CN215755153U

CN215755153U - Feeding and discharging mechanism based on manipulator and used for flexible bending center

Info

Publication number: CN215755153U
Application number: CN202121235287.8U
Authority: CN
Inventors: 李向普
Original assignee: Henan Huilifeng Machinery Equipment Manufacturing Co ltd
Current assignee: Henan Huilifeng Machinery Equipment Manufacturing Co ltd
Priority date: 2021-06-03
Filing date: 2021-06-03
Publication date: 2022-02-08
Anticipated expiration: 2031-06-03

Abstract

The utility model discloses a manipulator-based feeding and discharging mechanism for a flexible bending center, which comprises a feeding frame, a transverse sliding rail pair and a manipulator, wherein the feeding frame mainly comprises a supporting block, a feeding plate and a mounting plate, the feeding plate is mounted at the top of the supporting block, a feeding area and a discharging area are respectively arranged on two sides of the feeding plate, and the mounting plate is positioned below the feeding area and fixedly connected to one side of the supporting block. According to the utility model, the horizontal position of the material can be limited by the material position control mechanism, the height of the material can be controlled by the material ejection mechanism, so that the manipulator can grab the material at the same position every time during feeding, the action of the manipulator is simpler, and the feeding is more convenient.

Description

Feeding and discharging mechanism based on manipulator and used for flexible bending center

Technical Field

The utility model relates to the technical field of loading and unloading mechanisms, in particular to a manipulator-based loading and unloading mechanism for a flexible bending center.

Background

The bending center is a machine capable of bending a metal sheet and is mainly used in the field of metal sheet processing. The bending machine can bend metal plates at various angles by using a simple die so as to obtain the metal plates with complex shapes.

The bending center needs to complete four steps of feeding, positioning, bending and discharging when a workpiece is machined, the feeding and discharging are mostly manually completed when the bending center is operated at present, the machining efficiency is greatly influenced, and particularly when the plate area is large and the weight is heavy, the number and the physical strength of operators are required to be high, and certain production cost is undoubtedly increased.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems and provide a manipulator-based feeding and discharging mechanism for a flexible bending center.

The utility model realizes the purpose through the following technical scheme:

a manipulator-based feeding and discharging mechanism for a flexible bending center comprises a feeding frame, a transverse sliding rail pair and a manipulator, wherein the feeding frame mainly comprises a supporting block, a feeding plate and a mounting plate, the feeding plate is mounted at the top of the supporting block, a feeding area and a discharging area are respectively arranged on two sides of the feeding plate, the mounting plate is positioned below the feeding area and is fixedly connected to one side of the supporting block, a material position control mechanism for limiting the horizontal position of a material and a material ejecting mechanism for controlling the vertical position of the material are arranged on the feeding area, the transverse sliding rail pair is arranged on one side, close to the flexible bending center, of the supporting block, the manipulator for grabbing the material is connected to the top of the transverse sliding rail pair in a sliding manner, so that the horizontal position of the material can be limited by the material position control mechanism, the height of the material can be controlled by the material ejecting mechanism, make when the material loading manipulator snatch the material in same position department at every turn for the action of manipulator is simpler, and then makes the more convenient of material loading, because the manipulator can be at the vice removal of horizontal slide rail, one side makes to have certain distance between flitch and the flexible center of bending, has realized under the circumstances of unloading in automation, does not influence the staff and is close to the flexible center of bending.

Preferably, the material position control mechanism comprises a transverse control mechanism and a longitudinal control mechanism, the transverse control mechanism is provided with two transverse control mechanisms, the transverse control mechanisms are arranged along the width direction of the material placing plate, the two transverse control mechanisms are respectively arranged at the top of the material placing plate and connected with the top of the longitudinal control mechanism in a sliding mode, the longitudinal control mechanism is arranged on one side of the material placing plate and is parallel to the length direction of the material placing plate, the material can be controlled transversely through the two transverse control mechanisms, the material can be controlled longitudinally through the transverse control mechanism moving movably, and then the control function of the material horizontal position is achieved.

Preferably, lateral control mechanism includes slide rail, positive and negative lead screw, restriction post, the slide rail inboard is connected with through the bearing positive and negative lead screw, positive and negative lead screw outside spiro union has two the restriction post, just restriction post upper end extends to the slide rail top sets up like this and rotates positive and negative lead screw, and positive and negative lead screw drives two restriction posts and removes, and two restriction posts promote the material, have realized the control horizontal to the material.

Preferably, liftout mechanism includes crane, ejector pin, backup pad, the ejector pin is provided with a plurality of, and all installs the crane top, the crane bottom is provided with the drive assembly that the crane rises, every the ejector pin upper end all passes the blowing board, and install horizontal angle adjustable the backup pad, the backup pad is located two between the transverse control mechanism, set up like this and can drive the crane rebound through drive assembly, the crane drives the ejector pin rebound, the ejector pin drives the backup pad rebound, the backup pad jack-up material for the material removes the position department of material to the material, has realized the function of control material height, can also pass through the horizontal angle of backup pad, makes the area that four backup pads covered change, and then can be applicable to not unidimensional material.

Preferably, drive assembly includes servo motor, accommodate the lead screw, the accommodate the lead screw upper end is passed through the bearing and is connected the blowing board bottom, the accommodate the lead screw lower extreme passes the crane with the mounting panel, and with the crane spiro union, with the mounting panel passes through the bearing and connects, and through the coupling joint in servo motor's output, servo motor installs the mounting panel bottom sets up like this and can drive accommodate the lead screw through servo motor and rotate, and accommodate the lead screw drive crane removes, has realized the function that the crane goes up and down.

Preferably, a loop bar with the diameter smaller than that of the top rod is integrally formed in the center of the top rod, a threaded hole is formed in the center of the upper end of the loop bar, a first assembling hole matched with the threaded hole is formed in the bottom of one end of the supporting plate, a counter bore coaxial with the first assembling hole is formed in the top of one end of the supporting plate, a communication hole for communicating the countersunk hole and the first assembly hole is also formed in the supporting plate, the diameter of the communicating hole is smaller than that of the first assembling hole, a locking screw is arranged in the counter bore, a screw rod of the locking screw penetrates through the communicating hole, and the spiro union is in inside the screw hole, the setting can be through rotating the locking screw like this for the locking screw removes the control to the backup pad, and the backup pad can rotate outside the loop bar this moment, has consequently realized the adjustable function of backup pad horizontal angle.

Preferably, ejector pin top central authorities integrated into one piece has the diameter to be less than the loop bar of ejector pin, a plurality of draw-in groove has been seted up to loop bar week side, backup pad one end seted up with the second pilot hole that the loop bar matches, be provided with the bead that matches with this draw-in groove on the second pilot hole inner wall, set up like this and can pass through the upwards pulling backup pad for the second pilot hole breaks away from the loop bar, then establishes the second pilot hole cover in the loop bar outside after adjusting the horizontal angle of backup pad, has realized the adjustable function of backup pad horizontal angle.

Preferably, the manipulator comprises a fixed seat, a rotating disc, a fixed arm, a first rotating arm, a second rotating arm and an angle adjuster, the fixed seat is mounted on a moving part of the transverse sliding rail pair, the rotating disc is mounted on the inner side of the fixed seat, the fixed arm is fixedly mounted at the top of the rotating disc, one end of the fixed arm is rotatably connected with the first rotating arm, one end of the first rotating arm, which is far away from the fixed arm, is rotatably connected with the second rotating arm, one end of the second rotating arm, which is far away from the first rotating arm, is rotatably connected with the angle adjuster, a sucking disc structure is detachably mounted at the rotating end of the angle adjuster, the first rotating arm, the second rotating arm and the rotating end of the angle adjuster are driven by independent motors, so that the fixed arm can be driven to rotate horizontally by the rotating disc, the rotation of the first rotating arm and the second rotating arm realizes the adjustment of the spatial position of the angle adjuster, the rotation of the sucker structure can be started through the angle adjuster, the adjustment of the angle of the sucker structure under the condition that the position is not changed is realized, and the function of adjusting the angle of the material is further realized.

Preferably, the sucking disc structure includes mounting bracket, sucking disc, the mounting bracket is kept away from a plurality of is installed to one side of angle adjuster the sucking disc.

Preferably, a conveyor belt is installed on the blanking area, and one end, far away from the material ejecting mechanism, of the conveyor belt extends to each next working procedure.

Has the advantages that:

1. the horizontal position of the material can be limited by the material position control mechanism, and the height of the material can be controlled by the material ejecting mechanism, so that the manipulator can grab the material at the same position every time during feeding, the action of the manipulator is simpler, and the feeding is more convenient;

2. because the manipulator can move in the transverse sliding rail pair, a certain distance exists between the material discharging plate and the flexible bending center on one side, and the situation that the workers are close to the flexible bending center under the automatic feeding and discharging condition is achieved.

Additional features of the utility model and advantages thereof will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model. In the drawings:

FIG. 1 is a schematic view of a first structure of a robot-based loading and unloading mechanism for a flexible bending center according to the present invention;

FIG. 2 is a second structural diagram of a robot-based loading and unloading mechanism for a flexible bending center according to the present invention;

FIG. 3 is a top view of a robot-based loading and unloading mechanism for a flexible bending center according to the present invention;

FIG. 4 is a right side view of a robot-based loading and unloading mechanism for a flexible bending center according to the present invention;

FIG. 5 is a schematic diagram of a first explosion structure of a first embodiment of a jacking mechanism of a manipulator-based loading and unloading mechanism for a flexible bending center according to the present invention;

FIG. 6 is a schematic diagram of a second explosion structure of the first embodiment of the ejecting mechanism of the robot-based loading and unloading mechanism for the flexible bending center according to the present invention;

FIG. 7 is a schematic structural diagram of a manipulator of the manipulator-based loading and unloading mechanism for a flexible bending center according to the present invention;

fig. 8 is an exploded view of a second embodiment of the ejecting mechanism of the robot-based loading and unloading mechanism for the flexible bending center according to the present invention.

The reference numerals are explained below:

1. a material placing frame; 2. a material position control mechanism; 3. a material ejecting mechanism; 4. a transverse sliding rail pair; 5. a manipulator; 6. a conveyor belt; 101. a support block; 102. a material placing plate; 103. mounting a plate; 21. a lateral control mechanism; 22. a longitudinal control mechanism; 211. a slide rail; 212. a positive lead screw and a negative lead screw; 213. a restraining post; 301. a servo motor; 302. adjusting the screw rod; 303. a lifting frame; 304. a top rod; 305. a support plate; 306. locking screws; 3041. a loop bar; 3042. a threaded hole; 3051. a countersunk hole; 3052. a first assembly hole; 3053. a communicating hole; 30501. a second assembly hole; 501. a fixed seat; 502. rotating the disc; 503. a fixed arm; 504. a first rotation arm; 505. a second rotating arm; 506. an angle adjuster; 507. a mounting frame; 508. and (4) sucking discs.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Example 1

As shown in figures 1-7, a manipulator-based feeding and discharging mechanism for a flexible bending center comprises a material placing frame 1, a transverse sliding rail pair 4 and a manipulator 5, wherein the material placing frame 1 mainly comprises a supporting block 101, a material discharging plate 102 and a mounting plate 103, the material discharging plate 102 is mounted at the top of the supporting block 101, a feeding area and a discharging area are respectively arranged at two sides of the material discharging plate 102, the mounting plate 103 is positioned below the feeding area and is fixedly connected with one side of the supporting block 101, a material position control mechanism 2 for limiting the horizontal position of a material and a material ejecting mechanism 3 for controlling the vertical position of the material are arranged on the feeding area, the transverse sliding rail pair 4 is arranged at one side of the supporting block 101 close to the flexible bending center, the manipulator 5 for grabbing the material is slidably connected with the top of the transverse sliding rail pair 4, so that the horizontal position of the material can be limited by the material position control mechanism 2, and the height of the material can be controlled by the material ejecting mechanism 3, the manipulator 5 can grab materials at the same position every time when the materials are loaded, so that the action of the manipulator 5 is simpler, and the loading is more convenient, because the manipulator 5 can move on the transverse slide rail pair 4, a certain distance exists between the material discharging plate 102 and the flexible bending center on one side, the situation that the workers are close to the flexible bending center is not influenced under the condition of automatic loading and unloading is realized, the material position control mechanism 2 comprises two transverse control mechanisms 21 and two longitudinal control mechanisms 22, the two transverse control mechanisms 21 are arranged along the width direction of the material discharging plate 102, the two transverse control mechanisms 21 are respectively arranged at the top of the material discharging plate 102 and are connected to the top of the longitudinal control mechanism 22 in a sliding manner, the longitudinal control mechanism 22 is arranged on one side of the material discharging plate 102 and is parallel to the length direction of the material discharging plate 102, and the arrangement can control the materials transversely through the two transverse control mechanisms 21, the material can be longitudinally controlled by the transverse control mechanism 21 which moves movably in the transverse control mechanism, so that the control function of the horizontal position of the material is realized, the transverse control mechanism 21 comprises a slide rail 211, a positive and negative lead screw 212 and a limiting column 213, the inner side of the slide rail 211 is connected with the positive and negative lead screw 212 through a bearing, the outer side of the positive and negative lead screw 212 is screwed with the two limiting columns 213, the upper end of the limiting column 213 extends to the upper side of the slide rail 211, the positive and negative lead screw 212 is rotated, the positive and negative lead screw 212 drives the two limiting columns 213 to move, the two limiting columns 213 push the material, so that the transverse control of the material is realized, the material ejecting mechanism 3 comprises a plurality of lifting frames 303, ejector rods 304 and supporting plates 305, the ejector rods 304 are provided with a plurality of driving components for driving the lifting frames 303 to ascend and are arranged at the tops of the lifting frames 303, the upper end of each ejector rod 304 penetrates through the material discharging plate 102 and the supporting plate 305 with adjustable horizontal angle is arranged at the bottom of each lifting frame 303, the supporting plate 305 is positioned between the two transverse control mechanisms 21, the lifting frame 303 can be driven to move upwards through the driving component, the lifting frame 303 drives the ejector rod 304 to move upwards, the ejector rod 304 drives the supporting plate 305 to move upwards, the supporting plate 305 jacks up materials, so that the materials move to the position of the materials, the function of controlling the height of the materials is realized, the area covered by the four supporting plates 305 can be changed through the horizontal angle of the supporting plates 305, and further the material can be suitable for materials with different sizes, the driving component comprises a servo motor 301 and an adjusting screw rod 302, the upper end of the adjusting screw rod 302 is connected to the bottom of the material placing plate 102 through a bearing, the lower end of the adjusting screw rod 302 penetrates through the lifting frame 303 and the mounting plate 103 and is in threaded connection with the lifting frame 303 and the mounting plate 103 through a bearing and is connected to the output end of the servo motor 301 through a coupler, and the servo motor 301 is installed at the bottom of the mounting plate 103, the adjusting screw rod 302 can be driven by the servo motor 301 to rotate, the adjusting screw rod 302 drives the lifting frame 303 to move, the lifting frame 303 is lifted, a sleeve rod 3041 with the diameter smaller than that of the top rod 304 is integrally formed at the center of the top rod 304, a threaded hole 3042 is formed in the center of the upper end of the sleeve rod 3041, a first assembly hole 3052 matched with the threaded hole 3042 is formed in the bottom of one end of the support plate 305, a counter bore 3051 coaxial with the first assembly hole 3052 is formed in the top of one end of the support plate 305, a communication hole 3053 for communicating the counter bore 3051 with the first assembly hole 3052 is formed in the support plate 305, a locking screw 306 is arranged in the counter bore 3051, a screw rod of the locking screw 306 penetrates through the communication hole 3053 and is screwed in the threaded hole 3042, the locking screw 306 can be rotated, so that the control over the support plate 305 is released by the locking screw 306, at this time, the supporting plate 305 can rotate outside the loop bar 3041, so that the function of adjusting the horizontal angle of the supporting plate 305 is realized, the manipulator 5 comprises a fixed seat 501, a rotating disc 502, a fixed arm 503, a first rotating arm 504, a second rotating arm 505 and an angle adjuster 506, the fixed seat 501 is installed on a movable part of the transverse slide rail pair 4, the rotating disc 502 is installed inside the fixed seat 501, the fixed arm 503 is fixedly installed on the top of the rotating disc 502, one end of the fixed arm 503 is rotatably connected with the first rotating arm 504, one end of the first rotating arm 504 far away from the fixed arm 503 is rotatably connected with the second rotating arm 505, one end of the second rotating arm 505 far away from the first rotating arm 504 is rotatably connected with the angle adjuster 506, the rotating end of the angle adjuster 506 is detachably installed with a suction cup structure, and the rotation of the rotating ends of the first rotating arm 504, the second rotating arm 505 and the angle adjuster 506 are driven by independent motors, set up like this and can drive fixed arm 503 horizontal rotation through rolling disc 502 to and the rotation of first rotation arm 504, second rotation arm 505, realized angle regulator 506 spatial position's regulation, can also start sucker structure through angle regulator 506 and rotate, realized sucker structure under the unchangeable condition in position, the regulation of angle, and then realized the function of the angle of regulation material, sucker structure includes mounting bracket (507), sucking disc (508), and one side that angle regulator 506 was kept away from to mounting bracket 507 is installed a plurality of sucking disc 508) install conveyer belt 6 on the unloading district, and the one end that conveyer belt 6 kept away from liftout mechanism (3) extends to each process down.

Example 2

As shown in fig. 8, embodiment 2 differs from embodiment 1 in that: the central integrated into one piece in top of ejector pin 304 has the loop bar 3041 that the diameter is less than ejector pin 304, a plurality of draw-in groove has been seted up to loop bar 3041 all sides, the second pilot hole 30501 that matches with loop bar 3041 is seted up to backup pad 305 one end, be provided with the bead that matches with this draw-in groove on the second pilot hole 30501 inner wall, the setting can be through upwards pulling backup pad 305 like this for second pilot hole 30501 breaks away from loop bar 3041, then establish the second pilot hole 30501 cover outside loop bar 3041 after adjusting the horizontal angle of backup pad 305 again, the adjustable function of backup pad 305 horizontal angle has been realized.

In the structure, when in use, the position of the supporting plate 305 is adjusted according to the size of a material, then a plurality of materials are placed above the supporting plate 305, then the position of the transverse control mechanism 21 on the longitudinal control mechanism 22 is adjusted to enable the longitudinal position of the material to be proper, then the positive and negative screw rods 212 are rotated, the positive and negative screw rods 212 drive the limiting columns 213 to move to enable the transverse position of the material to be proper, then the transverse sliding rail pair 4 drives the mechanical arm 5 to move, the mechanical arm 5 drives the mounting frame 507 to move, the suction cup 508 is attached to the top of the material, the suction cup 508 adsorbs the material to realize the function of grabbing the material, then the transverse sliding rail pair 4 and the mechanical arm 5 drive the material to move to the flexible bending center, the material is placed on a workbench of the flexible bending center to process the material, at the moment, the servo motor 301 drives the adjusting screw rod 302 to rotate, the adjusting screw rod 302 drives the lifting frame 303 to ascend, the crane 303 drives ejector pin 304 rebound, ejector pin 304 drives backup pad 305 rebound, backup pad 305 jack-up material, make this moment the topmost material move to material position department wait for to be snatched, the material through flexible bending center processing can snatch through manipulator 5, then drive mounting bracket 507 through angle adjuster 506 and rotate, and then drive the material and rotate, the realization is to the function of material angle modulation, then processed once more, the material after the processing is carried to conveyer belt 6 on the unloading district after being snatched by manipulator 5, this moment by conveyer belt 6 transmission to next process, it can to repeat above-mentioned action afterwards.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a flexible center of bending is with unloading mechanism based on manipulator, includes blowing frame (1), the vice (4) of horizontal slide rail, manipulator (5), blowing frame (1) mainly comprises supporting shoe (101), blowing board (102), mounting panel (103), install blowing board (102) supporting shoe (101) top, blowing board (102) both sides are equipped with material loading district and unloading district respectively, mounting panel (103) are located this material loading district below, and fixed connection in supporting shoe (101) one side, its characterized in that: the feeding area is provided with a material position control mechanism (2) for limiting the horizontal position of the material and a material ejecting mechanism (3) for controlling the vertical position of the material, one side, close to the flexible bending center, of the supporting block (101) is provided with the transverse sliding rail pair (4), and the top of the transverse sliding rail pair (4) is connected with the manipulator (5) for grabbing the material in a sliding mode.

2. The manipulator-based loading and unloading mechanism for the flexible bending center according to claim 1, characterized in that: the material position control mechanism (2) comprises a transverse control mechanism (21) and a longitudinal control mechanism (22), the number of the transverse control mechanisms (21) is two, the transverse control mechanisms are arranged along the width direction of the material discharging plate (102), the two transverse control mechanisms (21) are respectively installed at the top of the material discharging plate (102) and are connected to the top of the longitudinal control mechanism (22) in a sliding mode, and the longitudinal control mechanism (22) is installed on one side of the material discharging plate (102) and is parallel to the length direction of the material discharging plate (102).

3. The manipulator-based loading and unloading mechanism for the flexible bending center according to claim 2, characterized in that: horizontal control mechanism (21) include slide rail (211), positive and negative lead screw (212), restriction post (213), slide rail (211) inboard is connected with through the bearing positive and negative lead screw (212), positive and negative lead screw (212) outside spiro union has two restriction post (213), just restriction post (213) upper end extends to slide rail (211) top.

4. The manipulator-based loading and unloading mechanism for the flexible bending center according to claim 2, characterized in that: the ejection mechanism (3) comprises a lifting frame (303), ejector rods (304) and a support plate (305), wherein the ejector rods (304) are provided with a plurality of parts and are all installed at the top of the lifting frame (303), the bottom of the lifting frame (303) is provided with a drive component for lifting the lifting frame (303), the upper end of each ejector rod (304) penetrates through the material discharging plate (102), the support plate (305) with an adjustable horizontal angle is installed, and the support plate (305) is located between the transverse control mechanisms (21).

5. The manipulator-based loading and unloading mechanism for the flexible bending center according to claim 4, wherein the manipulator-based loading and unloading mechanism comprises: drive assembly includes servo motor (301), accommodate the lead screw (302) upper end is passed through the bearing and is connected flitch (102) bottom, accommodate the lead screw (302) lower extreme is passed crane (303) with mounting panel (103), and with crane (303) spiro union, with mounting panel (103) pass through the bearing and connect, and through the coupling joint in the output of servo motor (301), install servo motor (301) mounting panel (103) bottom.

6. The manipulator-based loading and unloading mechanism for the flexible bending center according to claim 4, wherein the manipulator-based loading and unloading mechanism comprises: the middle of the top of the ejector rod (304) is integrally formed with a sleeve rod (3041) with a diameter smaller than that of the ejector rod (304), the center of the upper end of the sleeve rod (3041) is provided with a threaded hole (3042), the bottom of one end of the supporting plate (305) is provided with a first assembling hole (3052) matched with the threaded hole (3042), the top of one end of the supporting plate (305) is provided with a counter sink (3051) coaxial with the first assembling hole (3052), a communication hole (3053) communicating the counter sink (3051) with the first assembling hole (3052) is further formed in the supporting plate (305), the diameter of the communication hole (3053) is smaller than that of the first assembling hole (3052), a locking screw (306) is arranged in the counter sink (3051), and a screw rod of the locking screw (306) penetrates through the communication hole (3053) and is screwed in the threaded hole (3042).

7. The manipulator-based loading and unloading mechanism for the flexible bending center according to claim 4, wherein the manipulator-based loading and unloading mechanism comprises: the central integrated forming of top of ejector pin (304) has diameter to be less than loop bar (3041) of ejector pin (304), a plurality of draw-in groove has been seted up to loop bar (3041) week side, backup pad (305) one end is seted up with second pilot hole (30501) that loop bar (3041) matches, be provided with the bead that matches with this draw-in groove on the second pilot hole (30501) inner wall.

8. The manipulator-based loading and unloading mechanism for the flexible bending center according to claim 1, characterized in that: the manipulator (5) comprises a fixed seat (501), a rotating disc (502), a fixed arm (503), a first rotating arm (504), a second rotating arm (505) and an angle adjuster (506), wherein the fixed seat (501) is installed on a moving part of the transverse sliding rail pair (4), the rotating disc (502) is installed on the inner side of the fixed seat (501), the fixed arm (503) is fixedly installed at the top of the rotating disc (502), one end of the fixed arm (503) is rotatably connected with the first rotating arm (504), one end, far away from the fixed arm (503), of the first rotating arm (504) is rotatably connected with the second rotating arm (505), one end, far away from the first rotating arm (504), of the second rotating arm (505) is rotatably connected with the angle adjuster (506), and a sucker structure is installed at the rotating end of the angle adjuster (506) in a detachable manner, the rotation of the rotating ends of the first rotating arm (504), the second rotating arm (505) and the angle adjuster (506) is driven by independent motors.

9. The robot-based loading and unloading mechanism for the flexible bending center according to claim 8, wherein: the sucking disc structure includes mounting bracket (507), sucking disc (508), a plurality of is installed to one side that angle regulator (506) were kept away from to mounting bracket (507) sucking disc (508).

10. The manipulator-based loading and unloading mechanism for the flexible bending center according to claim 1, characterized in that: and a conveyor belt (6) is installed on the blanking area, and one end, far away from the material ejecting mechanism (3), of the conveyor belt (6) extends to each lower process.