CN112974632A - Household electrical appliances box pay-off stamping production line of robot - Google Patents

Abstract

The invention relates to a robot feeding and stamping production line for household appliance boxes. The material grabbing device comprises a first material grabbing robot, a first stamping die, a first feeding mechanical arm, a second stamping die, a second feeding mechanical arm, a third stamping die, a third feeding mechanical arm, a fourth stamping die, a fourth feeding mechanical arm, a fifth stamping die, a second material grabbing robot and a sixth stamping die which are sequentially arranged. The invention respectively completes the stamping processes of stretching, punching waist-shaped holes, pressing ribs, trimming, punching edge holes, pressing steps, bending, riveting reinforcing plates and the like of the box plate through a plurality of stamping dies, and also completes the processes of feeding, discharging and the like between two adjacent dies through a plurality of material grabbing robots and a plurality of feeding manipulators, so the invention has the advantages of high automation degree, high safety, no shutdown production, high production efficiency and low production cost.

Description

Household electrical appliances box pay-off stamping production line of robot

Technical Field

The invention relates to the technical field of metal plate stamping production lines, in particular to a feeding stamping production line of a household appliance box robot.

Background

The existing production line for the household appliance box body is low in production efficiency, low in automation degree, high in labor intensity and dangerous in working environment, and workers are injured, so that the existing riveting production line still needs to be further improved.

Disclosure of Invention

The invention aims to provide a feeding and stamping production line of a robot for household appliance boxes, which has high automation degree, high production efficiency and safe production.

The purpose of the invention is realized as follows:

the utility model provides a household electrical appliances box robot pay-off stamping production line, is including the box board material buttress platform that sets gradually, first material robot, first stamping die, first pay-off machinery hand, second stamping die, second pay-off machinery hand, third stamping die, third pay-off machinery hand, fourth stamping die, fourth pay-off machinery hand, fifth stamping die, second material robot, sixth stamping die and place the platform of grabbing.

The box plate stacking platform is used for stacking a plurality of box plates to be punched.

And the first material grabbing robot is used for grabbing the box plate on the material stack to a first stamping die.

The first stamping die is used for stretching the box plate.

And the first feeding manipulator is used for conveying the stretched box plate to the second stamping die.

And the second stamping die is used for stamping a waist-shaped hole on the stretched box plate and ribbing the edge of the waist-shaped hole.

And the second feeding manipulator is used for conveying the box plate with punched waist-shaped holes and pressed ribs to a third stamping die.

And the third stamping die is used for trimming and punching edge holes on the periphery of the box plate with punched waist-shaped holes and pressed ribs.

And the third feeding manipulator is used for conveying the box plate subjected to edge cutting and edge hole punching to a fourth stamping die.

And the fourth stamping die is used for pressing steps on the periphery of the box plate after trimming and punching the edge holes.

And the fourth feeding manipulator is used for conveying the box plate with the pressed step to a fifth stamping die.

And the fifth stamping die is used for bending the steps on the periphery of the box plate upwards.

And the second material grabbing robot is used for conveying the bent box plate to a sixth stamping die.

And the sixth stamping die is used for riveting a reinforcing plate on the bent box plate.

And the third material grabbing robot is used for conveying the riveted boxboard to the boxboard placing table.

And the placing table is used for placing the box plate stamped by the sixth stamping die.

The present invention may be further improved as follows.

The sixth stamping die comprises a riveting die, a first feeding robot and a second feeding robot, wherein the first feeding robot and the second feeding robot are respectively arranged on the left side and the right side of the riveting die, and the first feeding robot and the second feeding robot respectively comprise a rack, a vibration feeding disc, a material grabbing manipulator and a material distributing and positioning mechanism.

The vibration feeding tray is arranged on the rack, is positioned beside the material distribution positioning mechanism and is used for vibrating and conveying the reinforcing plate out to the material distribution positioning mechanism.

Divide material positioning mechanism, locate in the frame and be located the below of grabbing material manipulator for with the separation one by one and the location of a plurality of reinforcing plates that vibration feed table carried and come, so that grab material manipulator and snatch.

The grabbing manipulator is arranged on the rack and used for grabbing the reinforcing plate which is well distributed by the distributing and positioning mechanism and conveying the reinforcing plate to the riveting die for riveting.

The material grabbing mechanical arm comprises a portal frame, a feeding servo motor, a long supporting seat, a first feeding seat, a second feeding seat and a material grabbing arm, the portal frame is arranged on the frame, the long supporting seat is horizontally arranged on the portal frame, the first feeding seat is horizontally arranged on the long supporting seat in a sliding mode, the second feeding seat is horizontally arranged on the first feeding seat in a sliding mode, the material grabbing arm is arranged at the front end of the second feeding seat, the feeding servo motor is arranged on the long supporting seat and is in driving connection with the first feeding seat, the first feeding seat is provided with a front guide wheel, a rear guide wheel and a transmission belt, the front guide wheel and the rear guide wheel are respectively located at the front end and the rear end of the first feeding seat, the transmission belt is connected with the front guide wheel and the rear guide wheel, the long supporting seat is provided with a first belt clamping seat, and the first belt clamping seat is fixedly connected with the outer side section of the transmission belt, and a second belt clamping seat is arranged on the second feeding seat and fixedly connected with the inner side section of the transmission belt. Because first double-layered tape holder and driving belt's outside section fixed connection, first double-layered tape holder is cliied and is had a certain point on the section outside the driving belt promptly, consequently, the position that driving belt was cliied by first double-layered tape holder can not remove, when first pay-off seat forward slip, first pay-off seat drives front guide pulley, back guide pulley and driving belt also forward slip together, the front guide pulley is drawing driving belt and back guide pulley forward or backward movement, front guide pulley, back guide pulley tensioning driving belt all the time, the inside section of driving belt then drives second pay-off seat and grabs the material arm and make a round trip to slide. Because first pay-off seat itself has driven the second pay-off seat and has removed, and driving belt can also drive the relative first pay-off seat of second pay-off seat slip moreover, therefore driving belt can drive the two-stroke double-speed motion of second pay-off seat and grabbing material arm, consequently grab the pay-off efficiency of material manipulator high, the feeding speed is fast.

The first feeding seat is provided with a driven rack along the length direction of the long supporting seat, a motor shaft of the feeding servo motor is provided with a driving gear, and the driving gear is meshed with the driven rack for transmission, so that the first feeding seat is driven to slide.

The material grabbing arm comprises a feeding seat plate and lifting sucker assemblies arranged on two sides of the feeding seat plate, the feeding seat plate is arranged at the front end of the second feeding seat, each lifting sucker assembly comprises a lifting cylinder, a lifting seat and a sucker, the lifting cylinder is arranged on the feeding seat plate and is in driving connection with the lifting seat, and the sucker is arranged on the lifting seat and is located below the lifting cylinder.

The material distribution positioning mechanism comprises a material distribution bottom plate, a material distribution cylinder, a material distribution sliding seat, a first material distribution jacking cylinder, a second material distribution jacking cylinder, a material pushing sliding seat and a material pushing jacking cylinder, wherein the upper surface of the material distribution bottom plate is provided with a material distribution long hole, the material distribution sliding seat is arranged on the material distribution bottom plate in a sliding manner along the length direction of the material distribution long hole, the first material distribution jacking cylinder and the second material distribution jacking cylinder are arranged on the material distribution sliding seat at intervals along the length direction of the material distribution long hole, the first material distribution jacking cylinder and the second material distribution jacking cylinder are positioned below the material distribution long hole, the material distribution cylinder is arranged on the material distribution bottom plate and is in driving connection with the material distribution sliding seat, the middle part of the material distribution long hole is provided with a first positioning block and a first sensor, one end of the material distribution long hole is provided with a second positioning block and a second, and the periphery of the material distribution bottom plate is provided with a feeding hole. According to the vibration feeding plate, the reinforcing plates are sequentially conveyed to the feeding hole and the material distribution long hole, the material receiving cylinder drives the material receiving plate to move forwards to receive the reinforcing plates, so that the reinforcing plates are prevented from falling from the material distribution long hole, the material receiving cylinder drives the material receiving plate to move backwards, the material receiving plate places the reinforcing plates on the material distribution long hole, when the first sensor senses that the reinforcing plates are arranged in the middle of the material distribution long hole, the lifting seat on the first material distribution lifting cylinder lifts out of the material distribution long hole and jacks up the reinforcing plates, the material distribution cylinder drives the material distribution sliding seat to slide towards the left end or the right end of the material distribution long hole, and the first material distribution lifting cylinder pushes the reinforcing plates to the left end or the right end of the material distribution long hole to be positioned, so that the material grabbing.

The material distributing device is characterized in that a first vibration feeding tray and a second vibration feeding tray are respectively arranged on two sides of the material distributing bottom plate, a first feeding hole and a second feeding hole are respectively arranged on two sides of the material distributing bottom plate, a discharging hole of the first vibration feeding tray is communicated with the first feeding hole, and a discharging hole of the second vibration feeding tray is communicated with the second feeding hole.

The upper surface that divides the material bottom plate is equipped with and pushes away the material slot hole, the one end that pushes away the material slot hole communicates with the middle part that divides the material slot hole is perpendicular, push away the material sliding seat and slide the setting on dividing the material bottom plate along the length direction that pushes away the material slot hole, push away the material cylinder and locate on dividing the material bottom plate and with push away the material sliding seat drive connection, push away material jacking cylinder and locate and push away on the material sliding seat and be located the below that pushes away the material slot hole, it is equipped with fourth locating piece and fourth sensor. The second vibration feeding disc of the invention sequentially conveys the reinforcing plates to the second feeding hole, then the material receiving cylinder drives the material receiving plate to move forwards to receive the reinforcing plates, thereby preventing the reinforcing plate from falling from the material distributing long hole, then, the material receiving cylinder drives the material receiving plate to move backwards, the material receiving plate places the reinforcing plate on the material pushing long hole, when the fourth sensor senses that the reinforcing plate is arranged on the material pushing long hole, the jacking seat of the material pushing jacking cylinder rises out of the material pushing long hole, the reinforcing plate is jacked up, then the reinforcing plate is pushed to the middle position of the material distribution long hole by the material pushing cylinder and the material pushing jacking cylinder, when the fifth sensor senses that the reinforcing plate is arranged at the middle position of the material distribution long hole, the jacking seat on the first material distribution jacking cylinder rises out of the material distribution long hole, and jack up the reinforcing plate, then divide the material cylinder to push the reinforcing plate to the tip location of dividing the material slot hole to be convenient for grab the material arm and snatch one by one.

Divide the material slot hole or push away the middle part that pushes away the material slot hole and be equipped with the material receiving cylinder, be equipped with on the cylinder pole that connects the material receiving cylinder and connect the flitch, when vibrations pay-off dish carried the reinforcing plate to the feed inlet, connect the material receiving cylinder drive to connect the flitch to move toward dividing the material slot hole to catch the reinforcing plate, thereby avoid the reinforcing plate to drop from dividing the material slot hole.

First pay-off manipulator, second pay-off manipulator, third pay-off manipulator and fourth pay-off manipulator all include frame, transfer platform, electric cabinet, elevating system, horizontal transfer mechanism, connecting seat and arm, and the connecting seat passes through elevating system to be installed on the frame, and the arm passes through horizontal transfer mechanism and sets up on the connecting seat, and the transfer platform is installed on the frame and is located the below of arm, the arm includes horizontal transfer guide rail and at least two sets of material arm of inhaling, and horizontal transfer mechanism is connected to horizontal transfer guide rail, and each group material arm of inhaling is installed on horizontal transfer guide rail with detachable mode. This kind of household electrical appliances box robot pay-off punching production line, because the guide rail drive is transferred by the level to the material arm of inhaling on the arm, promptly: the horizontal transfer guide rail self slides, and the horizontal transfer guide rail is heavy in mass and high in strength and is driven by a corresponding horizontal transfer mechanism, so that the horizontal transfer guide rail is also high in transmission power, and is particularly suitable for transmission of (heavy in mass) stamping box boards of stamping dies connected in series.

More specifically, each group of material suction arms comprises a main arm, a sucker rod and a sucker, wherein the sucker is arranged on the sucker rod, the sucker rod is connected to the main arm, the main arm is detachably arranged on the horizontal transfer guide rail, and the main arm, the sucker rod and the sucker are detachably connected, so that different use requirements can be met, and the material suction arms are easy to assemble and disassemble.

More specifically, the horizontal transfer guide rail is provided with a horizontal transfer rack along the length extension direction thereof, the horizontal transfer mechanism comprises a horizontal transfer servo motor, the output end of the horizontal transfer servo motor is meshed with the horizontal transfer rack, and during operation, the output end of the horizontal transfer servo motor drives the horizontal transfer rack, so that the horizontal transfer guide rail not only obtains stronger horizontal sliding power, but also can stably and constantly horizontally slide, the influence of sliding vibration on the stability of the suction force of the suction disc on the box board is avoided, and the stable product transfer is ensured.

Preferably, guide wheel guide rails are arranged on two sides of the horizontal transfer guide rail along the length extension direction of the horizontal transfer guide rail, a horizontal transfer guide wheel is arranged at the lower part of the connecting seat corresponding to the guide wheel guide rails, and the horizontal transfer guide wheel is arranged on the corresponding guide wheel guide rail. That is, the horizontal transfer guide rail is driven by the horizontal transfer servo motor, and the guide wheel guide rails on the two sides slide smoothly along the guide wheels on the two sides of the lower part of the connecting seat, and the sliding fit of the guide wheel guide rails and the guide wheels can further reduce the vibration generated when the horizontal transfer guide rail slides and the friction resistance generated by the sliding of the horizontal transfer guide rail.

As a more specific scheme, the upper part of the connecting seat is connected with a lifting ball screw, and the lifting ball screw is driven by a lifting mechanism, so that the connecting seat performs lifting motion along the rotating lifting ball screw, and the material suction arm is driven to perform lifting motion.

As a more specific scheme, the lifting mechanism comprises a lifting servo motor, and the lifting servo motor is connected with the upper end of the lifting ball screw through a belt and drives the lifting ball screw to rotate.

As a better implementation scheme, the transfer table comprises a support column, a lifting table top and a manual fine adjustment lifting mechanism, the support column is fixed on the base, the lifting table top is installed on the support column through a lifting cylinder, the manual fine adjustment lifting mechanism comprises a hand wheel assembly and a fine adjustment screw rod sleeve, the fine adjustment screw rod sleeve is fixed at the bottom of the lifting table top, the hand wheel assembly is connected with the fine adjustment screw rod sleeve, the lifting table top can be adjusted in height through the lifting cylinder, and a user can also perform fine adjustment on the height of the lifting table top through the manual fine adjustment lifting mechanism according to actual needs.

The invention has the following beneficial effects:

the invention respectively completes the stamping processes of stretching, punching waist-shaped holes, ribbing, trimming, punching edge holes, pressing steps, bending, riveting reinforcing plates and the like of the box plate through a plurality of stamping dies, and also completes the processes of feeding, discharging and the like between two adjacent dies through a plurality of material grabbing robots and a plurality of feeding manipulators, so the invention has the advantages of high automation degree, high safety, no shutdown production, high production efficiency and low production cost.

And (II) the feeding robot respectively realizes the working procedures of vibrating feeding, distributing, positioning, grabbing and feeding and the like through the vibrating feeding disc, the distributing positioning mechanism and the grabbing mechanical arm, and finally conveys the reinforcing plate to the riveting die for riveting, so that the feeding robot has the advantages of high automation degree, high safety, no shutdown production, high production efficiency and low production cost.

In addition, the feeding robot adopts the double-vibration feeding tray to vibrate for feeding and the double-material distributing mechanism to distribute materials, so that the feeding efficiency is high.

And (IV) the material distributing mechanism is matched with a plurality of sensors, and a plurality of reinforcing plates conveyed by the vibration feeding disc are conveyed to different positioning blocks of the material distributing bottom plate one by the material distributing cylinder, the first material distributing jacking cylinder and the second material distributing jacking cylinder to be positioned, so that the material distribution of the reinforcing plates is realized, and then signals are sent to the manipulator to grab the material, so that the manipulator can grab the reinforcing plates at one time.

And (V) more particularly, the first feeding seat drives the second feeding seat to move, and the transmission belt can drive the second feeding seat to slide relative to the first feeding seat, so that the transmission belt can drive the second feeding seat and the grabbing arm to move in a double-stroke and double-speed manner, and the grabbing manipulator is high in feeding efficiency and feeding speed.

(six) this kind of domestic appliance box robot pay-off punching production line because the material arm of inhaling on the arm is transferred the guide rail by the level and is driven, promptly: the horizontal transfer guide rail self slides, and the horizontal transfer guide rail is heavy in mass and high in strength and is driven by a corresponding horizontal transfer mechanism, so that the horizontal transfer guide rail is also high in transmission power, and is particularly suitable for transmission of (heavy in mass) stamping box boards of stamping dies connected in series.

And the material sucking arm consisting of the main arm, the sucker rod and the sucker is detachably connected with each other, so that different use requirements can be met, and the material sucking arm is easy to assemble and disassemble. Furthermore, the sucker rod is provided with an adjusting long hole along the length extending direction, the sucker rod is arranged on the main arm through the adjusting long hole by the connecting component, the adjusting long hole on the sucker rod enables a user to fix the connecting component at the proper position of the adjusting long hole according to different angles and length requirements so as to meet the requirement of the sucker on the box plate adsorption

And (eighthly), the horizontal transfer and the lifting motion of the mechanical arm are realized by respectively adding a horizontal transfer rack, a guide wheel guide rail and a sliding fit of a guide wheel and a lifting auxiliary balance cylinder on two sides, so that the horizontal transfer not only obtains stronger horizontal sliding power, but also can stably and constantly horizontally slide, and the balance cylinders on two sides play a lifting guide role with stable balance, thereby avoiding influencing the stability of the adsorption force of a sucker on a box plate due to larger vibration generated by the horizontal transfer and the lifting motion and ensuring the stable product transmission.

Drawings

Fig. 1 is a schematic structural view of a feeding and stamping production line of a household appliance box robot.

Fig. 2 is a top view of fig. 1.

Fig. 3 is a front view of fig. 1.

Figure 4 is a perspective view of a freestanding, wired robot of the present invention.

Figure 5 is a front view of a freestanding wired robot of the present invention.

Fig. 6 is a sectional view taken along line a-a of fig. 5.

Fig. 7 is a side view of fig. 5.

Fig. 8 is a top view of fig. 5.

Fig. 9 is a schematic structural view of a sixth press die of the present invention.

Fig. 10 is a side view of fig. 9.

Fig. 11 is a schematic structural view of the first and second feeding robots of the present invention.

Fig. 12 is a schematic structural view of a material grasping robot (in an elongated state) of a sixth press die of the present invention.

Fig. 13 is a structural view of another angle of the material grasping robot of the sixth press die of the present invention.

Fig. 14 is a schematic structural view of a material grasping robot (in a contracted state) of the sixth press die of the present invention.

Fig. 15 is a schematic structural view of a distributing positioning mechanism of a sixth press die according to the present invention.

Fig. 16 is a schematic structural view of another angle of the dividing positioning mechanism of the sixth press die of the present invention.

Fig. 17 is a side view of fig. 16.

Fig. 18 is a production flow chart of a feeding and stamping production line of a household appliance box robot.

Detailed Description

The invention is further described with reference to the following figures and examples.

In a first embodiment, as shown in fig. 1 to 18, a full-automatic robot riveting production line for large household appliance boxes includes a box material stacking table 315, a first material grabbing robot 37, a first stamping die 31, a first feeding manipulator 38, a second stamping die 32, a second feeding manipulator 39, a third stamping die 33, a third feeding manipulator 310, a fourth stamping die 34, a fourth feeding manipulator 311, a fifth stamping die 35, a second material grabbing robot 312, a sixth stamping die 36, and a placing table 314, which are sequentially arranged.

The box plate stacking platform 315 is used for stacking a plurality of box plates 316 to be punched;

the first grabbing robot 37 is used for grabbing the box plates 316 on the material stack to the first stamping die 31.

The first press die 31 is used for drawing the box plate 316.

The first feeding manipulator 38 is configured to convey the stretched box board 316 to the second stamping die 32.

The second stamping die 32 is used for punching a waist-shaped hole in the stretched box plate 316 and beading the edge of the waist-shaped hole.

And the second feeding manipulator 39 is used for conveying the box plate 316 with punched waist-shaped holes and pressed ribs to the third stamping die 33.

The third stamping die 33 is used for trimming and punching the edges of the box plate 316 with the punched waist-shaped holes and the pressed ribs.

The third feeding manipulator 310 is configured to convey the trimmed and punched box boards 316 to the fourth stamping die 34.

The fourth stamping die 34 is used for pressing a step on the periphery of the box plate 316 after trimming and punching.

And the fourth feeding manipulator 311 is configured to convey the box plate 316 after the step pressing to the fifth stamping die 35.

The fifth press die 35 is configured to bend the step around the box plate 316 upward.

And the second grabbing robot 312 is configured to convey the bent box plate 316 to the sixth stamping die 36.

And a sixth press die 36 for riveting the reinforcing plate 9 to the bent box plate 316.

And the third grabbing robot 313 is used for conveying the riveted boxboard 316 to the boxboard 316 placing table 314.

The placing table 314 is used for placing the box board 316 punched by the sixth punching die 36.

The present invention is a more specific embodiment.

The first press die 31, the second press die 32, the third press die 33, the fourth press die 34 and the fifth press die 35 of the present invention are all related to the prior art, and will not be described in detail here.

The first feeding manipulator 38, the second feeding manipulator 39, the third feeding manipulator 310 and the fourth feeding manipulator 311 respectively comprise a base 18, a transfer table 2, an electric cabinet 15, a lifting mechanism 16, a horizontal transfer mechanism 17, a connecting base 6 and a mechanical arm 710, wherein the electric cabinet 15 is used for electrically controlling each electric control accessory, the connecting base 6 is installed on the base 18 through the lifting mechanism 16, the mechanical arm 710 is arranged on the connecting base 6 through the horizontal transfer mechanism 17, the transfer table 2 is installed on the base 18 and is positioned below the mechanical arm 710, and the first feeding manipulator, the second feeding manipulator, the third feeding manipulator and the fourth feeding manipulator are characterized in that the mechanical arm 710 comprises a horizontal transfer guide rail 714 and at least two groups of material suction arms 72A and 72B, the horizontal transfer guide rail 714 is connected with the horizontal transfer mechanism 17, and each group of material suction arms 72A and 72B.

In this embodiment, a set of the material suction arms 72A and 72B is respectively disposed on two sides of the horizontal transfer guide rail 714, each set of the material suction arms 72A and 72B includes two (parallel) main arms 721, a plurality of suction cup rods 722 and a plurality of suction cups 723, each main arm 721 is connected to a plurality of suction cup rods 722, each suction cup rod 722 is mounted with a suction cup 723, and the two main arms 721 are respectively mounted on the horizontal transfer guide rail 714 in a detachable manner.

In order to facilitate the length and angle adjustment of the sucker rod 722, an adjusting long hole 8 is formed in the sucker rod 722 along the length extending direction, the sucker rod 827 is installed on the main arm 721 through the adjusting long hole 8 by a connecting component, and a user can fix the connecting component at a proper position of the adjusting long hole 8 according to different angles and length requirements, so as to meet the requirement that the sucker 723 adsorbs the box plate 316.

Further, a horizontal transfer rack 9 is disposed on the horizontal transfer rail 714 along the length extension direction thereof, the horizontal transfer mechanism 17 includes a horizontal transfer servomotor 171, and an output end of the horizontal transfer servomotor 171 is engaged with the horizontal transfer rack 9, so that the horizontal transfer rail 714 is driven by the horizontal transfer servomotor 171 to move horizontally, thereby driving the suction arms 72A, 72B to move horizontally stably.

More preferably, the horizontal transfer guide rail 714 has guide rails 10 with an inverted V shape on both sides along a longitudinal extension direction thereof, a plurality of horizontal transfer guide wheels 11 are installed at lower portions of the connecting sockets 6 corresponding to the guide rails 10, each horizontal transfer guide wheel 11 is seated on the corresponding guide rail 10, and a lifting ball screw 12 is connected to an upper portion of the connecting sockets 6, and the lifting ball screw 12 is driven by a lifting mechanism 16 to move the connecting sockets 6 up and down along the rotating lifting ball screw 12.

In order to balance and stabilize the lifting of the connecting base, lifting auxiliary balance cylinders 13 are respectively arranged on the two sides of the upper part of the base 18 close to the connecting base 6, and the telescopic ends of the lifting auxiliary balance cylinders 13 are connected with the two sides of the upper part of the connecting base 6. When the connecting seat goes up and down, the balance cylinders on the two sides play a role in balancing and stabilizing the guide, the influence of large vibration generated by the lifting on the stability of the adsorption force of the sucker on the box plate 316 is avoided, and the stable conveying of products is ensured.

The horizontal transfer and the lifting movement of the mechanical arm 710 are respectively performed by the sliding fit of the horizontal transfer rack 9, the guide wheel guide rail 10 and the guide wheel 11, and the auxiliary balance cylinders 13 on the two sides, so that the influence of the large vibration generated by the horizontal transfer and the lifting movement on the stability of the suction force of the suction cup 723 on the box plate 316 can be avoided, and the stable product transfer can be ensured.

The lifting mechanism 16 includes a lifting servo motor 161, the lifting servo motor 161 is connected to the upper end of the lifting ball screw 12 through a belt 162, so as to drive the lifting ball screw 12 to rotate, and realize the balanced lifting and sliding of the connecting seat 6 along the lifting ball screw 12. In order to further provide the stability of the sliding of the connecting socket 6, the housing 18 is provided with left and right linear guides 14 corresponding to the upper portion of the connecting socket 6, and the upper portion of the connecting socket 6 is seated on the linear guides 14.

An automatic oil-filling lubrication system is further disposed on the machine base 18 near the connecting base 6 to supplement lubricating oil for the guide wheel 11 and the horizontal transfer guide rail 714 on the connecting base 6, so as to ensure good lubricity between the guide wheel 11 and the guide wheel guide rail 10.

The transfer table 2 comprises a support column 24, a lifting table top 22 and a manual fine-adjustment lifting mechanism 23, the support column 24 is fixed on the base 18, the lifting table top 22 is installed on the support column 24 through a lifting cylinder 25, the manual fine-adjustment lifting mechanism 23 comprises a hand wheel assembly 231 and a fine-adjustment screw rod sleeve 232, the fine-adjustment screw rod sleeve 232 is fixed at the bottom of the lifting table top 22, and the hand wheel assembly 231 is connected with the fine-adjustment screw rod sleeve 232. The height of the lifting table top 22 can be adjusted by the lifting cylinder 25, and the user can also finely adjust the height of the lifting table top 22 by manually finely adjusting the lifting mechanism 23 according to actual needs.

Sixth stamping die 36 includes riveting die 1, first feeding robot 2, second feeding robot 3, the left and right both sides of riveting die 1 are located respectively to first feeding robot 2, second feeding robot 3, first feeding robot 2, second feeding robot 3 all include frame 20, first vibration feed table 21, second vibration feed table 22, grab material manipulator 4 and divide material positioning mechanism 7.

The first vibration feeding tray 21 and the second vibration feeding tray 22 are arranged on the frame 20 and located beside the material distribution positioning mechanism 7, and are used for vibrating and conveying the reinforcing plate 9 out to the material distribution positioning mechanism 7.

The material distributing and positioning mechanism 7 is arranged on the rack 20 and located below the material grabbing manipulator 4, and is used for separating and positioning the reinforcing plates 9 conveyed by the two vibration feeding disks one by one so as to grab the material grabbing manipulator 4 to grab.

The material grabbing manipulator 4 is arranged on the rack 20 and used for grabbing the reinforcing plate 9 divided by the material dividing and positioning mechanism 7 and conveying the reinforcing plate 9 to the riveting die 1 for riveting.

The present invention is a more specific embodiment.

The material grabbing manipulator 4 comprises a portal frame 41, a feeding servo motor 45, a long supporting seat 42, a first feeding seat 43, a second feeding seat 44 and a material grabbing arm 5, the portal frame 41 is arranged on the rack 20, the long supporting seat 42 is horizontally arranged on the portal frame 41, the first feeding seat 43 is horizontally and slidably arranged on the long supporting seat 42, the second feeding seat 44 is horizontally and slidably arranged on the first feeding seat 43, the material grabbing arm 5 is arranged at the front end of the second feeding seat 44, the feeding servo motor 45 is arranged on the long supporting seat 42 and is in driving connection with the first feeding seat 43, the first feeding seat 43 is provided with a front guide wheel 62, a rear guide wheel 63 and a transmission belt 61, the front guide wheel 62 and the rear guide wheel 63 are respectively positioned at the front end and the rear end of the first feeding seat 43, the transmission belt 61 is connected with the front guide wheel 62 and the rear guide wheel 63, the long supporting seat 42 is provided with a first belt clamping seat 46, the first belt clamping seat 46 is fixedly connected with the outer section of the transmission belt 61, the second feeding seat 44 is provided with a second belt clamping seat 48, and the second belt clamping seat 48 is fixedly connected with the inner section of the transmission belt 61. Because first clamp seat and drive belt's outside section fixed connection, first clamp seat is cliied and is had a certain point on the section outside the drive belt promptly, consequently, the position that drive belt 61 was cliied by first clamp seat 46 can not move, when first pay-off seat 43 slided forward, first pay-off seat 43 drives front guide 62, back guide 63 and drive belt 61 and slides, front guide 62 pulls drive belt 61 and back guide 63 and moves forward or backward, front guide 62, back guide 63 tension drive belt 61 all the time, the inside section of drive belt 61 then drives second pay-off seat 44 and grabbing material arm 5 and slides back and forth. Because the first feeding seat 43 drives the second feeding seat 44 to move, and the transmission belt 61 can drive the second feeding seat 44 to slide relative to the first feeding seat 43, the transmission belt 61 drives the second feeding seat 44 and the material grabbing arm 5 to perform double-stroke and double-speed movement, so that the material grabbing manipulator 4 has high feeding efficiency and high feeding speed.

A driven rack 47 is arranged on the first feeding seat 43 along the length direction of the long supporting seat, a driving gear 49 is arranged on a motor shaft of the feeding servo motor 45, and the driving gear 49 is in meshed transmission with the driven rack 47, so that the first feeding seat 43 is driven to slide.

The elongated support seat 42 and the second feeding seat 44 are horizontally and slidably disposed at the top and the bottom of the first feeding seat 43, respectively.

First feeding guide rails 410 are arranged on two sides of the long supporting seat 42 along the length direction of the long supporting seat, and the first feeding seat 43 is arranged on the first feeding guide rails 410 in a sliding manner.

The bottom surface of the first feeding seat 43 is provided with a second feeding guide rail 411 along the length direction of the long support seat, and the second feeding seat 44 is slidably arranged on the second feeding guide rail 411.

The material grabbing arm 5 comprises a feeding seat plate 51 and lifting sucker assemblies 50 arranged on two sides of the feeding seat plate 51, the feeding seat plate 51 is arranged at the front end of the second feeding seat 44, each lifting sucker assembly 50 comprises a lifting cylinder 52, a lifting seat 54 and a sucker 53, the lifting cylinder 52 is arranged on the feeding seat plate 51 and is in driving connection with the lifting seat 54, and the sucker 53 is arranged on the lifting seat 54 and is located below the lifting cylinder 52.

The distributing and positioning mechanism 7 comprises a distributing bottom plate 70, a first distributing component 700 and a second distributing component 800, wherein the first distributing component 700 and the second distributing component 800 are respectively positioned at the left side and the right side of the distributing bottom plate 70. The two sides of the material distributing bottom plate 70 are respectively provided with a first feeding hole 701 and a second feeding hole 702, and feeding guide blocks 703 are arranged beside the first feeding hole 701 and the second feeding hole 702.

The first vibration feeding tray 21 and the second vibration feeding tray 22 are respectively positioned at the left side and the right side of the material distributing bottom plate 70, the discharge port of the first vibration feeding tray 21 is communicated with the first feed port 701, and the discharge port of the second vibration feeding tray is communicated with the second feed port 702.

The first distributing assembly 700 comprises a first distributing cylinder 71, a first distributing sliding seat 713, a first distributing jacking cylinder 712 and a second distributing jacking cylinder 711, the upper surface of the distributing bottom plate 70 is provided with a first distributing long hole 72, the first distributing sliding seat 713 is arranged on the distributing bottom plate 70 in a sliding manner along the length direction of the first distributing long hole 72, the first distributing jacking cylinder 712 and the second distributing jacking cylinder 711 are arranged on the first distributing sliding seat 713 at intervals along the length direction of the distributing long hole, the first distributing jacking cylinder 712 and the second distributing jacking cylinder 711 are arranged below the first distributing long hole 72, the first distributing cylinder 71 is arranged on the distributing bottom plate and is in driving connection with the first distributing sliding seat 713, the middle part of the first distributing long hole 72 is provided with a first positioning block 75, a first sensor 76 and a first receiving cylinder 79, a first receiving plate 791 is arranged on the cylinder rod of the first receiving cylinder 79, a second positioning block 73 and a second sensor 77 are arranged at the left end of the first material distribution long hole 72, and a third positioning block 74 and a third sensor 78 are arranged at the right end of the first material distribution long hole 72.

The first vibration feeding tray of the invention conveys the reinforcing plate 9 to the first feeding port 701 and the first material distribution long hole 72 in sequence, then the first material receiving cylinder 79 drives the first material receiving plate 791 to move forwards to receive the reinforcing plate 9, thereby preventing the reinforcing plate 9 from falling from the first material distribution long hole 72, then the first material receiving cylinder 79 drives the first material receiving plate 791 to move backwards, the first material receiving plate 791 puts the reinforcing plate 9 on the first material distribution long hole 72, the first positioning block 75 positions the reinforcing plate 9, when the first sensor 76 senses that the reinforcing plate 9 is positioned at the middle position of the first material distribution long hole 72, the lifting seat on the first material distribution lifting cylinder 712 lifts out of the first material distribution long hole 72 and lifts the reinforcing plate 9, then the first material distribution cylinder drives the first material distribution sliding seat to slide towards the left end or the right end of the first material distribution long hole, so as to push the reinforcing plate 9 to the left end or the right end of the first material distribution long hole 72 to be positioned, thereby facilitating the gripping of the gripper arms 5 one by one.

The second material distribution assembly 800 comprises a second material distribution cylinder 81, a material pushing cylinder 825, a material pushing sliding seat 814, a second material distribution sliding seat 813, a material pushing jacking cylinder 815, a third material distribution jacking cylinder 812 and a fourth material distribution jacking cylinder (not shown in the figure), the upper surface of the material distribution bottom plate 70 is provided with a second material distribution long hole 82 and a material pushing long hole 821, the front end of the material pushing long hole is vertically communicated with the middle part of the second material distribution long hole, the second material distribution sliding seat 813 is arranged on the material distribution bottom plate 70 in a sliding manner along the length direction of the second material distribution long hole 82, the second material distribution cylinder 81 is arranged on the material distribution bottom plate and is in driving connection with the second material distribution sliding seat 813, the third material distribution jacking cylinder 812 and the fourth material distribution jacking cylinder are arranged on the second material distribution sliding seat 813 at intervals along the length direction of the second material distribution long hole 82, the third material distribution jacking cylinder 812 and the fourth material jacking cylinder are positioned below the second material distribution long, a fifth positioning block 85 and a fifth sensor 86 are arranged in the middle of the second material dividing long hole 82, a sixth positioning block 83 and a sixth sensor 87 are arranged at the right end of the second material dividing long hole 82, and a seventh positioning block 816 and a seventh sensor 817 are arranged at the left end of the second material dividing long hole 82.

The material pushing sliding seat 814 is arranged on the material distributing bottom plate 70 in a sliding manner along the length direction of the material pushing long hole 821, the material pushing cylinder 825 is arranged on the material distributing bottom plate and is in driving connection with the material pushing sliding seat 814, the material pushing jacking cylinder 815 is arranged on the material pushing sliding seat 814 and is located below the material pushing long hole 821, the material pushing long hole 821 is provided with a second material receiving cylinder 89, a fourth positioning block 822 and a fourth sensor 823, and a cylinder rod of the second material receiving cylinder 89 is provided with a second material receiving plate 891.

The second vibration feeding tray of the invention conveys the reinforcing plates 9 to the second feeding hole 702 in sequence, then the second material receiving cylinder 89 drives the second material receiving plate 891 to move forward to receive the reinforcing plates 9, thereby avoiding the falling of the reinforcing plates 9 from the second material dividing long hole 82, then the second material receiving cylinder 89 drives the second material receiving plate 891 to move backward, the material receiving plate 791 places the reinforcing plates 9 on the material pushing long hole 821, when the fourth sensor senses that the reinforcing plates 9 are on the material pushing long hole 821, the jacking seat of the material pushing jacking cylinder 815 is lifted out of the material pushing long hole 821 to jack up the reinforcing plates 9, then the material pushing cylinder 825 drives the material pushing sliding seat 814 to move towards the second material dividing long hole 82, the material pushing jacking cylinder 815 pushes the reinforcing plates 9 to the middle position of the second material dividing long hole 82, when the fifth sensor 86 senses that the reinforcing plates 9 are on the middle position of the second material dividing long hole 82, the third material distributing jacking cylinder 812 drives the jacking seat to descend, the material pushing cylinder 825 drives the material pushing sliding seat 814 to return, then the jacking seat on the third material distributing jacking cylinder 812 ascends out of the second material distributing long hole 82 and jacks up the reinforcing plate 9, then the second material distributing cylinder 81 drives the second material distributing sliding seat to slide towards the left end or the right end of the second material distributing long hole so as to push the reinforcing plate 9 to the left end or the right end of the second material distributing long hole 82 for positioning, and therefore the material grabbing arms 5 can grab one by one conveniently.

The present invention is a more specific embodiment.

The first feeding hole 701 and the feeding guide block 703 are located outside the first material dividing long hole 72, the first positioning block 75, the first sensor 76 and the first material receiving cylinder 79 are located inside the first material dividing long hole 72, and the first feeding hole and the first material receiving plate 791 are arranged oppositely.

The second feed inlet 702 and the feed guide block 703 are located outside the material pushing long hole 821, the fourth positioning block 822, the fourth sensor and the second material receiving cylinder 89 are located inside the material pushing long hole 821, and the second feed inlet 702 and the second material receiving plate 891 are arranged oppositely.

Divide material bottom plate 70 to correspond first flitch 791 that connects and be equipped with first recess 704 of stepping down, first recess 704 of stepping down communicates with first branch material slot hole 72 is perpendicular, first flitch 791 horizontal slip first recess 704 of stepping down on, first flitch 791 that connects is parallel and level with the upper surface of dividing material bottom plate 70. So that the reinforcing plate conveyed from the vibration feeding plate directly slides to the first material receiving plate, and the first material receiving plate cannot obstruct the sliding of the reinforcing plate.

Divide material bottom plate 70 to connect the flitch 891 to be equipped with the second recess 705 of stepping down corresponding to the second, the second recess 705 of stepping down communicates with the second branch material slot hole 82 is perpendicular, the second connects on the flitch 891 horizontal slip second recess 705 of stepping down, the second connects flitch 891 and divides the upper surface parallel and level of material bottom plate 70. So that the reinforcing plate conveyed from the vibration feeding plate directly slides to the second material receiving plate, and the second material receiving plate cannot obstruct the sliding of the reinforcing plate.

The distance between the first distributing and jacking cylinder 712 and the second distributing and jacking cylinder 711 is equal to the distance between the first positioning block 75 and the second positioning block 73.

Similarly, the distance between the third distributing jacking cylinder 812 and the fourth distributing jacking cylinder is equal to the distance between the fifth positioning block 85 and the sixth positioning block 83, so that the first, second, third and fourth distributing jacking cylinders can distribute materials conveniently.

The first material dividing jacking cylinder 712, the second material dividing jacking cylinder 711, the third material dividing jacking cylinder 812, the fourth material dividing jacking cylinder and the cylinder rod of the material pushing jacking cylinder 815 are provided with jacking seats 819, and the jacking seats 819 are provided with positioning grooves 826, so that the jacking seats 819 can fix the reinforcing plate 9 conveniently.

The working principle of the invention is as follows:

before the first, second, third and fourth feeding manipulators 311 of the present invention perform a conveying operation, the height of the transfer table 2 needs to be adjusted, during the operation, according to a set program, the horizontal transfer guide rail 714 drives the front and rear sets of material suction arms 72A and 72B to horizontally move toward the front stamping die, the front set of material suction arms 72A moves to a position above the working table of the front stamping die, the rear set of material suction arms 72B simultaneously moves to a position above the transfer table 2 (lifting table), the mechanical arm 710, according to the set program, lowers the front set of material suction arms 72A and sucks the box plate 316, and then, according to a set lifting value, the front set of material suction arms 72A suck the box plate 316 by a certain height, and at the same time, when the rear set of material suction arms 72B first operates, the middle transfer table 2 is in a static state (may also be set to be in a synchronous operation state with the front set of material suction arms 72A), the mechanical arm 710 drives the front and rear groups of material suction arms 72A, 72B to move back and forth horizontally according to the set program until the front group of material suction arms 72A descend according to the set program and remove the adsorption force, so that the box board 316 is placed on the transfer table 2, and at this time, the rear group of material suction arms 72B move to above the table of the rear stamping die and are in a static state (or can be set to be in a synchronous working state with the front group of material suction arms 72A). At this time, the front and rear groups of material suction arms 72A and 72B horizontally move to the previous stamping die again according to the set program, and the previous group of material suction arms 72A repeats the above actions: lowering, sucking the box plate 316, raising, moving horizontally back (the transfer stage), lowering, placing the box plate 316 on the transfer stage. Meanwhile, the rear group of material suction arms 72B synchronously move to transfer the box plate 316 on the transfer table 2 to the rear stamping die, and the process is repeated, so that the transfer connection between the two stamping dies is realized, and the efficiency of transferring the box plate 316 is obviously improved (at least doubled) due to the synchronous movement of the front and rear groups of material suction arms 72A and 72B, and the requirements of automatic and mass production can be met.

When the invention works, the first grabbing robot 37 grabs the stacked box plates 316 on the box plate stacking table 315 one by one to the first stamping die 31, then the first stamping die 31 stretches a groove 317 on the periphery of the box plate 316, then the first feeding manipulator 38 conveys the stretched box plate 316 to the second stamping die 32, then the second stamping die 32 punches a waist-shaped hole 318 and a rib 319 on the edge of the waist-shaped hole 318 on the stretched box plate 316, then the second feeding manipulator 39 conveys the box plate 316 punched with the waist-shaped hole 318 and the rib 319 to the third stamping die 33, and then the third stamping die 33 performs trimming and edge punching on the periphery of the box plate 316 punched with the waist-shaped hole 318 and the rib 319 to form a notch 321 and an edge hole 320 on the periphery of the box plate 316. After the box board 316 is punched with the edge holes, the third feeding robot 310 conveys the box board 316 after trimming and punching the edge holes 320 to the fourth stamping die 34, then the fourth stamping die 34 presses the steps 322, 323, 324 and 325 on the periphery of the box board 316 after trimming and punching the edge holes 320, the fourth stamping die 34 presses the bottom surface of the box board 316 upwards to make the steps 322, 323, 324 and 325 concave upwards, then, the fourth feed robot 311 conveys the box board 316 pressed with the steps 322, 323, 324, 325 to the fifth press mold 35, and then the fifth press mold 35 bends the steps 322, 323, 324, 325 around the box board 316 upward, then the second grabbing robot 312 conveys the bent box plate 316 to the sixth stamping die 36, the sixth stamping die 36 rivets the reinforcing plate 9 on the bent box plate 316, the third grabbing robot 313 conveys the riveted boxboard 316 to the boxboard 316 placing table 314. So far, all the processing steps of the box plate 316 of the present invention have been completed, and thus, by repeating the above steps, the production line of the present invention can complete the stamping steps of the box plate 316 in a large number.

When the sixth stamping die 36 of the present invention works, the two vibrating feed trays of the first feeding robot 2 and the second feeding robot 3 start to vibrate and convey the reinforcing plate 9 to the respective material distribution positioning mechanisms 7, the reinforcing plate 9 is conveyed to the first feed port 701 and the second feed port 702 on the material distribution bottom plate 70, the first material receiving cylinder 79 drives the first material receiving plate 791 to move forward so as to receive the reinforcing plate 9, then the first material receiving plate 791 drives the reinforcing plate 9 to move backward together, the reinforcing plate 9 moves into the first material distribution long hole 72, then the first material receiving cylinder 79 drives the first material receiving plate 791 to move backward and move out of the first material distribution long hole 72, the reinforcing plate 9 falls on the first material distribution long hole 72, when the first sensor 76 senses that the reinforcing plate 9 is in place, the first material distribution jacking cylinder 712 drives the jacking seat 819 to jack the reinforcing plate 9 upwards, and then the first material distribution cylinder 71 drives the first material distributing cylinder 71, The second branch jacking cylinders 712 and 711 move towards the left end of the first branch long hole 72, the jacking seat 819 drives the reinforcing plate 9 to move to the second positioning block 73 at the left end of the first branch long hole 72, and then the jacking seat 819 of the first branch jacking cylinder 712 descends and lowers the reinforcing plate 9. When the first sensor 76 senses that the first material receiving plate 791 is sent into the second reinforcing plate 9 again, the second material distributing jacking cylinder 711 drives the jacking seat 819 of the second material distributing jacking cylinder 711 to jack up the second reinforcing plate 9, then the first material distributing cylinder 71 drives the first and second material distributing jacking cylinders 712 and 711 to move towards the right end of the first material distributing long hole 72, the jacking seat 819 drives the second reinforcing plate 9 to move to a third positioning block at the right end of the first material distributing long hole 72, and then the jacking seat 819 of the second material distributing jacking cylinder 711 puts down the second reinforcing plate 9. The material distributing and positioning mechanism 7 repeats the operation in the same way, so that the material distributing work of the reinforcing plates 9 is completed block by block, and the plurality of suckers 53 of the material grabbing arm 5 can grab the materials conveniently.

Then, the material grabbing manipulators 4 of the first feeding robot 2 and the second feeding robot 3 are started, the feeding servo motor 45 drives the material grabbing arm 5 to move to the position above the material distributing bottom plate 70, then the lifting cylinder 52 drives the suckers 53 to descend, the two suckers 53 respectively suck the first reinforcing plate 9 and the second reinforcing plate 9 at the two ends of the first material distributing long hole 72 and ascend, then the feeding servo motor 45 drives the material grabbing arm 5 to move towards the direction of a workbench of the riveting die 1, after the material grabbing arm 5 moves to the position above the work, the suckers 53 descend and accurately place the reinforcing plates 9 on the plate body to be riveted, then the feeding servo motor 45 drives the material grabbing arm 5 to move out of the workbench of the riveting die 1, and the riveting die 1 starts to rivet the plate body.

The feeding servo motor 45 of the invention drives the first feeding seat 43 to move towards the workbench direction of the riveting die 1 through the driving gear and the driven rack 47, the first feeding seat 43 drives the front guide wheel 62, the rear guide wheel 63 and the transmission belt 61 to move towards the workbench direction of the riveting die 1 together, and because the outer section of the transmission belt 61 is fixed, the inner section of the transmission belt 61 is fixedly connected with the second feeding seat 44, the transmission belt 61 moves back and forth along with the first feeding seat 43, the transmission belt 61 pulls the second feeding seat 44 back and forth on the first feeding seat 43, so that the second feeding base 44 can slide back and forth relative to the first feeding base 43, the second feeding base 44 can extend and retract on the first feeding base 43, therefore, the transmission belt 61 drives the second feeding seat 44 and the material grabbing arm 5 to move in a double-stroke and double-speed manner, so that the material grabbing manipulator 4 has high feeding efficiency and high feeding speed.

Claims (10)

1. A feeding and stamping production line of a household appliance box body robot is characterized by comprising a box body material stacking platform, a first material grabbing robot, a first stamping die, a first feeding mechanical arm, a second stamping die, a second feeding mechanical arm, a third stamping die, a third feeding mechanical arm, a fourth stamping die, a fourth feeding mechanical arm, a fifth stamping die, a second material grabbing robot, a sixth stamping die and a placing platform which are sequentially arranged;

the box plate stacking platform is used for stacking a plurality of box plates to be punched;

the first material grabbing robot is used for grabbing the box plate on the material stack to a first stamping die;

the first stamping die is used for stretching the box plate;

the first feeding manipulator is used for conveying the stretched box plate to a second stamping die;

the second stamping die is used for stamping a waist-shaped hole on the stretched box plate and ribbing the edge of the waist-shaped hole;

the second feeding manipulator is used for conveying the box plate with punched waist-shaped holes and pressed ribs to a third stamping die;

the third stamping die is used for trimming and punching edge holes on the periphery of the box plate with punched waist-shaped holes and pressed ribs;

the third feeding manipulator is used for conveying the box plate subjected to edge cutting and edge hole punching to a fourth stamping die;

the fourth stamping die is used for pressing steps on the periphery of the box plate after trimming and punching edge holes;

the fourth feeding manipulator is used for conveying the box plate after the step is pressed to a fifth stamping die;

the fifth stamping die is used for bending the steps on the periphery of the box plate upwards;

the second material grabbing robot is used for conveying the bent box plate to a sixth stamping die;

the sixth stamping die is used for riveting a reinforcing plate on the bent box plate;

the third material grabbing robot is used for conveying the riveted boxboards to the boxboard placing table,

and the placing table is used for placing the box plate stamped by the sixth stamping die.

2. The household appliance box body robot feeding and stamping production line as claimed in claim 1, wherein the sixth stamping die comprises a stamping die, a first feeding robot and a second feeding robot, the first feeding robot and the second feeding robot are respectively arranged on two sides of the stamping die, the first feeding robot and the second feeding robot respectively comprise a frame, a vibration feeding disc, a material grabbing manipulator and a material distributing and positioning mechanism,

the vibration feeding tray is arranged on the rack, is positioned beside the material distribution positioning mechanism and is used for vibrating and conveying the reinforcing plate to the material distribution positioning mechanism;

the material distribution positioning mechanism is arranged on the rack, is positioned below the material grabbing manipulator and is used for separating and positioning the reinforcing plates conveyed by the vibration feeding disc one by one so as to be convenient for the material grabbing manipulator to grab;

the grabbing manipulator is arranged on the rack and used for grabbing the reinforcing plate which is well distributed by the distributing and positioning mechanism and conveying the reinforcing plate to the stamping die for riveting.

3. The robot feeding and stamping production line for household electrical appliance boxes as claimed in claim 2, wherein the material grabbing manipulators comprise a portal frame, feeding servomotors, elongated support seats, a first feeding seat, a second feeding seat and material grabbing arms, the portal frame is arranged on the machine frame, the elongated support seats are horizontally arranged on the portal frame, the first feeding seat is horizontally and slidably arranged on the elongated support seats, the second feeding seat is horizontally and slidably arranged on the first feeding seat, the material grabbing arms are arranged at the front end of the second feeding seat, the feeding servomotors are arranged on the elongated support seats and are in driving connection with the first feeding seat, the first feeding seat is provided with a front guide wheel, a rear guide wheel and a transmission belt, the front guide wheel and the rear guide wheel are respectively arranged at the front end and the rear end of the first feeding seat, the transmission belt is connected with the front guide wheel and the rear guide wheel, the elongated support seats are provided with first belt clamping seats, the first clamping belt seat is fixedly connected with the outer side section of the transmission belt, the second feeding seat is provided with a second clamping belt seat, the second clamping belt seat is fixedly connected with the inner side section of the transmission belt, the first feeding seat is provided with a driven rack along the length direction of the long supporting seat, a motor shaft of the feeding servo motor is provided with a driving gear, and the driving gear is in meshing transmission with the driven rack.

4. The household appliance box body robot feeding stamping production line as claimed in claim 3, wherein the material grabbing arm comprises a feeding seat plate and lifting sucker assemblies arranged on two sides of the feeding seat plate, the feeding seat plate is arranged at the front end of the second feeding seat, the lifting sucker assemblies comprise a lifting cylinder, a lifting seat and a sucker, the lifting cylinder is arranged on the feeding seat plate and is in driving connection with the lifting seat, and the sucker is arranged on the lifting seat and is located below the lifting cylinder.

5. The feeding and stamping production line of the household appliance box robot as claimed in claim 4, wherein the distributing and positioning mechanism comprises a distributing bottom plate, a distributing cylinder, a distributing sliding seat, a first distributing jacking cylinder and a second distributing jacking cylinder, the upper surface of the distributing bottom plate is provided with a distributing long hole, the distributing sliding seat is arranged on the distributing bottom plate in a sliding manner along the length direction of the distributing long hole, the first distributing jacking cylinder and the second distributing jacking cylinder are arranged on the distributing sliding seat at intervals along the length direction of the distributing long hole, the first distributing jacking cylinder and the second distributing jacking cylinder are positioned below the distributing long hole, the distributing cylinder is arranged on the distributing bottom plate and is in driving connection with the distributing sliding seat, the middle part of the distributing long hole is provided with a first positioning block and a first sensor, one end of the distributing long hole is provided with a second positioning block and a second sensor, the other end of the material distribution long hole is provided with a third positioning block and a third sensor, and the periphery of the material distribution bottom plate is provided with a feeding hole.

6. The household appliance box body robot feeding and stamping production line according to claim 5, characterized by further comprising a material pushing cylinder, a material pushing sliding seat and a material pushing jacking cylinder, wherein the upper surface of the material distribution bottom plate is provided with a material pushing long hole, one end of the material pushing long hole is vertically communicated with the middle of the material distribution long hole, the material pushing sliding seat is arranged on the material distribution bottom plate in a sliding mode along the length direction of the material pushing long hole, the material pushing cylinder is arranged on the material distribution bottom plate and is in driving connection with the material pushing sliding seat, the material pushing jacking cylinder is arranged on the material pushing sliding seat and is located below the material pushing long hole, and a fourth positioning block and a fourth sensor are.

7. The household appliance box body robot feeding and stamping production line as claimed in claim 6, wherein the first feeding mechanical arm, the second feeding mechanical arm, the third feeding mechanical arm and the fourth feeding mechanical arm all comprise a base, a transfer table, an electric cabinet, a lifting mechanism, a horizontal transfer mechanism, a connecting seat and a mechanical arm, the connecting seat is mounted on the base through the lifting mechanism, the mechanical arm is arranged on the connecting seat through the horizontal transfer mechanism, the transfer table is mounted on the base and positioned below the mechanical arm, the household appliance box body robot feeding and stamping production line is characterized in that the mechanical arm comprises a horizontal transfer guide rail and at least two groups of material suction arms, the horizontal transfer guide rail is connected with the horizontal transfer mechanism, each group of material suction arms is detachably mounted on the horizontal transfer guide rail, each group of material suction arms comprises a main arm, a sucker rod and a sucker, the sucker is mounted, the main arm is detachably mounted on the horizontal transfer rail.

8. The household appliance box body robot feeding and stamping production line as claimed in claim 7, wherein a horizontal transfer rack is arranged on the horizontal transfer guide rail along the length extension direction of the horizontal transfer guide rail, the horizontal transfer mechanism comprises a horizontal transfer servo motor, and an output end of the horizontal transfer servo motor is meshed with the horizontal transfer rack.

9. A feeding and stamping production line of a household appliance box robot as claimed in claim 8, wherein guide wheel guide rails are arranged on two sides of the horizontal transfer guide rail along the length extension direction of the horizontal transfer guide rail, a horizontal transfer guide wheel is arranged on the lower portion of the connecting seat corresponding to the guide wheel guide rails, and the horizontal transfer guide wheel is seated on the corresponding guide wheel guide rail.

10. The robot feeding and stamping production line for household electrical appliance boxes according to claim 9, wherein a lifting ball screw is connected to an upper portion of the connecting base, the lifting ball screw is driven by a lifting mechanism to enable the connecting base to perform lifting motion along the rotating lifting ball screw, the lifting mechanism comprises a lifting servo motor, and the lifting servo motor is connected with an upper end of the lifting ball screw through a belt.

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