and first mounting parts 22 are arranged on both sides of the vertical beam 21, one side of the first mounting part 22 is fixedly connected with one side of the mounting plate 15, a balancer 23 is fixedly connected to the top of the first mounting part 22, one side of the vertical beam 21 is fixedly connected with a second slide rail 26, and the surface of the second slide rail 26 is slidably connected with a first sliding part 27, one side of the vertical beam 21 is fixedly connected with a second rack 25, and one side of the first sliding part 27 is fixedly connected with a second driving component 24, the structure of the second driving component 24 is the same as that of the first driving component 16, one side of the first sliding part 27 is fixedly connected with one side of the mounting plate 15, and the surface of the second rack 25 is meshed with the surface of one end of the second driving component 24.

[0041] In this embodiment, the robot is installed on the column at the front end or rear end of the press through the fixing part 12, and the first driving component 16 is started, so that the first motor 161 drives the input shaft of the first reducer 162 to rotate, and the output shaft of the first reducer 162 drives the gear 163 to rotate, thereby causing the gear 163 to slide along the first rack 14, and the mounting plate 15 to slide along the first slide rail 13, and then the mounting plate 15 drives the vertical beam 21 to move, and the front and rear positions of the picking suction cup installed on the surface of the mounting main pipe 610 are adjusted. Under the action of the second driving component 24, the gear rotating rod pushes the second rack 25 to move up and down, and then the vertical beam 21 fixed to the second rack 25 moves up and down, the up and down positions of the picking suction cup are adjusted, and the first sliding member 27 slides along the second slide rail 26, so that the movement process is smoother.

[0042] Example 2

[0043] like Figure 1-15 As shown, on the basis of Example 1, the utility model provides a technical solution: preferably, the left and right moving component 3 includes a fixed frame 31, the top of the fixed frame 31 is fixedly connected to the bottom of the vertical beam 21, and one side of the fixed frame 31 is fixedly connected to a third driving component 32, and the third driving component 32 includes a driving motor, a second reducer and a synchronous wheel, the output shaft of the driving motor is fixedly connected to the input shaft of the reducer, the output shaft of the reducer is fixedly connected to the synchronous wheel, the surface of the synchronous wheel is meshed with a first synchronous belt 33, and first elastic wheels 34 are arranged on both sides of one end of the third driving component 32, and the inner walls of both ends of the first synchronous belt 33 are meshed with first driven wheels 35, and both sides of the first driven wheel 35 are meshed with the fixed The inner walls of the two ends of the frame 31 are rotatably connected, the surface of the first synchronous belt 33 is fixedly connected with the second sliding member 36, the bottom of the fixed frame 31 is fixedly connected with the third slide rail 37, the two sides of the top of the second sliding member 36 are slidably connected to the surface of the third slide rail 37, the multi-angle steering assembly 4 includes a second mounting member 41, the top of the second mounting member 41 is fixedly connected to the bottom of the second sliding member 36, the inner wall of the second mounting member 41 is fixedly connected with the first steering motor 42, one end of the rotating shaft of the first steering motor 42 is fixedly connected with the third mounting member 43 through a flange, the interior of the third mounting member 43 is fixedly connected with the second steering motor 44, and the bottom of the second steering motor 44 is fixedly connected with the fourth mounting member 45.

[0044] In this embodiment, under the action of the third driving component 32, the synchronous wheel drives the first synchronous belt 33 to rotate, and then the first synchronous belt 33 drives the second sliding member 36 to slide along the third slide rail 37, and then the second sliding member 36 adjusts the position of the second mounting member 41, and adjusts the left and right positions of the picking suction cup. In addition, the setting of the first tension wheel 34 can also keep the first synchronous belt 33 in a taut state. Under the action of the first steering motor 42, the third mounting member 43 can be driven to rotate through the flange connection, so that the picking suction cup rotates along the direction of the fixed frame 31 to adjust the position of the picking suction cup. Under the action of the second steering motor 44, the fourth mounting member 45 can be driven to rotate along the direction of the vertical beam 21, and the angle of the picking suction cup can be adjusted from different directions again.

[0045] Example 3

[0046] like Figure 1-15As shown, on the basis of Example 1, the utility model provides a technical solution: preferably, the double-speed moving component 5 includes a mounting frame 51, the surface of the mounting frame 51 is fixedly connected to the top of the fourth mounting member 45, the surface of the mounting frame 51 is fixedly connected to the fourth driving component 52, the surface of one end of the fourth driving component 52 is meshed with a second synchronous belt 53, the two ends of the second synchronous belt 53 are meshed with second driven wheels 55, and second elastic wheels 54 are arranged on both sides of the fourth driving component 52, the surface of the second synchronous belt 53 is fixedly connected to a third sliding member 56, the two sides of the top of the third sliding member 56 are slidably connected to fourth slide rails 57, the top of the fourth slide rail 57 is fixedly connected to the bottom of the mounting frame 51, the structure of the fourth driving component 52 is the same as the third driving component 32, and the end picker component 6 includes a fifth mounting member. 61. The surface of the fifth mounting member 61 is fixedly connected with the fifth driving assembly 62, one end of the fifth driving assembly 62 is meshed with the third synchronous belt 63, the structure of the fifth driving assembly 62 is the same as the third driving assembly 32, the surface of the third synchronous belt 63 is meshed with the synchronous wheel 64, one side of the synchronous wheel 64 is fixedly connected with a carbon fiber beam 65, one end of the carbon fiber beam 65 is fixedly connected with an adjusting motor 66, one end of the adjusting motor 66 shaft is fixedly connected with a screw 67, the surface of the screw 67 is threadedly connected with a driving nut 68, the bottom of the driving nut 68 is fixedly connected with an adjusting block 69, the interior of the adjusting block 69 is fixedly connected with an installation main pipe 610 for installing a picking up suction cup, the top of the adjusting block 69 is slidably connected with a fifth slide rail 611, and the top of the fifth slide rail 611 is fixedly connected to the bottom of the carbon fiber beam 65.

[0047] In this embodiment, under the action of the fourth driving assembly 52, the second synchronous belt 53 drives the third sliding member 56 to slide along the fourth slide rail 57, and the moving speed of the second synchronous belt 53 on the third sliding member 56 is twice the moving speed of the first synchronous belt 33 driving the second sliding member 36. The double-speed moving assembly 5 and the left and right moving assembly 3 work together to achieve a triple handling speed. Under the action of the fifth driving assembly 62, the third synchronous belt 63 drives the synchronous wheel 64 to rotate, and then the carbon fiber beam 65 drives the pickup suction cup to rotate along the direction of the beam 11, so that The picking suction cup can be rotated and adjusted at multiple angles, and then under the action of the adjusting motor 66, the screw rod 67 can be driven to rotate, so that the driving nut drives the adjusting block 69 to slide along the fifth slide rail 611, and the distance between the picking suction cups installed on the surfaces of the two groups of end picker assemblies 6 is adjusted. After the picking suction cup is moved to the top of the stamping part by the linkage of three plus two linear axes and three rotating axes, a total of eight axes, a vacuum cavity is formed in the suction cup by pressing, and the stamping part is picked up. When throwing the material, the picking suction cup is inflated to destroy the vacuum environment and realize throwing the material (this is an existing structure, not shown in the figure).

[0048] The following is a detailed description of the working principle of the high-speed flexible stamping and handling robot.

[0049] like Figure 1-15 As shown, during transportation, the robot is installed on the column at the front end or rear end of the press through the fixing member 12, and the first driving component 16 is started, so that the first motor 161 drives the input shaft of the first reducer 162 to rotate, and the output shaft of the first reducer 162 drives the gear 163 to rotate, so that the gear 163 slides along the first rack 14, and the mounting plate 15 slides along the first slide rail 13, so that the mounting plate 15 drives the vertical beam 21 to move, and the front and rear positions of the picking suction cup installed on the surface of the mounting main pipe 610 are adjusted. Under the action of the second driving component 24, the gear rotating rod pushes the second rack 25 to move up and down, so that the second rack 25 fixed to the second rack 25 is moved. The vertical beam 21 moves up and down to adjust the up and down position of the pickup suction cup, and makes the first sliding member 27 slide along the second slide rail 26, so that the movement process is more stable. Under the action of the third driving assembly 32, the synchronous wheel drives the first synchronous belt 33 to rotate, and then the first synchronous belt 33 drives the second sliding member 36 to slide along the third slide rail 37, so that the second sliding member 36 adjusts the position of the second mounting member 41, and adjusts the left and right position of the pickup suction cup. The setting of the first tension wheel 34 can also keep the first synchronous belt 33 in a taut state. Under the action of the first steering motor 42, the third mounting member 43 can be driven to rotate through the flange connection to make The pickup suction cup rotates along the direction of the fixed frame 31 to adjust the position of the pickup suction cup. Under the action of the second steering motor 44, the fourth mounting member 45 can be driven to rotate along the direction of the vertical beam 21. The angle of the pickup suction cup is adjusted again from different directions. Under the action of the fourth driving assembly 52, the second synchronous belt 53 drives the third sliding member 56 to slide along the fourth slide rail 57, and the moving speed of the second synchronous belt 53 to the third sliding member 56 is twice the moving speed of the first synchronous belt 33 to drive the second sliding member 36. The double-speed moving assembly 5 and the left and right moving assembly 3 can work together to achieve three times the handling speed. Under the action of the fifth driving assembly 62, the third synchronous belt 63 drives The synchronous wheel 64 rotates, and then the carbon fiber beam 65 drives the picking suction cup to rotate along the direction of the beam 11, so that the picking suction cup can be rotated and adjusted at multiple angles. Subsequently, under the action of the adjusting motor 66, the screw 67 can be driven to rotate the rod, so that the driving nut drives the adjusting block 69 to slide along the fifth slide rail 611, and the distance between the picking suction cups installed on the surfaces of the two groups of end picker assemblies 6 is adjusted. After the picking suction cup is moved to the top of the stamping part by the linkage of three plus two linear axes and three rotating axes, a total of eight axes, a vacuum cavity is formed in the suction cup by pressing, and the stamping part is picked up. When throwing the material, the picking suction cup is inflated to destroy the vacuum environment and realize throwing the material (this is an existing structure, not shown in the figure).

[0050] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A high-speed flexible stamping handling robot, comprising a forward and backward moving assembly (1), characterized in that: One side of the front-to-back moving assembly (1) is fixedly connected to an up-and-down moving assembly (2), the bottom of the up-and-down moving assembly (2) is fixedly connected to a left-and-right moving assembly (3), the bottom of the left-and-right moving assembly (3) is fixedly connected to a multi-angle steering assembly (4), the bottom of the multi-angle steering assembly (4) is fixedly connected to a double-speed moving assembly (5), and one end of the double-speed moving assembly (5) is fixedly connected to an end picker assembly (6).

2. A high-speed flexible stamping and handling robot according to claim 1, characterized in that: The forward and backward moving assembly (1) comprises a beam (11), two ends of one side of the beam (11) are fixedly connected to fixing members (12) fixedly connected to two columns on the front side or the rear side of the press, a side of the beam (11) away from the fixing member (12) is fixedly connected to a first slide rail (13), a side of the beam (11) close to the first slide rail (13) is fixedly connected to a first rack (14), and a surface of the first rack (14) is meshed with a first driving assembly (16).

3. A high-speed flexible stamping and handling robot according to claim 2, characterized in that: The surface of the first driving component (16) is fixedly connected to a mounting plate (15), and the first driving component (16) comprises a first motor (161), one end of the first motor (161) is fixedly connected to the input shaft of a first reducer (162), the output shaft of the first reducer (162) is fixedly connected to a gear (163), the surface of the gear (163) is meshed with the surface of the first rack (14), a drag chain (17) is arranged on the top of the beam (11), and one side of the mounting plate (15) is slidably connected to the surface of the first slide rail (13).

4. The high-speed flexible stamping and handling robot according to claim 1, characterized in that: The up-and-down moving assembly (2) comprises a vertical beam (21), first mounting members (22) are arranged on both sides of the vertical beam (21), one side of the first mounting member (22) is fixedly connected to one side of the mounting plate (15), the top of the first mounting member (22) is fixedly connected to a balancer (23), one side of the vertical beam (21) is fixedly connected to a second slide rail (26), the surface of the second slide rail (26) is slidably connected to a first sliding member (27), and one side of the vertical beam (21) is fixedly connected to a second rack (25).

5. A high-speed flexible stamping and handling robot according to claim 4, characterized in that: One side of the first sliding member (27) is fixedly connected to a second driving assembly (24), the structure of the second driving assembly (24) is the same as that of the first driving assembly (16), one side of the first sliding member (27) is fixedly connected to one side of the mounting plate (15), and the surface of the second rack (25) is meshed with the surface of one end of the second driving assembly (24).

6. The high-speed flexible stamping and handling robot according to claim 1, characterized in that: The left-right moving assembly (3) comprises a fixed frame (31), the top of the fixed frame (31) is fixedly connected to the bottom of the vertical beam (21), one side of the fixed frame (31) is fixedly connected to a third driving assembly (32), the third driving assembly (32) comprises a driving motor, a second speed reducer and a synchronous wheel, the output shaft of the driving motor is fixedly connected to the input shaft of the speed reducer, the output shaft of the speed reducer is fixedly connected to the synchronous wheel, and the surface of the synchronous wheel is meshed with a first synchronous belt (33).

7. A high-speed flexible stamping and handling robot according to claim 6, characterized in that: First tension wheels (34) are arranged on both sides of one end of the third driving component (32); first driven wheels (35) are meshed with inner walls at both ends of the first synchronous belt (33); both sides of the first driven wheel (35) are rotatably connected to the inner walls at both ends of the fixed frame (31); a second sliding member (36) is fixedly connected to the surface of the first synchronous belt (33); a third slide rail (37) is fixedly connected to the bottom of the fixed frame (31); and both sides of the top of the second sliding member (36) are slidably connected to the surface of the third slide rail (37).

8. The high-speed flexible stamping and handling robot according to claim 1, characterized in that: The multi-angle steering assembly (4) comprises a second mounting member (41), the top of the second mounting member (41) is fixedly connected to the bottom of the second sliding member (36), the inner wall of the second mounting member (41) is fixedly connected to a first steering motor (42), one end of the rotating shaft of the first steering motor (42) is fixedly connected to a third mounting member (43) via a flange, the interior of the third mounting member (43) is fixedly connected to a second steering motor (44), and the bottom of the second steering motor (44) is fixedly connected to a fourth mounting member (45).

9. A high-speed flexible stamping and handling robot according to claim 8, characterized in that: The double-speed moving component (5) comprises a mounting frame (51), the surface of the mounting frame (51) is fixedly connected to the top of a fourth mounting member (45), the surface of the mounting frame (51) is fixedly connected to a fourth driving component (52), the surface of one end of the fourth driving component (52) is meshed with a second synchronous belt (53), the two ends of the second synchronous belt (53) are meshed with second driven wheels (55), the two sides of the fourth driving component (52) are provided with second elastic wheels (54), the surface of the second synchronous belt (53) is fixedly connected to a third sliding member (56), the two sides of the top of the third sliding member (56) are slidably connected to fourth slide rails (57), the top of the fourth slide rails (57) are fixedly connected to the bottom of the mounting frame (51), and the structure of the fourth driving component (52) is the same as that of the third driving component (32).

10. The high-speed flexible stamping and handling robot according to claim 1, characterized in that: The end picker assembly (6) comprises a fifth mounting member (61), a fifth driving assembly (62) is fixedly connected to the surface of the fifth mounting member (61), one end of the fifth driving assembly (62) is meshed with a third synchronous belt (63), the structure of the fifth driving assembly (62) is the same as that of the third driving assembly (32), a synchronous wheel (64) is meshed on the surface of the third synchronous belt (63), one side of the synchronous wheel (64) is fixedly connected to a carbon fiber beam (65), one end of the carbon fiber beam (65) is fixedly connected to An adjusting motor (66), one end of the rotating shaft of the adjusting motor (66) is fixedly connected with a screw rod (67), the surface of the screw rod (67) is threadedly connected with a driving nut (68), the bottom of the driving nut (68) is fixedly connected with an adjusting block (69), the inside of the adjusting block (69) is fixedly connected with a mounting main pipe (610) for mounting a picking-up suction cup, the top of the adjusting block (69) is slidably connected with a fifth slide rail (611), and the top of the fifth slide rail (611) is fixedly connected to the bottom of the carbon fiber beam (65).

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