CN114160696A

CN114160696A - Feeding robot for stamping

Info

Publication number: CN114160696A
Application number: CN202111347146.XA
Authority: CN
Inventors: 赵宏旺; 刘晓刚; 陈中敢; 林德民; 梁毅; 郭华礼
Original assignee: Guangxi Mystery Chassis Parts Co ltd; Guilin University of Aerospace Technology
Current assignee: Guangxi Mystery Chassis Parts Co ltd; Guilin University of Aerospace Technology
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2022-03-11

Abstract

The invention discloses a feeding robot for stamping, which comprises: the bottom of the material conveying shell platform is provided with a positioning wheel, and the outer wall of the shell is provided with a control screen; the material conveying device is longitudinally arranged at the center of the material conveying shell platform, a second feeding device for transverse conveying is arranged close to the upper end of the material conveying device, and the material conveying device is relatively positioned at the center of the second feeding device; jiong-shaped shell covers are positioned at the upper end of the material conveying shell table, four groups of shell covers are arranged in a circumferential manner, and the Jiong-shaped shell covers on the left side and the right side correspond to the outer sides of the feeding device II; the concave shell cover is arranged corresponding to the Jiong-shaped shell cover, and a first feeding device is installed in the concave shell cover.

Description

Feeding robot for stamping

Technical Field

The invention relates to the technical field of stamping, in particular to a feeding robot for stamping.

Background

To the punching press processing material feeding unit of board type, the piece type machined part, among the current punching press processing material feeding unit, the conveying of the machined part before most effects on the punching press, and spread into the punching press district into, need adopt the manual work to get and put during machined part to the punching press district to fix a position fixedly, and then make punching press efficiency lower, and dangerous higher, and some carry out the material feeding unit of propelling movement by oneself, it is relatively poor to the location processing of processing price, lead to the punching press quality of machined part, the precision is relatively poor, and the machined part after the punching press is accomplished takes out comparatively inconveniently.

Accordingly, a feeding robot for press working is provided by those skilled in the art to solve the problems set forth in the background art described above.

Disclosure of Invention

In order to achieve the purpose, the invention provides the following technical scheme: a feeding robot for press working, comprising:

the bottom of the material conveying shell platform is provided with a positioning wheel, and the outer wall of the shell is provided with a control screen;

the material conveying device is longitudinally arranged at the center of the material conveying shell platform, a second feeding device for transverse conveying is arranged close to the upper end of the material conveying device, and the material conveying device is relatively positioned at the center of the second feeding device;

jiong-shaped shell covers are positioned at the upper end of the material conveying shell table, four groups of shell covers are arranged in a circumferential manner, and the Jiong-shaped shell covers on the left side and the right side correspond to the outer sides of the feeding device II;

the concave shell cover is arranged corresponding to the Jiong-shaped shell cover, and a first feeding device is installed in the concave shell cover.

As a preferable technical solution of the present invention, the material transfer device includes:

the lower end of the lifting rod is rotatably connected to the position, close to the lower end, of the center of the material conveying shell platform through a bearing which is arranged in a parallel structure, a straight gear ring is fixedly sleeved on the outer side of the rod wall close to the upper end of the lifting rod, a flat plate bracket is fixed to the top end of the lifting rod, and a first negative pressure pump is installed on the flat plate bracket;

the first adsorption disc is fixedly penetrated through the flat plate bracket in an array structure and is communicated with the first negative pressure pump through a first air pipe;

the first motor is arranged on one side of the lifting rod, a straight gear is fixed at the output end of the first motor, and the straight gear is meshed and connected with a straight gear ring.

As a preferred technical solution of the present invention, the first adsorption plate is a stretchable structure.

As a preferable technical solution of the present invention, the second feeding device includes:

the two groups of driving seats are symmetrically arranged on the left side and the right side of the material conveying device and fixed at the upper end of the material conveying shell table;

the strip-shaped guide rail is arranged corresponding to the driving seat I and is in a left-right parallel structure;

the plate-shaped guide rails are arranged into two groups, are arranged in a front-back parallel structure and are fixedly arranged on the strip-shaped guide rails;

the driving seat II is in an inverted-Chinese-character-shaped structure, the outer seat body of the driving seat II is installed on the plate-shaped guide rail, the inner seat body of the driving seat II is internally provided with a second adsorption plate which has the same structure with the adsorption plate, and two groups of driving seats II are installed on one group of plate-shaped guide rails;

and the negative pressure pump II is correspondingly arranged and installed with the driving seat II and is communicated with the adsorption disc II through an air pipe II.

As a preferred technical solution of the present invention, the first feeding device includes:

the first driving shafts are arranged into an upper group and a lower group, are arranged in the concave shell cover, and are provided with a transmission chain on the outer side;

the fixed cylinders are arranged in groups at equal intervals along the direction of the conveying chain and are fixed on the conveying chain;

and the clamping assembly is arranged corresponding to the fixed cylinder and is fixed in a manner of being embedded into the fixed cylinder.

As a preferred technical scheme of the present invention, a right-angle blanking assembly is disposed at an upper end of a center surrounded by a plurality of groups of first feeding devices, and the right-angle blanking assembly includes:

the blanking side frame is longitudinally arranged and is used for independently blanking the machined part;

and the right-angle rotary swing parts are arranged along the surfaces of the blanking side frames at equal intervals and are used for supporting and fixing the machined parts.

As a preferred aspect of the present invention, the clamping assembly includes:

the left end of the fixed slat is embedded into the fixed barrel, a cross sliding cavity is formed in the fixed slat, an upper strip-shaped sliding cavity in the cross sliding cavity penetrates through the upper end face of the fixed slat, a driving gear is mounted on the outer side wall of the upper end of the fixed slat, and the driving gear and the upper strip-shaped sliding cavity are relatively positioned in the same plane;

the cross-shaped slat is embedded into the cross-shaped sliding cavity, a gear strip is mounted on the cross-shaped slat at the upper end of the cross-shaped slat, the gear strip is meshed with the driving gear, a load seat is fixed at the right end of the cross-shaped slat, and a motor II is mounted in the load seat;

the left end of the rotary swing support shell is hinged to the output end of the second motor, and a guide hole of a square annular array structure is formed in the position close to the outer edge of the shell;

a positioning shell, wherein a guide sliding column which is correspondingly connected with the inner wall of the guide hole in a sliding way is fixed on the shell at the left end of the positioning shell, and a positioning component facing to the right side is installed in the positioning shell;

and the top pressure springs are arranged in a square array structure in multiple groups, and the left side shell wall of the positioning shell cover is connected with the right side shell wall of the rotary swing support shell.

As a preferred technical scheme of the invention, the initial inclination angle of the rotary swing support shell is 60 degrees from the horizontal plane.

As a preferred aspect of the present invention, the positioning assembly includes:

the driving shaft II is correspondingly arranged on the inner side wall of the positioning shell cover up and down, a first conveying belt is arranged on the outer side of the driving shaft II, and the first conveying belt is of a fully transparent structure;

the second conveyor belt is fixedly sleeved on the outer side surface of the first conveyor belt, pressure sensing units are embedded in the second conveyor belt, the second conveyor belt is in an array structural design, and the surface structure of the second conveyor belt between every two adjacent pressure sensing units is a transparent structure;

the rubber strip is arranged corresponding to the pressure sensing unit and is vertical to the second belt surface of the conveyor belt;

and the distance monitoring unit is arranged between the driving shafts II at the upper part and the lower part, points to the belt surfaces of the first conveyor belt and the second conveyor belt at the right side, and is initially provided with a pointing pressure sensing unit.

In a preferred embodiment of the present invention, when the second driving shaft and the driving gear are synchronously adjusted, the second driving shaft and the driving gear are both in a static state, and the acceleration of the second driving shaft is twice the acceleration of the driving gear.

Compared with the prior art, the invention provides a feeding robot for stamping, which has the following beneficial effects: 1. according to the invention, the workpiece is externally fixed before, during and after the stamping in the stamping area, so that manual feeding is avoided to enter the stamping area for stamping, the stamping center, the guide rail center in the feeding device II, the conveying device and the conveying center of the feeding device I can be aligned, the stamping precision is improved, the workpiece can be corrected and positioned through the motor I, and the convenience and the efficiency of stamping the workpiece are further improved.

2. The invention can adapt to the complexity generated by centralized feeding of workpieces, can independently convey and correct and position stacked workpieces, further reduces the occupied area of equipment, and can apply external acting force to the surfaces of the workpieces in the horizontal correction process when the workpieces are corrected and positioned through the structural design of the feeding device I, thereby improving the safety performance of conveying, correcting and positioning the workpieces.

Drawings

FIG. 1 is a schematic view of a feed robot apparatus of the present invention;

FIG. 2 is an enlarged schematic view of a second right-view partial structure of the feeding device of the present invention;

FIG. 3 is an enlarged view of a portion of the clamping assembly of the present invention;

FIG. 4 is a schematic structural diagram of a feeding implementation principle of the feeding device of the present invention;

FIG. 5 is a schematic structural view of the feeding positioning principle of the present invention;

in the figure: 1. a material conveying shell platform; 2. a control screen; 3. positioning wheels; 4. a material conveying device; 5. jiong shaped shells; 6. a feeding device II; 7. a concave housing; 8. a first feeding device; 9. a positioning assembly; 41. a lifting rod; 42. a straight gear ring; 43. a first motor; 44. a spur gear; 45. a flat plate carrier; 46. a first negative pressure pump; 47. a first adsorption disc; 61. a first driving seat; 62. a strip-shaped guide rail; 63. a plate-shaped guide rail; 64. a second driving seat; 65. a negative pressure pump II; 66. a second adsorption disc; 81. a first driving shaft; 82. a conveyor chain; 83. a fixed cylinder; 84. a clamping assembly; 85. fixing the ribbon board; 86. a cross-shaped ribbon board; 87. a drive gear; 88. a load seat; 89. a second motor; 810. rotating the supporting shell; 811. positioning the housing; 812. pressing the spring; 813. a guide strut; 91. a second driving shaft; 92. a first conveyor belt; 93. a second conveyor belt; 94. a distance monitoring unit; 95. a pressure sensing unit; 96. a rubber strip.

Detailed Description

Referring to fig. 1 and 4, the present invention provides a technical solution: a feeding robot for press working, comprising:

the bottom of the material conveying shell platform 1 is provided with a positioning wheel 3, and the outer wall of the shell is provided with a control screen 2;

the material conveying device 4 is longitudinally arranged at the center of the material conveying shell platform 1, a second feeding device 6 for transverse conveying is arranged at the upper end of the material conveying device 4, and the material conveying device 4 is relatively positioned at the center of the second feeding device 6;

jiong-shaped shell covers 5 are positioned at the upper end of the material conveying shell table 1 and are arranged in four groups in a circumferential arrangement, and the Jiong-shaped shell covers 5 at the left side and the right side are covered on the outer sides of the second feeding device 6;

the concave shell cover 7 is arranged corresponding to the Jiong-shaped shell cover 5, and a feeding device I8 is installed in the concave shell cover;

the first feeding device and the second feeding device are respectively used for longitudinally conveying and transversely conveying the machined parts, and the material conveying device is used for conveying the first feeding device to the second feeding device, so that the machined parts are conveyed to the stamping area in a real-time fixed mode, namely in a mode of being fixed by external force, and the machined parts can be accurately aligned with the stamping device in the stamping area in the corresponding conveying process, namely the stamping center, the center of the guide rail in the second feeding device, the conveying device and the conveying center of the first feeding device are aligned.

Referring to fig. 2, in this embodiment, the material conveying device 4 includes:

the lower end of the lifting rod 41 is rotatably connected to the lower end of the center of the material conveying shell platform 1 through a bearing which is arranged in a parallel structure, a straight gear ring 42 is fixedly sleeved on the outer side of the rod wall close to the upper end of the lifting rod, a flat plate bracket 45 is fixed at the top end of the lifting rod, and a first negative pressure pump 46 is installed on the flat plate bracket 45;

the first adsorption discs 47 penetrate and are fixed on the flat plate bracket 45 in an array structure and are communicated with the first negative pressure pump 46 through a first air pipe;

the first motor 43 is installed on one side of the lifting rod 41, a spur gear 44 is fixed at the output end of the first motor, and the spur gear 44 is meshed with the spur gear ring 42;

the structural design is mainly used for correcting the machined part before stamping, the condition of the machined part is ensured to be in a corresponding state when the machined part is transferred to the lower end of the stamping device, and when attention is needed, the bearing area of the flat plate bracket is smaller than the area of the machined part so as to facilitate the separation of the subsequent machined part;

the motor is used for driving the lifting rod to rotate, and is mainly used for correcting a machined part.

In this embodiment, the first adsorption disk 47 has a retractable structure;

this structural design, mainly used to there is the fixed of inclined plane or surperficial unevenness's machined part, to carrying out the regulation demand that the slope was preset before the processing price punching press to and cooperate the separation after the machined part punching press is accomplished.

In this embodiment, the second feeding device 6 includes:

two groups of driving seats 61 are arranged, symmetrically arranged on the left side and the right side of the material conveying device 4 and fixed at the upper end of the material conveying shell table 1;

the strip-shaped guide rail 62 is arranged corresponding to the first driving seat 61 and is in a left-right parallel structure;

plate-shaped guide rails 63 arranged in two groups, arranged in a front-rear parallel structure, and fixedly mounted on the bar-shaped guide rails 62;

a second driving seat 64 which is in an inverted-Chinese-character-shaped structure, wherein the outer seat body of the second driving seat is arranged on the plate-shaped guide rail 63, a second adsorption disc 66 which has the same structure with the first adsorption disc 47 is arranged in the inner seat body of the second driving seat, and two groups of second driving seats 64 are arranged on one group of plate-shaped guide rails 63;

a second negative pressure pump 65 which is arranged corresponding to the second driving seat 64 and communicated with the second adsorption disc 66 through a second air pipe;

this structural design, the not fixed of equidimension machined part of mainly used adaptation, here, the sideslip is adjusted around making by the drive of drive seat one, and drive seat two is along the transmission of plate-shaped guide rail, adsorbs fixedly to the outside edge of the machined part of pallet top, and needs to pay attention to, and stamping device's punching press district is located between the curb plate shape guide rail around, and then guarantees that the machined part punching press in-process is fixed in real time.

Referring to fig. 3, in this embodiment, the feeding device one 8 includes:

the first driving shafts 81 are arranged into an upper group and a lower group, are arranged in the concave shell cover 7, and are externally provided with a transmission chain 82;

a plurality of groups of fixed cylinders 83 which are arranged at equal intervals along the direction of the conveying chain 82 and are fixed on the conveying chain 82;

a clamp assembly 84 provided to correspond to the fixed cylinder 83 and fixed by being fitted into the fixed cylinder 83;

the structure design is mainly used for circularly conveying workpieces, and the first driving shaft is in an intermittent driving mode.

In this embodiment, be located the multiunit the upper end at the center that 8 of material feeding unit enclose is equipped with right angle unloading subassembly, right angle unloading subassembly includes:

the right-angle rotary swing parts are arranged along the surface of the blanking side frame at equal intervals and are used for supporting and fixing a machined part;

the structural design is mainly used for initially guiding the machined piece into the first feeding device.

In this embodiment, the clamping assembly 8 includes:

the left end of the fixed slat 85 is embedded into the fixed barrel 83, a cross sliding cavity is formed in the fixed slat 85, an upper strip sliding cavity in the cross sliding cavity penetrates through the upper end face of the fixed slat 85, a driving gear 89 is mounted on the outer side wall of the upper end of the fixed slat, and the driving gear 89 and the upper strip sliding cavity are relatively positioned in the same plane;

the cross-shaped strip plate 86 is embedded into the cross-shaped sliding cavity, a gear strip is mounted on the cross-shaped strip plate at the upper end of the cross-shaped strip plate and is in meshed connection with the driving gear, a load seat 88 is fixed at the right end of the cross-shaped strip plate 86, and a second motor 89 is mounted in the load seat 88;

the left end of the swing supporting shell 810 is hinged to the output end of the second motor 89, and a guide hole of a square annular array structure is formed in the position close to the outer edge of the shell;

a positioning shell 811, a guiding sliding column 813 which is correspondingly connected with the inner wall of the guiding hole in a sliding way is fixed on the left end shell, and a positioning component 9 facing to the right side is installed in the positioning shell;

a plurality of groups of top pressure springs 812 are arranged in a square array structure, and the left side wall of the positioning shell housing 811 is connected with the right side wall of the rotary swing support shell 810;

the structure design is mainly used for supporting and clamping and positioning when the machined parts are initially introduced, and adjusting the machined parts with different sizes;

the nested sliding type structure of the cross-shaped strip plate and the fixed strip plate can effectively reduce the acting force borne by the driving shaft in the driving gear;

the guide sliding column and the guide hole are structurally designed and arranged, and the guide sliding column and the guide hole are mainly used for ensuring that the positioning shell cover is in a parallel state with the rotary pendulum supporting shell in real time in the pressed moving process, so that the central point of the positioning assembly before and after moving is not staggered.

In this embodiment, the initial inclination angle of the swing support shell 810 is an included angle of 60 ° with the horizontal plane;

this structural design, on the one hand, is favorable to the machined part of bearing top whereabouts, and on the other hand for the calculation of the displacement deformation volume in the drive process is adjusted in drive gear and the two cooperations of drive shaft.

In this embodiment, the positioning assembly 9 includes:

the second driving shaft 91 is vertically and correspondingly arranged on the inner side wall of the positioning shell cover 811, a first conveyor belt 92 is arranged on the outer side of the second driving shaft, and the first conveyor belt 92 is of a full-transparent structure;

the second conveyor belt 93 is fixedly sleeved on the outer side surface of the first conveyor belt 92, pressure sensing units 95 are embedded in the second conveyor belt 93, the second conveyor belt is designed into an array structure, and the structure of the second conveyor belt surface between every two adjacent pressure sensing units 95 is a transparent structure;

the rubber strip is arranged corresponding to the pressure sensing unit 95 and is vertical to the belt surface of the second conveying belt 93;

the distance monitoring unit 94 is arranged between the second driving shafts 91 at the upper part and the lower part, points to the belt surfaces of the first conveyor belt 92 and the second conveyor belt 93 at the right side, and is initially provided with a point pressure sensing unit 95;

the structure design is mainly used for monitoring the clamping force applied to the workpiece and the clamping point of the contact between the two belt surfaces of the conveyor belt and the workpiece, and performing horizontal correction on the workpiece.

In this embodiment, when the second driving shaft 91 and the driving gear 87 are adjusted synchronously, they are both started in a static state, and the acceleration of the second driving shaft 91 is twice the acceleration of the driving gear 87.

In the specific implementation, the first driving shaft is in an intermittent driving mode, the structural device is integrally controlled through the control screen, the width (or diameter) of a workpiece is measured and determined to be L1, a square surface fixing domain and a square ring fixing domain of the workpiece are selected and determined, the first corresponding driving seat is started to adjust the reserved space between the corresponding plate-shaped guide rails, namely, the space between the two phase compartments of the adsorption disks on the corresponding sides is slightly smaller than L1, so that the two adsorption disks vertically correspond to the square surface fixing domain, the stretching space between the cross-shaped plates is adjusted and controlled through the driving gear, after the setting is completed, the space between the right end of each fixed plate and the load seat is set to be s1, the space between the corresponding positioning assembly inclined by 60 degrees and the upper quarter L2 action point is set to be L1, L2 is the length of the positioning assembly, when the workpiece falls into the uppermost positioning assembly, the position of the monitoring point of the pressure sensing unit is passed through, and in this process, the monitoring point is the contact point of the workpiece and the second conveying belt, whether the workpiece is in the horizontal state is judged, if not, the workpiece is fed back to the driving gear and the second driving shaft in the corresponding positioning assembly from the correspondingly higher and lower monitoring points, the corresponding higher contact point is driven by the corresponding second driving shaft to move downwards and the corresponding lower contact point moves upwards, in the adjusting process, the pressure monitoring unit and the distance monitoring unit are used for monitoring synchronously until the workpiece is in the horizontal state and the contact points are all positioned at the quarter L2 action point close to the upper end of the positioning assembly, at the moment, the external clamping force exerted on the workpiece is relatively zero, the outer side end of the workpiece is protected, the workpiece is only acted on the rubber strip and the second conveying belt by the self gravity of the workpiece and can be rubbed and fixed, and then the driving gears and the second driving shafts in all the positioning assemblies are started with corresponding accelerated speeds, the driving gear drives the cross-shaped strip plate to move outwards, the driving shaft II drives the machined part to move horizontally downwards until the contact point of the machined part is half L2, in the process, for synchronous adjustment, the external clamping force applied to the machined part is kept relatively zero until sl shrinks by deltas and becomes s2, the motor II drives the positioning assembly to rotate downwards by 30 degrees to enable the positioning assembly to be in a vertical state, in the process, the stretching amount of the jacking spring is deltax, at the moment, the generated elastic acting force is the acting force for clamping the machined part, the elastic acting force is transmitted downwards under the driving of the driving shaft I until the machined part is transmitted to the upper end of the flat plate bracket, the driving gear expands outwards again by deltax to move outwards again in cooperation with the jacking spring for resetting and the separation of the machined part, meanwhile, the suction disc is driven by the negative pressure pump I to suck the lower end face of the machined part, the lifting rod shrinks and transmits the machined part to the position corresponding to the plate-shaped guide rail, And (3) leveling the punching surfaces, moving the punching surfaces to the upper ends of the workpieces by starting the driving seat II, stopping the operation of the negative pressure pump I, exhausting air by the negative pressure pump II to enable the adsorption disc to adsorb the upper end surfaces of the workpieces, conveying the workpieces to the punching area by the driving seat II for punching, contracting the adsorption disc II after punching is completed, taking out the workpieces, and transferring out the workpieces, and repeating the cyclic feeding step until the workpieces are punched.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and the inventive concept within the technical scope of the present invention, and the technical solution and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. The utility model provides a feeding robot that punching press processing was used which characterized in that: it includes:

the bottom of the material conveying shell table (1) is provided with a positioning wheel (3), and the outer wall of the shell is provided with a control screen (2);

the material conveying device (4) is longitudinally arranged at the center of the material conveying shell platform (1), a second feeding device (6) for transverse conveying is arranged at the position close to the upper end of the material conveying device (4), and the material conveying device (4) is relatively positioned at the center of the second feeding device (6);

jiong-shaped shell covers (5) are positioned at the upper end of the material conveying shell table (1) and are arranged in four groups in a circumferential arrangement mode, and the Jiong-shaped shell covers (5) on the left side and the right side correspond to the outer sides of the feeding device II (6);

the concave shell cover (7) is arranged corresponding to the Jiong-shaped shell cover (5), and a feeding device I (8) is installed in the concave shell cover.

2. The feeding robot for press working according to claim 1, wherein: the material conveying device (4) comprises:

the lower end of the lifting rod (41) is rotatably connected to the lower end of the center of the material conveying shell platform (1) through a bearing arranged in a parallel structure, a straight gear ring (42) is fixedly sleeved on the outer side of the rod wall close to the upper end of the lifting rod, a flat plate bracket (45) is fixed at the top end of the lifting rod, and a first negative pressure pump (46) is installed on the flat plate bracket (45);

the first adsorption discs (47) are fixedly penetrated through the flat plate bracket (45) in an array structure and are communicated with the first negative pressure pump (46) through a first air pipe;

the first motor (43) is installed on one side of the lifting rod (41), a straight gear (44) is fixed to the output end of the first motor, and the straight gear (44) is connected with the straight gear ring (42) in a meshed mode.

3. The feeding robot for press working according to claim 2, wherein: the first adsorption disc (47) is of a telescopic structure.

4. The feeding robot for press working according to claim 1, wherein: the second feeding device (6) comprises:

the two groups of driving seats (61) are arranged symmetrically on the left side and the right side of the material conveying device (4) and are fixed at the upper end of the material conveying shell table (1);

the strip-shaped guide rail (62) is arranged corresponding to the first driving seat (61) and is of a left-right parallel structure;

plate-shaped guide rails (63) which are arranged in two groups, are arranged in a front-back parallel structure and are fixedly arranged on the strip-shaped guide rails (62);

a second driving seat (64) which is in an inverted-Chinese-character-shaped structure, wherein the outer seat body of the second driving seat is arranged on the plate-shaped guide rail (63), a second adsorption disc (66) which has the same structure as the first adsorption disc (47) is arranged in the inner seat body of the second driving seat, and two groups of second driving seats (64) are arranged on one group of plate-shaped guide rails (63);

and the second negative pressure pump (65) is arranged corresponding to the second driving seat (64) and communicated with the second adsorption disc (66) through a second air pipe.

5. The feeding robot for press working according to claim 1, wherein: the first feeding device (8) comprises:

the first driving shafts (81) are arranged into an upper group and a lower group, are arranged in the concave shell cover (7), and are provided with a transmission chain (82) on the outer side;

the fixed cylinders (83) are arranged in groups at equal intervals along the direction of the conveying chain (82) and are fixed on the conveying chain (82);

and a clamping component (84) which is arranged corresponding to the fixed cylinder (83) and is fixed in a manner of being embedded into the fixed cylinder (83).

6. The feeding robot for press working according to claim 5, wherein: be located the multiunit the upper end at the center that material feeding unit (8) enclose is equipped with right angle unloading subassembly, right angle unloading subassembly includes:

7. The feeding robot for press working according to claim 5, wherein: the clamping assembly (8) comprises:

the left end of the fixed slat (85) is embedded into the fixed barrel (83), a cross sliding cavity is formed in the fixed slat, an upper strip sliding cavity in the cross sliding cavity penetrates through the upper end face of the fixed slat (85), a driving gear (89) is installed on the outer side wall of the upper end of the fixed slat, and the driving gear (89) and the upper strip sliding cavity are relatively positioned in the same plane;

the cross-shaped strip plate (86) is embedded into the cross-shaped sliding cavity, a gear strip is mounted on the cross-shaped strip plate at the upper end of the cross-shaped strip plate and is in meshed connection with the driving gear, a load seat (88) is fixed at the right end of the cross-shaped strip plate (86), and a second motor (89) is mounted in the load seat (88);

the left end of the rotary swing support shell (810) is hinged to the output end of the second motor (89), and a guide hole of a square annular array structure is formed in the position close to the outer edge of the shell;

a positioning shell cover (811), wherein a guide sliding column (813) which is correspondingly connected with the inner wall of the guide hole in a sliding way is fixed on the left end shell of the positioning shell cover, and a positioning assembly (9) facing to the right side is installed in the positioning shell cover;

and multiple groups of top pressure springs (812) are arranged in a square array structure, and the left side shell wall of the positioning shell cover (811) is connected with the right side shell wall of the rotary swing support shell (810).

8. The feeding robot for press working according to claim 7, wherein: the initial inclination angle of the swing support shell (810) is an included angle of 60 degrees with the horizontal plane.

9. The feeding robot for press working according to claim 7, wherein: the positioning assembly (9) comprises:

the second driving shaft (91) is vertically and correspondingly arranged on the inner side wall of the positioning shell cover (811), a first conveying belt (92) is arranged on the outer side of the second driving shaft, and the first conveying belt (92) is of a full-transparent structure;

the second conveyor belt (93) is fixedly sleeved on the outer side surface of the first conveyor belt (92), pressure sensing units (95) are embedded in the second conveyor belt (93), the second conveyor belt is designed in an array structure, and the surface structure of the second conveyor belt between every two adjacent pressure sensing units (95) is a transparent structure;

the rubber strip is arranged corresponding to the pressure sensing unit (95) and is vertical to the belt surface of the second conveying belt (93);

and the distance monitoring unit (94) is arranged between the second driving shafts (91) at the upper and lower sides, points to the belt surfaces of the first conveyor belt (92) and the second conveyor belt (93) at the right side, and is initially provided with a point pressure sensing unit (95).

10. The feeding robot for press working according to claim 9, wherein: when the second driving shaft (91) and the driving gear (87) are synchronously adjusted, the driving shafts are in static states, and the acceleration of the second driving shaft (91) is twice of the acceleration of the driving gear (87).