CN113369897A

CN113369897A - Automatic cutting, bending and welding equipment for plates

Info

Publication number: CN113369897A
Application number: CN202110807779.8A
Authority: CN
Inventors: 王璐; 盛乾超; 孟瑞; 汪超; 谢能刚
Original assignee: Maanshan Angong University Intelligent Equipment Technology Institute Co ltd
Current assignee: Maanshan Angong University Intelligent Equipment Technology Institute Co ltd
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2021-09-10

Abstract

The invention discloses a plate automatic cutting, bending and welding device, belonging to the technical field of automatic processing equipment, comprising a first carrying robot body and a first carrying gripper, wherein the upper part of a gripper mounting base body frame and a terminal flange of the first carrying robot body are provided with a suction mechanism, the lower part of the gripper mounting base body frame is provided with a gripping mechanism, the gripping mechanisms are respectively positioned at two sides of the suction mechanism, the suction mechanism sucks a plate from a plate receiving warehouse and places the plate on a transplanting worktable, the transplanting worktable sends the plate into a laser cutting robot for processing, the gripping mechanisms at two sides are mutually close to each other and place the gripped and cut plate on a transfer platform, a bending robot is used for conveying the cut finished product from the transfer platform and sending the cut plate into a bending machine for bending, and then placing the bent finished product into a welding transfer frame, and welding the bent finished product positioned on a welding tool table by a welding robot. The equipment can realize automatic cutting, bending and welding of the plates, and has high production continuity.

Description

Automatic cutting, bending and welding equipment for plates

Technical Field

The invention belongs to the technical field of automatic processing equipment, and particularly relates to equipment for automatic cutting, bending, welding and continuous production of plates.

Background

In the existing laser cutting processing of the plate, two transplanting working tables are respectively arranged below a laser cutting robot and one side of the laser cutting robot close to the plate, a plate carrying mechanical arm plate coming from a material warehouse is used for carrying the plate and is placed on the transplanting working table outside the laser cutting robot, the two transplanting working tables move relatively to exchange positions, the transplanting working tables drive the plate to move to the position under the laser cutting robot, the laser cutting robot carries out processing and cutting on the plate below the laser cutting robot according to a preset track, the plate after cutting (including a finished product after cutting and plate residual material) is placed on the transplanting working table outside the laser cutting robot, in the existing automatic laser cutting of the plate, the two plate carrying mechanical arms are generally used for respectively grabbing the plate to be cut and the finished product after cutting, and simultaneously the plate residual material needs to be processed, and (5) emptying the transplanting worktable at the outer side of the laser robot. Also disclosed in the prior art is a method for placing multiple grippers for gripping a plate to be cut, a cut plate finished product and a plate remainder in a gripper spare part library in a quick-change manner, wherein a flange at the tail end of a transfer robot body is sequentially connected with the grippers in a quick-change manner, and the method can reduce the number of transfer robots but has low gripping efficiency.

After the existing automatic plate cutting, a continuous automatic process is lacked, the manual work is required to participate in the turnover of materials, then the subsequent bending process is carried out, the manual work is carried out the turnover of the materials after the bending, the materials are placed on a welding positioning tool, and a welding robot welds the materials.

Disclosure of Invention

The invention provides automatic cutting, bending and welding equipment for plates, which can realize continuous production of automatic cutting and bending of the plates, reduce manual participation and realize the automation degree of the equipment; and meanwhile, the plate welding machine robot and the welding positioning tool are matched, so that continuous and efficient production is realized.

The technical scheme adopted by the invention is as follows: an automatic cutting, bending and welding device for plates comprises a plate incoming warehouse, a first carrying manipulator, a laser cutting robot and a bending robot, wherein two transplanting workbenches are respectively arranged below and on one side of the laser cutting robot, the first carrying manipulator comprises a first carrying manipulator body and a first carrying gripper, the first carrying gripper comprises a gripper installation base body frame, an absorbing mechanism and a grabbing mechanism, the upper portion of the gripper installation base body frame is connected with a terminal flange of the first carrying manipulator body through a gripper connecting rod, the absorbing mechanism is arranged on the lower portion of the gripper installation base body frame, the grabbing mechanism is arranged on the upper portion of the gripper installation base body frame and located on two sides of the absorbing mechanism, the absorbing mechanism is located inside the grabbing mechanisms on two sides, the first carrying manipulator body drives the absorbing mechanism to absorb plates from the plate incoming warehouse and place the plates on the transplanting workbenches located on the outer side of the laser cutting robot, the transplanting worktable drives a plate to be positioned under the laser cutting robot, the laser cutting robot cuts the plate, the transplanting worktable drives the cut plate to return, the grabbing mechanisms on the two sides are close to each other to grab the material from the two sides of the plate, the transfer platform is arranged between the transplanting worktable and the bending robot, the first carrying manipulator body drives the grabbing mechanism to grab the cut plate from the transplanting platform outside the laser cutting robot, the first carrying manipulator body drives the grabbing mechanism to carry the cut plate from the transplanting worktable where the cut plate is positioned to be positioned on the transfer platform, the bending robot is arranged between the transfer platform and the bending machine, the bending robot is used for carrying the cut finished product from the transfer platform to be bent, the first carrying manipulator body drives the grabbing mechanism to grab the plate excess material from the transfer platform and place the excess material into the excess material recycling box, the revolving rack is arranged on one side of the bending robot in the welding process, the bending robot places the bent finished product into the revolving rack in the welding process, the welding tool platforms are arranged around the welding robot, and the welding robot welds the bent finished product positioned on the welding tool platforms.

Further, first transport tongs still includes the layering mechanism, and the layering mechanism setting is in the one end of tongs installation base member frame and is located one side of suction means, and the adjacent both sides of layering mechanism and grabbing mechanism position tongs installation base member frame, thereby the layering mechanism is used for driving the one side perk of panel and the panel separation of below.

Further, the layering mechanism includes the dwang, and one side of dwang articulates the outer end at tongs installation base member frame, and a plurality of unit equipartitions of absorbing are at the dwang, and slewing mechanism drives the relative tongs installation base member frame of dwang and rotates.

Further, slewing mechanism includes first straight moving cylinder, and the one end that jar pole was kept away from to first straight moving cylinder articulates the up end at tongs installation base member frame, and first straight moving cylinder level sets up and sets up towards the dwang, and the one end of cylinder hinge links firmly with the outer end of first straight moving cylinder jar pole, and the rotation connecting rod upper end is articulated with the cylinder hinge, and the rotation connecting rod lower extreme links firmly with the upper end of dwang, and the even arrangement in the dwang of a plurality of absorption unit intervals.

Further, the picking mechanism further comprises a thickness measuring mechanism, the thickness measuring mechanism and the layering mechanism are arranged on the same side of the gripper installation base body frame, and after the plate is sucked by the sucking mechanism, the thickness measuring mechanism is used for measuring the thickness of the sucked plate.

Furthermore, the thickness measuring mechanism comprises a second straight-moving cylinder, the second straight-moving cylinder is installed on the upper end face of the rotating rod, the second straight-moving cylinder is horizontally arranged and is arranged towards the rotating rod, a third straight-moving cylinder is vertically arranged downwards, a cylinder body of the third straight-moving cylinder is installed on a cylinder rod of the second straight-moving cylinder, a sliding connection plate is fixedly connected with the cylinder rod of the third straight-moving cylinder, a fourth straight-moving cylinder is vertically arranged, the cylinder rod of the fourth straight-moving cylinder is fixedly connected with the sliding connection plate, and the contact type thickness measuring instrument is fixedly connected with the cylinder body of the fourth straight-moving cylinder.

Further, snatch the mechanism and include the movable connecting rod, the lower terminal surface of movable connecting rod slides and sets up the up end at tongs installation base member frame, and movable connecting rod level sets up and its one end stretches out tongs installation base member frame, and the both ends of connecting the montant link firmly with movable connecting rod, gear shaping connecting rod respectively, and a plurality of gear shaping equipartitions just towards the mechanism setting of snatching of opposite side on the gear shaping connecting rod.

Furthermore, snatch the mechanism and still include the fender pinion rack, two fender pinion racks equipartitions that snatch the mechanism are in the adjacent both sides of suction means just are located both sides and snatch the inside that the mechanism was snatched to both sides, and fender pinion rack lower part is opened along the direction of motion of gear shaping has the logical groove that is used for the gear shaping to pass.

Further, the bending robot comprises a six-axis series robot body and a bending clamping part, and the bending clamping part adopts a sucker to suck the end face of the plate.

Furthermore, the welding tool table adopts manual feeding, a bent finished product is picked up from a rotating frame in welding manually and is placed on the welding positioning tool table, and after the welding robot withdraws from the welding positioning tool table, the bent part of the welding tool table is welded.

The scheme has the following technical effects: (1) the first carrying gripper comprises a grabbing mechanism and an absorbing mechanism, can absorb the upper end face of the plate or can grab the plate in a saturation manner from two ends of the plate, and can ensure that the loading position of the transplanting workbench is accurate before the plate is not cut; after the plates are cut, the plates are grabbed from two sides of the plates in a saturated mode, excess materials of the plates and cut finished products can be transferred, the using number of the carrying robots is reduced or the grabbing module is replaced, and the first carrying grabbing hand has two material picking modes so as to adapt to the plates in different processing states; (2) the first carrying gripper is provided with a layering mechanism, one end of a plate is lifted by sucking the plate to be separated from the lower plate, and meanwhile, the thickness measuring mechanism is arranged, so that the number of the plates sucked by the first carrying gripper at a single time can be determined by the numerical value fed back by the thickness measuring mechanism, and the processing error caused by plate adhesion is prevented; for the plates containing ferromagnetic materials, a magnetic separator is arranged in a plate material supply warehouse to further prevent the plates from being adhered; (3) the clamping part of bending in the bending robot adopts a sucker to suck the end face of a plate, the sucker is made of flexible materials, and a certain flexible buffer is formed between the clamping part of bending and the plate.

Drawings

FIG. 1 is a schematic top view of the apparatus of the present invention.

Fig. 2 is a schematic view of the first handling grip of the apparatus of the present invention.

Fig. 3 is an enlarged view of a portion of the structure of fig. 2.

Fig. 4 is a schematic structural diagram of a layering mechanism in the device of the present invention.

Fig. 5 is a schematic perspective view of a welding robot and a welding tool table in the device of the present invention.

Fig. 6 is a schematic perspective view of a plate supply magazine in the device of the present invention.

In the figure: 1. a plate material storage; 101. positioning the cross bar; 102. a positioning gear lever; 103. a magnetic separator; 2. a first carrying manipulator; 201. a gripper connecting rod; 202. the gripper is arranged on the base body frame; 203. sucking the connecting frame; 204. moving the connecting rod; 205. gear shaping; 206. a rotating mechanism; 261. rotating the connecting rod; 262. a first straight-traveling cylinder; 263. a cylinder hinge; 207. a baffle plate; 208. rotating the rod; 209. a thickness measuring mechanism; 291. a second straight cylinder; 292. a third straight cylinder; 293. a sliding connection plate; 294. a fourth straight cylinder; 295. a contact thickness gauge; 3. a transplanting workbench; 4. a laser cutting robot; 5. a transfer platform; 6. a bending robot; 7. a ground rail; 8. welding a transfer frame; 9 welding a tooling table; 10. a welding robot.

Detailed Description

As shown in fig. 1-6, an automatic cutting, bending and welding device for plates comprises a plate receiving warehouse 1, a first carrying manipulator 2, a laser cutting robot 4, a second carrying manipulator and a bending robot 6, wherein two transplanting tables 3 are respectively arranged below and at one side of the laser cutting robot 4, the first carrying manipulator 2 comprises a first carrying manipulator body and a first carrying gripper, the first carrying gripper comprises a gripper mounting base body frame 202, an absorbing mechanism and a gripping mechanism, the upper part of the gripper mounting base body frame 202 is fixedly connected with the lower part of a gripper connecting rod 201, the upper part of the gripper connecting rod 201 is fixed on a terminal flange of the first carrying manipulator body, the absorbing mechanism is arranged at the lower part of the gripper mounting base body frame 202, the gripping mechanism is arranged at the upper part of the gripper mounting base body frame 202 and positioned at two sides of the absorbing mechanism, the absorbing mechanism is positioned inside the gripping mechanism at two sides, the first carrying manipulator body drives the suction mechanism to suck a plate from the plate feeding warehouse 1 and place the plate on a transplanting worktable 3 positioned at the outer side of a laser cutting robot 4, the transplanting worktable 3 drives the plate to be positioned under the laser cutting robot 4, the laser cutting robot 4 cuts the plate, the transplanting worktable 3 drives the cut plate to return, grabbing mechanisms at two sides are close to each other to grab the material from two sides of the plate, a transfer platform 5 is arranged between the transplanting worktable 3 and a bending robot 6, the first carrying manipulator body drives the grabbing mechanism to grab the cut plate from the transplanting platform at the outer side of the laser cutting robot 4, the first carrying manipulator body drives the grabbing mechanism to carry the cut plate from the transplanting worktable 3 on which the cut plate is placed on the transfer platform 5, the bending robot 6 is arranged between the transfer platform 5 and a bending machine, bending robot 6 is used for sending into the bender from the finished product after the transfer platform 5 transport cutting and bends, first transport manipulator body drives and snatchs the mechanism and snatchs the panel clout from transfer platform 5 and place the clout collection box in, revolving rack 8 arranges the one side at bending robot 6 in the welding, bending robot 6 places the finished product after will bending in welding revolving rack 8, a plurality of welding frock platform 9 are arranged around welding robot 10, welding robot 10 welds the finished product of bending of location on welding frock platform 9.

As shown in fig. 2, the suction mechanism includes a suction connection frame 203, an upper portion of the suction connection frame 203 is fixed to a lower portion of the gripper installation base frame 202, a plurality of suction units are arranged on the gripper connection frame base frame at intervals, and the plurality of suction units are used for sucking an upper end surface of a plate material, so that a suction force on the plate material is increased.

As shown in fig. 2 and 3, the first carrying gripper further includes a layering mechanism, the layering mechanism is disposed at one end of the gripper mounting base frame 202 and located at one side of the suction mechanism, the layering mechanism and the gripping mechanism are located at two adjacent sides of the gripper mounting base frame 202, and the layering mechanism is used for driving one side of a plate to tilt so as to separate the plate below the plate. Preferably, the layering mechanism comprises a rotating rod 208, one side of the rotating rod 208 is hinged to the outer end of the gripper installation base body frame 202, the plurality of suction units are uniformly distributed on the rotating rod 208, and the rotating mechanism 206 drives the rotating rod 208 to rotate towards the outer side relative to the gripper installation base body frame 202.

The rotating mechanism 206 comprises a first straight-moving cylinder 262, one end of the first straight-moving cylinder 262, which is far away from the cylinder rod, is hinged to the upper end face of the gripper mounting base body frame 202, the first straight-moving cylinder 262 is horizontally arranged and is arranged towards the rotating rod 208, one end of a cylinder hinge 263 is fixedly connected with the outer end of the cylinder rod of the first straight-moving cylinder 262, the upper end of a rotating connecting rod 261 is hinged to the cylinder hinge 263, the lower end of the rotating connecting rod 261 is fixedly connected with the upper end of the rotating rod 208, and a plurality of sucking units are uniformly distributed in the rotating rod 208 at intervals.

The action process of the layering mechanism is as follows: after the suction mechanism contacts with the uppermost plate end face of the plate incoming warehouse 1, the suction unit in the layering mechanism also contacts with the upper end face of the plate, a negative pressure state is formed between the suction unit and the upper end face of the plate in the layering mechanism, the first straight cylinder 262 extends out of the cylinder rod to drive the cylinder hinge 263 to move, the rotating connecting rod 261 rotates relative to the cylinder hinge 263 to drive the rotating rod 208 to rotate relative to the gripper installation base body frame 202 towards the upper side to drive one side of the plate to tilt and separate from the lower plate, and therefore the suction mechanism sucks the uppermost single-layer plate from the plate incoming warehouse 1.

The picking mechanism further comprises a thickness measuring mechanism 209, the thickness measuring mechanism 209 and the layering mechanism are arranged on the same side of the gripper installation base body frame 202, after the plate is sucked by the sucking mechanism and is separated from the plate material library, the thickness of the plate picked by the picking mechanism is measured by the thickness measuring mechanism 209, and whether the plate is adhered or not is determined according to a numerical value fed back by the thickness measuring mechanism 209.

The thickness measuring mechanism 209 comprises a second straight-line cylinder 291, the second straight-line cylinder 291 is installed on the upper end surface of the rotating rod 208, the second straight-line cylinder 291 is horizontally arranged and arranged towards the rotating rod 208, the third straight-line cylinder 292 is vertically arranged downwards, a cylinder body of the third straight-line cylinder 292 is installed on a cylinder rod of the second straight-line cylinder 291, a sliding connection plate 293 is fixedly connected with a cylinder rod of the third straight-line cylinder 292, the fourth straight-line cylinder 294 is vertically arranged and a cylinder rod of the fourth straight-line cylinder 294 is fixedly connected with the sliding connection plate 293, and the contact type thickness gauge 295 is fixedly connected with the cylinder body of the fourth straight-line cylinder 294.

The second straight-moving cylinder 291 drives the third straight-moving cylinder 292 to move towards the direction far away from the gripper mounting base body frame 202, the third straight-moving cylinder 292 drives the sliding connecting plate 293 to move downwards, the fourth straight-moving cylinder 294 moves downwards relative to the sliding connecting plate 293 so as to drive the contact type thickness gauge 295 to move downwards, the second straight-moving cylinder 291 returns to the position, the contact type thickness gauge 295 is in contact with the upper end face and the lower end face of the plate to measure the thickness of the plate to be sucked, and therefore the quantity of the plate to be sucked by the sucking mechanism at a time is determined.

For the stability of the movement of the thickness gauge along with the fourth straight cylinder 294 at the time of contact, the contact thickness gauge 295 is disposed between the fourth straight cylinder 294 and the slide attachment plate 293, and a slide guide portion is provided between the base of the contact thickness gauge 295 and the slide attachment plate 293.

As shown in fig. 2, the grabbing mechanism includes a movable connecting rod 204, a lower end surface of the movable connecting rod 204 is slidably disposed on an upper end surface of the gripper mounting base frame 202, preferably, a guide portion is disposed between the movable connecting rod 204 and the gripper mounting base frame 202, the movable connecting rod 204 is horizontally disposed, and one end of the movable connecting rod 204 extends out of the gripper mounting base frame 202, the other end of the movable connecting rod 204 is connected to a rotating motor through a rack-and-pinion mechanism, the rotating motor drives the gear shaping connecting rods on two sides to move relatively, two ends of a connecting vertical rod are respectively fixedly connected to the movable connecting rod 204 and the gear shaping connecting rods, and a plurality of gear shaping teeth 205 are uniformly distributed on the gear shaping connecting rods and face the grabbing mechanism on the other side.

In order to prevent the return of the grabbing mechanism, that is, when the grabbing mechanisms on the two sides are far away from each other, the cut plate is placed on the transfer platform 5, in order to prevent the cut plate from continuously moving along with the grabbing mechanism, the grabbing mechanism further comprises a tooth blocking plate 207, the tooth blocking plates 207 of the two grabbing mechanisms are uniformly arranged on the two adjacent sides of the suction mechanism and inside the grabbing mechanisms on the two sides, the upper part of the tooth blocking plate 207 is fixed on the lower part of the grabbing base body frame 202 through a connecting vertical rod, and a through groove for the insertion tooth 205 to pass through is formed in the lower part of the tooth blocking plate 207 along the moving direction of the insertion tooth 205.

Preferably, the bending robot 6 comprises a six-axis series robot body and a bending clamping portion, the bending clamping portion adopts a sucker to suck the end face of the plate, the sucker is made of a flexible material, and a certain flexible buffer is arranged between the bending clamping portion and the plate.

Welding frock platform 9 adopts artifical material loading, and the manual work picks up the finished product after bending from the welding transfer rack 8 and places welding position frock platform, and the manual work withdraws from the back, and welding robot 10 welds the piece of bending of welding frock platform 9.

In order to expand the movement range of the bending robot 6, the base of the bending robot 6 is mounted on a ground gauge so that the bending robot 6 can slide along a ground rail 7.

As shown in fig. 6, the plate supply warehouse 1 includes a positioning cross bar 101 and positioning stop bars 102, the positioning cross bar 101 and the positioning stop bars 102 enclose three adjacent outer side surfaces of a cuboid, a plate enters an area enclosed by the positioning cross bar 101 and the positioning stop bars 102 from the remaining side, and the three side surfaces of the plate are respectively contacted with the positioning cross bar 101 and the positioning stop bars 102; for the plate containing ferromagnetic material, the magnetic force piece dividers 103 are respectively arranged at two ends of the plate supply warehouse 1, so that the sucked plate and the lower plate are prevented from being adhered to each other.

The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.

Claims

1. The automatic plate cutting, bending and welding equipment is characterized by comprising a plate material receiving warehouse (1), a first carrying manipulator (2), a laser cutting robot (4) and a bending robot (6), wherein two transplanting workbenches (3) are respectively arranged below and on one side of the laser cutting robot (4), the first carrying manipulator (2) comprises a first carrying robot body and a first carrying gripper, the first carrying gripper comprises a gripper mounting base body frame (202), an absorbing mechanism and a gripping mechanism, the upper part of the gripper mounting base body frame (202) is connected with a terminal flange of the first carrying robot body through a gripper connecting rod (201), the absorbing mechanism is arranged on the lower part of the gripper mounting base body frame (202), and the gripping mechanism is arranged on the upper part of the gripper mounting base body frame (202) and positioned on two sides of the absorbing mechanism, the suction mechanism is located inside the two-side grabbing mechanism, the first carrying manipulator body drives the suction mechanism to suck plates from the plate material receiving warehouse (1) and place the plates on a transplanting workbench (3) located outside a laser cutting robot (4), the transplanting workbench (3) drives the plates to be under the laser cutting robot (4), the laser cutting robot (4) cuts the plates, the transplanting workbench (3) drives a plate return position after cutting is completed, the grabbing mechanisms on two sides are close to each other to grab the materials from two sides of the plates, the transfer platform (5) is placed between the transplanting workbench (3) and a bending robot (6), the first carrying manipulator body drives the grabbing mechanism to grab the plates after cutting from the transplanting platform outside the laser cutting robot (4), and the first carrying manipulator body drives the grabbing mechanism to complete plate placing and cutting from the transplanting workbench (3) where the plates are placed and cut Put on transfer platform (5), bending robot (6) are arranged between transfer platform (5) and bender, bending robot (6) are used for sending into the bender from the finished product after transfer platform (5) transport cutting and bend, first transfer robot body drives and snatchs the mechanism and snatchs the panel clout from transfer platform (5) and place the clout collection box in, one side at bending robot (6) is arranged in welding revolving rack (8), the finished product after bending is placed in welding revolving rack (8) in bending robot (6), a plurality of welding frock platforms (9) are arranged around welding robot (10), welding robot (10) weld the finished product of bending of location on welding frock platform (9).

2. The automatic plate cutting, bending and welding equipment according to claim 1, wherein the first carrying gripper further comprises a layering mechanism, the layering mechanism is arranged at one end of the gripper mounting base frame (202) and located at one side of the suction mechanism, the layering mechanism and the gripping mechanism are located at two adjacent sides of the gripper mounting base frame (202), and the layering mechanism is used for driving one side of a plate to be tilted so as to be separated from the plate below the plate.

3. The automatic plate cutting, bending and welding equipment according to claim 2, wherein the layering mechanism comprises a rotating rod (208), one side of the rotating rod (208) is hinged to the outer end of the gripper installation base body frame (202), a plurality of sucking units are uniformly distributed on the rotating rod (208), and the rotating mechanism (206) drives the rotating rod (208) to rotate relative to the gripper installation base body frame (202).

4. The automatic plate cutting, bending and welding equipment according to claim 3, wherein the rotating mechanism (206) comprises a first straight cylinder (262), one end, far away from a cylinder rod, of the first straight cylinder (262) is hinged to the upper end face of the gripper mounting base body frame (202), the first straight cylinder (262) is horizontally arranged and arranged towards the rotating rod (208), one end of a cylinder hinge (263) is fixedly connected with the outer end of the cylinder rod of the first straight cylinder (262), the upper end of a rotating connecting rod (261) is hinged to the cylinder hinge (263), and the lower end of the rotating connecting rod (261) is fixedly connected with the upper end of the rotating rod (208).

5. The automatic plate cutting, bending and welding equipment according to claim 2 or 3, wherein the picking mechanism further comprises a thickness measuring mechanism (209), the thickness measuring mechanism (209) and the layering mechanism are arranged on the same side of the gripper mounting base frame (202), and after the sheet is sucked by the sucking mechanism, the thickness measuring mechanism (209) is used for measuring the thickness of the sheet.

6. The automatic plate cutting, bending and welding equipment according to claim 5, wherein the thickness measuring mechanism (209) comprises a second straight-line cylinder (291), the second straight-line cylinder (291) is installed on the upper end face of the rotating rod (208), the second straight-line cylinder (291) is horizontally arranged and is arranged towards the rotating rod (208), a third straight-line cylinder (292) is vertically arranged downwards, a cylinder body of the third straight-line cylinder (292) is installed on a cylinder rod of the second straight-line cylinder (291), a sliding connecting plate (293) is fixedly connected with a cylinder rod of the third straight-line cylinder (292), a fourth straight-line cylinder (294) is vertically arranged, a cylinder rod of the fourth straight-line cylinder is fixedly connected with the sliding connecting plate (293), and a contact type thickness measuring instrument (295) is fixedly connected with a cylinder body of the fourth straight-line cylinder (294).

7. The automatic plate cutting, bending and welding equipment according to claim 1, wherein the grabbing mechanism comprises a movable connecting rod (204), the lower end face of the movable connecting rod (204) is arranged on the upper end face of the hand grip connecting frame in a sliding mode, the movable connecting rod (204) is arranged horizontally, one end of the movable connecting rod extends out of the hand grip mounting base frame (202), the upper end and the lower end of a connecting vertical rod are fixedly connected with the movable connecting rod (204) and a gear shaping connecting rod respectively, and a plurality of gear shaping teeth (205) are uniformly distributed on the gear shaping connecting rod and face the grabbing mechanism on the other side.

8. The automatic cutting, bending and welding equipment for plates according to claim 7, wherein the grabbing mechanisms further comprise tooth blocking plates (207), the tooth blocking plates (207) of the two grabbing mechanisms are arranged on two adjacent sides of the sucking mechanism and located inside the grabbing mechanisms on the two sides, and through grooves for the insertion teeth (205) to pass through are formed in the lower portions of the tooth blocking plates (207) along the movement direction of the insertion teeth (205).

9. The automatic plate cutting, bending and welding equipment according to claim 1, wherein the bending robot (6) comprises a six-axis serial robot body and a bending clamping portion, and the bending clamping portion sucks the end face of a plate by using a sucking disc.

10. The automatic plate cutting, bending and welding equipment according to claim 1, wherein the welding tool table (9) is manually fed, a bent finished product is manually picked up from the welding transfer frame (8) and placed on the welding positioning tool table, and after the welding robot (10) is manually withdrawn, a bent part of the welding tool table (9) is welded.