CN111591658A - Cutter storage and distribution system - Google Patents

Abstract

The invention discloses a knife storage and distribution system, which comprises a knife storage logistics system, a storage location and a plurality of knife fetching and matching machines for distributing knives into a tool tray box; the storage storage location is arranged on the knife On one side of the storage flow system, a plurality of the knife taking and matching machines are arranged along the knife storage flow system. The knife storage and distribution system of the present invention is provided with a knife storage logistics system, a storage location and a knife matching machine. The knife matching machine performs knife matching. After the knife matching is completed, the complete knife box/non-whole box cutter box with the well-equipped drill knife is taken out from the knife matching machine. The non-whole knife box can be returned to the storage location again. The box/non-whole box tool box can be directly shipped out of the warehouse, which realizes the automatic storage and automatic tool allocation of the drill tool, which replaces the manual operation, reduces the labor cost and improves the production efficiency.

Description

A knife storage system

technical field

The invention relates to the field of drilling tool production lines, in particular to a tool storage and distribution system.

Background technique

The prior art drills have separate pick-and-place, classification, transportation and storage positions, low space utilization, and a large amount of labor is required for transportation, which is costly, and easy to cause misoperations, resulting in low production efficiency.

The cutterhead is usually placed on the cutterhead by manual or semi-automatic methods such as forklifts. The above two operation methods have a low degree of automation, which directly affects the speed of loading and unloading, resulting in low efficiency. In addition, the tool holder cannot be set too high vertically, otherwise it is difficult to put the tool disc in or out, which results in a larger footprint of the tool holder.

After the drill is processed, it usually needs to be assembled into the cutter box. During the assembly process, it is necessary to grab and screen the required drill and cutter box. The drill cutter assembly work in the prior art is usually performed manually or in a semi-automated manner. These methods lead to reduced production accuracy, prone to assembly disorder or incomplete number of cutter cartridges, and require a lot of labor. Seriously affect normal efficiency and increase production costs.

SUMMARY OF THE INVENTION

Based on this, the purpose of the present invention is to provide an integrated, automated and efficient tool storage and distribution system.

The knife storage and matching system of the present invention includes a knife storage logistics system, a storage location and a plurality of knife fetching and matching machines for matching the knives into the knife tray box;

The storage location is arranged on one side of the knife storage and logistics system, and a plurality of the knife taking and matching machines are arranged along the knife storage and logistics system.

The knife storage and distribution system of the present invention is provided with a knife storage logistics system, a storage location and a knife matching machine. The knife matching machine performs knife matching. After the knife matching is completed, the complete knife box/non-whole box cutter box with the well-equipped drill knife is taken out from the knife matching machine. The non-whole box knife box can be returned to the warehouse again. The box/non-whole tool box can be directly shipped out of the warehouse, which realizes the automatic storage and automatic tool allocation of the drill tool, which replaces the manual operation, reduces the labor cost and improves the production efficiency.

In one embodiment of the above technical solution, the knife storage and logistics system includes: an empty box feeding line for feeding empty knife disk boxes, a full box or a partial box for outputting the whole box in the storage location. The outbound line of the cutter box, the direct outbound line used to directly output the cutter box after the knife or the cutter box of the warehouse location, and the direct output line of the cutter box for the partial box back to the warehouse The return line of the warehouse location;

A plurality of the knife taking and matching machines are arranged along the empty box feeding line;

The outgoing line is parallel and adjacent to the direct outgoing line and the incoming outgoing line, and the outgoing line, the direct outgoing line and the incoming outgoing line are also arranged along a plurality of fetching and matching tools. The warehouse location is provided on one side of the warehouse-out line, the direct warehouse-out line and the warehouse-return line.

In an embodiment of the above technical solution, the knife material storage system further includes an empty box return line for returning the empty boxes on the empty box feeding line, and the empty box return line is connected to the empty box return line. The box feeding lines are arranged in parallel and adjacent;

The knife storage material system also includes a full box/non-full box feeding line for feeding the full box or non-full box cutter box and being transferred to the storage location, the full box/non-full box feeding line. The feeding line is arranged on one side of the end of the returning line.

In one embodiment of the above technical solution, the storage location includes a vertical warehouse and an RGV manipulator;

The top of the vertical warehouse is horizontally provided with a guide rail;

The RGV manipulator includes a sliding frame, a lifting module and a reclaiming manipulator. The sliding frame can be slidably erected on the guide rail of the vertical warehouse, and the lifting module is vertically arranged on the sliding frame. The material manipulator is connected with the lifting module and can be driven to lift by the lifting module.

In an embodiment of the above technical solution, the top of the sliding frame is provided with a roller, and the sliding frame is slidably erected on the guide rail of the vertical warehouse through the roller;

The top of the vertical warehouse is also provided with a horizontal rack parallel to the guide rail, and the top of the sliding frame is provided with a horizontal drive motor, the output end of the horizontal drive motor is connected with a horizontal drive gear, and the horizontal drive A gear meshes with the horizontal rack.

In an embodiment of the above technical solution, the RGV manipulator further includes a bracket, the bracket can be slid up and down on the sliding frame, the bracket is connected with the lifting module, and the reclaiming manipulator is fixed. on the bracket.

In one embodiment of the above technical solution, the reclaiming manipulator includes a reclaiming drive motor and a reclaiming pallet;

The reclaiming drive motor is fixed on the bracket, the output end of the reclaiming drive motor is connected to the reclaiming pallet, and the reclaiming drive motor can drive the reclaiming pallet to the vertical. Library direction moves.

In one embodiment of the above technical solution, the knife fetching and matching machine includes a knife fetching machine, a knife matching machine, and a plurality of manipulators arranged on one side of the knife fetching machine and the knife matching machine;

The knife taking machine includes a knife taking rotary platform, a knife taking turntable and a plurality of knife taking fixtures; the knife taking rotating platform is arranged below the knife taking carousel, and the knife taking rotating platform drives the knife taking carousel to rotate , a plurality of the tool-taking fixtures are arranged along the periphery of the tool-taking turntable;

The knife matching machine includes a knife matching rotary platform, a knife matching turntable and a plurality of knife matching fixtures; the knife matching rotary platform is arranged below the knife matching rotary table, and the knife matching rotary platform drives the knife matching rotary table to rotate , and a plurality of the tool-matching fixtures are arranged along the periphery of the tool-matching turntable.

In one embodiment of the above technical solution, a plurality of the tool-taking fixtures and the plurality of the tool-matching fixtures each include a bottom plate, a baffle plate and a pressing plate; the bottom plate is fixed on the tool-taking turntable, and the baffle plate is It is fixed along the side of the bottom plate, and the pressing plate is movably arranged on the bottom plate and is located on the opposite side of the baffle plate.

In one embodiment of the above technical solution, a plurality of the manipulators include a bracket, a guide rail, a sliding frame, a horizontal driver, a vertical driver and a gripper cylinder;

The bracket is arranged on one side of the tool removal machine or the tool distribution machine, the guide rail is horizontally fixed on the upper part of the bracket, the sliding frame can be slidably arranged on the guide rail, and the horizontal driver is fixed On the bracket and its power output end is connected to the sliding frame in a transmission, the vertical driver is fixed on the sliding frame and its power output end can drive the gripper cylinder to rise and fall, and the gripper cylinder is provided with above the knife-taking turntable or the knife-matching turntable.

Compared with the prior art, the knife storage logistics system of the present invention can take out the whole box/non-whole box cutter tray box from the storage position by setting the knife storage logistics system, the storage location and the knife matching machine. , and send it to the knife matching machine for knife matching. After the knife matching is completed, take out the complete knife box/non-whole box cutter box after the well-equipped drill from the knife matching machine, and the non-whole box knife box can be used again Returning to the storage location, the whole box/non-whole box knife box can be directly shipped out of the warehouse, realizing automatic storage and automatic knife matching of drill knives, replacing manual operation, reducing labor cost and improving production efficiency. The knife storage and distribution system of the invention has the characteristics of integration, automation and high efficiency.

For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings.

Description of drawings

FIG. 1 is a schematic three-dimensional structural diagram of the preferred structure of the knife storage and distribution system of the present invention.

Figure 2 is a schematic structural diagram of a preferred structure of the knife storage logistics system.

FIG. 3 is a partial enlarged view of I in FIG. 2 .

FIG. 4 is a partial enlarged view of II in FIG. 2 .

Fig. 5 is a three-dimensional schematic diagram of a preferred structure of a storage location.

Figure 6 is a partial enlarged view of the preferred structure of the RGV manipulator.

FIG. 7 is a schematic structural diagram of the preferred structure of the reclaiming manipulator.

FIG. 8 is a schematic three-dimensional structural diagram of the preferred structure of the knife-taking and matching machine.

FIG. 9 is a schematic three-dimensional structural diagram of another angle of the preferred structure of the knife fetching and matching machine.

Fig. 10 is a schematic three-dimensional structure diagram of the preferred structure of the knife taking machine.

Fig. 11 is a schematic three-dimensional structure diagram of another angle of the preferred structure of the knife-removing machine.

Figure 12 is a side view of a preferred configuration of the knife taker.

Fig. 13 is a three-dimensional schematic diagram of the preferred structure of the tool-taking fixture and the tool-matching fixture.

FIG. 14 is a schematic diagram of a plurality of manipulators disposed around the knife taker and the knife matcher.

Detailed ways

Orientation terms such as upper, lower, left, right, front, rear, front, back, top, bottom, etc. mentioned or possibly mentioned in this specification are defined relative to their construction, and they are relative concepts. Therefore, it may be changed accordingly according to different positions and different usage states. Therefore, these and other terms of orientation should not be construed as limiting.

The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this disclosure. Rather, they are merely examples of approaches consistent with some aspects of the present disclosure as recited in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to limit the present disclosure. As used in this disclosure and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

Please refer to FIG. 1 . FIG. 1 is a three-dimensional schematic diagram of the preferred structure of the knife storage and distribution system of the present invention.

The knife storage and distribution system of the present invention includes a knife storage logistics system 1, a storage location 2, and a plurality of knife fetching and matching machines 3 for distributing knives into the knife disc box. The storage location 2 is arranged on one side of the tool storage and logistics system 1 , and a plurality of the tool fetching and matching machines 3 are arranged along the tool storage and logistics system 1 .

It should be noted that there are a total of 12 knife taking and matching machines 3 in this embodiment, which are arranged in two rows. For convenience of display and viewing, only three of them are shown in FIG. 1 .

By setting the tool storage logistics system 1, the storage location 2 and the tool fetching and matching machine 3, the tool storage logistics system 1 can take out the whole box/non-whole box cutter box from the storage location 2, and send it to the tool fetching and matching machine. 3. Carry out knives matching. After the knives matching is completed, take out the complete knife box/non-whole knife disc box after the complete drilling knife is equipped with the knife from the knife fetching and matching machine 3. The box/non-whole tool box can be directly shipped out of the warehouse, which realizes the automatic storage and automatic tool allocation of the drill tool, which replaces the manual operation, reduces the labor cost and improves the production efficiency.

See Figures 2-4. Figure 2 is a schematic structural diagram of a preferred structure of the knife storage logistics system. FIG. 3 is a partial enlarged view of I in FIG. 2 . FIG. 4 is a partial enlarged view of II in FIG. 2 .

In the first aspect, the knife storage logistics system 1 includes an empty box feeding line 11 for feeding empty knife disk boxes, and a knife disk box for outputting the whole box or partial box in the storage location 2 The outbound line 12, the direct outbound line 13 for directly outputting the cutter box with the knife or the cutter box in the storage location 2, and the direct outbound line 13 for transporting the non-full box cutter box back to the warehouse Back to warehouse line 14 of location 2. Along the empty box feeding line 11 are arranged a plurality of the knife taking and matching machines 3; the outgoing line 12 is arranged in parallel and adjacent to the direct outgoing line 13 and the returning line 14, and all the The outgoing line 12 , the direct outgoing line 13 and the incoming outgoing line 14 are also arranged along a plurality of tool fetching and matching machines 3 , and the outgoing line 12 , the direct outgoing line 13 and the The storage location 2 is provided on one side of the return line 14 .

The knife storage and logistics systems 1 in this embodiment are arranged symmetrically in two groups, and each group of the knife storage and logistics systems 1 has two empty box feeding lines 11 and two outgoing lines 12 . In this embodiment, a total of 12 knife picking and matching machines 3 are provided, and the empty box feeding line 11 , the outgoing line 12 , the direct outgoing line 13 and the The back-to-stock line 14 runs through six of the tool-taking and matching machines 3 .

The two sets of knife storage systems further include an empty box return line 15 for returning the empty boxes on the empty box feeding line 11 , the empty box return line 15 and the empty box feeding line 11 Set parallel to each other. In addition, the end of the empty box return line 15 is provided with an empty box NG buffer line 151 used for buffering the tool disk boxes of the empty box feeding line 11 that scan the code NG.

One set of the knife storage material system knife storage logistics system 1 also includes a full box/non-full box feeding line for feeding the whole box or non-whole box cutter box and transferring it to the storage location 2 16. The whole box/non-whole box feeding line 16 is arranged on one side of the end of the returning line 14 .

The end of the warehouse return line 14 is provided with a warehouse return NG line 141 for buffering the tool disk boxes on the warehouse return line 14 or the whole box/non-whole box feeding line 16 . The NG return line 141 is used to cache the non-whole cartridges of the NG scanning code on the return line 14, and finally removed manually; it can also be used to cache the whole box/non-whole box in the second embodiment below. The whole box feeding line 16 scans the NG whole box or the non-whole box cutter box, and finally takes it out manually.

The whole box/non-whole box feeding line 16 is used to manually put the whole box or the non-whole box cutter box with the drill knife. Pick up and scan the correct tool disc box and put it on the RGV manipulator. Finally, the RGV manipulator will transport it to the storage location 2 for storage. take away.

The empty box feeding line 11 is used to manually put empty boxes. After the empty box is put in, it continues to flow to the knife fetching and matching machine 3. After scanning the code, it is placed on the empty box return line 15 for the knife fetching and matching machine 3. The drill bit is configured, and the tool disc box of the scan code NG is grabbed onto the empty box NG cache line 151, and finally taken away manually.

The module manipulator can be used to grab the whole box or the non-whole box cutter box from the RGV manipulator and transport it to the outgoing line 12, and continue after scanning the code. The cutter machine 3 ensures that each cutter fetching and matching cutter 3 can pick up the whole box or the non-whole box cutter box from the two outgoing lines 12 .

The ends of the two outgoing lines 12 are provided with outgoing NG lines 121 for buffering the tool disc cartridges on the outgoing lines 12 for scanning the code NG. The outgoing NG line 121 is used for buffering the whole box or the non-whole box of the NG scanning code on the outgoing line 12, and finally it is taken out manually.

The end of the direct outgoing line 13 is also provided with a direct outgoing NG cache line for buffering the entire box or the non-full box of the cutter cartridges of the NG scanned on the direct outgoing line 13 .

The direct outgoing line 13 is connected to the knife fetching and matching machine 3 and the storage location 2 . After the knife matching machine 3 completes the knife matching, the entire tool box is placed on the direct delivery line 13, and after scanning the code, it is transported out from the direct delivery line 13, and the tool disk box of NG is scanned. It is captured to the direct outbound NG cache line, and finally taken away manually. Each of the direct outgoing lines 13 is composed of two sections, that is, one section supplies three cutting tool matching machines 3 to ensure that the cutting tool matching machine 3 will not stop the entire cutting tool matching system from being directly dispatched due to a fault somewhere. The tool disc box transferred out from the storage location 2 can be placed on the direct outgoing line 13 , and directly out of the warehouse through the direct outgoing line 13 .

The tool fetching and matching machine 3 places the unneeded non-complete tool disc boxes on the warehouse return line 14. After scanning the code, it is transported back to the warehouse location 2 by the warehouse return line 14. The non-full-box cutter cartridges are grabbed onto the NG line 141 for returning to the warehouse, and finally taken out manually.

Preferably, the empty box feeding line 11 , the warehouse-out line 12 , the direct warehouse-out line 13 and the warehouse-return line 14 all include a plurality of segments connected end to end.

For example, each of the outgoing lines 12 in this embodiment is composed of two sections, that is, one section supplies three knife-taking and matching machines 3 . Each tool fetching and matching machine 3 can take materials from two of the storage-out lines 12 , so as to ensure that the entire tool matching system will not stop matching tools due to a fault somewhere in the tool fetching and matching machine 3 .

Preferably, transition rollers 110 are provided at the end-to-end connections of the adjacent segments of the empty box feeding line 11 , the warehouse-out line 12 , the direct warehouse-out line 13 and the warehouse-return line 14 . The transition drum 110 can ensure that the cutter cartridge can smoothly pass through the butt joints between the segments.

Further, the outgoing line 12 , the direct outgoing line 13 and the inbound line 14 share a plurality of supports, and a plurality of the supports are along the outgoing line 12 , the direct outgoing line 13 and all the supports. The bottom arrangement of the library line 14 is described.

Preferably, a CCD detector 17 and a code scanning mechanism 18 are arranged above the lines along the outgoing line 12 , the direct outgoing line 13 and the returning line 14 . The CCD detector 17 can image the cutter head box, so as to judge whether the drill cutters in the cutter head case are fully assembled, and can also identify the cutter head case color, direction, position and quantity of the cutter head, and can identify the cutter head. Whether there are foreign objects in the knife box hole of the disk box can also be detected by QR code. The barcode scanning mechanism 18 may be a barcode scanner commonly used in production lines in the prior art.

A through-beam photoelectric sensor 19 is arranged along the return line 14 . The through-beam photoelectric sensor 19 is used to detect whether the cutter cartridge is in place.

It should be noted that the empty box feeding line 11 , the warehouse delivery line 12 , the direct warehouse delivery line 13 and the multiple segments of the warehouse return line 14 , and the empty box return line 15 Both include a conveying motor and a conveying belt, and the output end of the conveying motor is drivingly connected to the conveying belt. The conveying motor drives the conveying belt to rotate, so as to realize the conveying of the cutter box. In addition, multiple segments of the empty box feeding line 11 , the warehouse delivery line 12 , the direct warehouse delivery line 13 and the warehouse return line 14 , and the empty box return line 15 are also equipped with There are tensioning mechanisms commonly used in the prior art for tensioning the conveyor belt, and a blocking mechanism driven by a motor or a cylinder. The blocking mechanism is provided on one side of the conveyor belt to block the cutter cartridge. The structure is simple and easy to implement for those skilled in the art.

The conveying motor may preferably be a speed regulating motor.

The tool storage and logistics system 1 can take out the whole box/non-whole box of the tool disc box from the storage location 2, and send it to the tool fetching and matching machine 3 for tool matching. After taking out the whole box/non-whole box cutter box with the well-configured drill cutter, the non-whole box cutter box can be returned to the storage location 2 again, and the whole box/non-whole box cutter box can be directly out of the warehouse, realizing the automatic drilling tool. Storage and automatic knife matching replace manual operation, reducing labor costs and improving production efficiency.

See Figures 5-7. Fig. 5 is a three-dimensional schematic diagram of a preferred structure of a storage location. Figure 6 is a partial enlarged view of the preferred structure of the RGV manipulator. FIG. 7 is a schematic structural diagram of the preferred structure of the reclaiming manipulator.

In the second aspect, the warehouse location 2 includes a vertical warehouse 21 and an RGV manipulator 22 .

A guide rail 211 is horizontally disposed on the top of the vertical warehouse 21 .

The RGV manipulator 22 includes a sliding frame 221 , a lifting module 222 and a reclaiming manipulator 223 , the sliding frame 221 can be slidably arranged on the guide rail 211 of the vertical warehouse 21 , and the lifting module 222 is vertically arranged On the sliding frame 221 , the reclaiming manipulator 223 is connected to the elevating module 222 and can be driven up and down by the elevating module 222 .

By arranging the vertical warehouse 21 and the RGV manipulator 22, the sliding frame 221 can move along the vertical warehouse 21 to find the position of picking and discharging materials conveniently. The lifting module 222 drives the picking manipulator 223 to carry out the picking and placing operation on the vertical warehouse 21, which greatly improves the picking and placing operation. The discharging efficiency solves the problem of low efficiency of manual or semi-automatic operation of the cutter head in the prior art for picking and discharging, and occupies a small area.

Specifically, there are multiple vertical warehouses 21 , and the multiple vertical warehouses 21 are arranged in parallel with each other, and the sliding frame 221 of the RGV manipulator 22 is erected on the guide rails 211 of two adjacent vertical warehouses 21 . One of the RGV manipulators 22 is used for picking and unloading the two adjacent vertical warehouses 21, so that the RGV manipulators 22 can be fully utilized.

Preferably, the vertical storage 21 is provided with multiple storage boards 210 arranged up and down. The storage board 210 is preferably arranged in a long strip shape. The multi-layer storage board 210 provided can save the occupied area, increase the capacity per unit area, and facilitate the picking and unloading operations of the RGV manipulator 22 .

Further, the vertical library 21 is preferably provided with 20 layers of the storage boards 210, and preferably 28 cutter disk placement positions are set on each of the storage boards 210, so that the capacity of a single vertical library 21 is 560 a knife disc. When discharging, you can first put the cutter head into the pit of the tray, and then put it into the position of the cutter head.

In addition, the bottom of the vertical warehouse 21 is installed and fixed with I-beam, and each vertical warehouse 21 can be installed independently.

Preferably, a roller 2211 is provided on the top of the sliding frame 221 , and the sliding frame 221 can be set on the guide rail 211 of the vertical library 21 through the sliding frame 221 through the roller 2211 .

The top of the vertical library 21 is also provided with a horizontal rack 212 parallel to the guide rail 211, and the top of the sliding frame 221 is provided with a horizontal drive motor 2212, the output end of the horizontal drive motor 2212 is connected with a horizontal drive. Gear 2213, the horizontal driving gear 2213 meshes with the horizontal rack 212.

The horizontal drive motor 2212 is used to drive the sliding frame 221 to slide on the guide rail 211 , without manual operation and with a high degree of automation.

Brackets 23 may preferably be provided on both sides of the vertical storehouse 21 for supporting the guide rails 211 and the horizontal racks 212 .

Further, a bottom slide rail 213 parallel to the guide rail 211 is horizontally arranged at the bottom of the vertical warehouse 21, and a bottom roller is provided at the bottom of the carriage, and the bottom of the carriage is slidably arranged on the bottom roller through the bottom roller. on the bottom slide rail 213 . The provided bottom sliding rail 213 can make the sliding frame 221 more stable during the sliding process.

The guide rail 211 in this embodiment is a cylindrical guide rail, and the bottom slide rail 213 is an iron square pass.

In addition, the RGV manipulator 22 further includes a bracket 224, the bracket 224 can be slid up and down on the sliding frame 221, the bracket 224 is connected with the lifting module 222, and the reclaiming manipulator 223 is fixed on on the bracket 224 .

The lift module 222 in this embodiment includes a lift drive motor 2221 and a lead screw.

The lift driving motor 2221 is fixed on the sliding frame 221, the screw rod is vertically arranged on the sliding frame 221, and the output end of the lifting driving motor 2221 is connected to the screw rod in a driving manner. The screw sleeve of the rod is fixedly connected with the bracket 224 .

The lifting and driving motor 2221 is used to electrically rotate the screw rod, so as to drive the bracket 224 to slide up and down along the sliding frame 221 to perform picking and discharging operations. The structure is stable and the degree of automation is high.

The lift drive motor 2221 is preferably a servo motor.

Preferably, the reclaiming manipulator 223 includes a reclaiming drive motor 2231 and a reclaiming support plate 2232 . The reclaiming drive motor 2231 is fixed on the bracket 224, the output end of the reclaiming drive motor 2231 is connected to the reclaiming support plate 2232, and the reclaiming drive motor 2231 can drive the reclaiming pallet The plate 2232 moves in the direction of the vertical storage 21 .

The reclaiming drive motor 2231 can drive the reclaiming pallet 2232 to move in the direction of the vertical warehouse 21 to perform picking and unloading operations.

The reclaiming drive motor 2231 is preferably a stepping motor.

Further, the reclaiming manipulator 223 further includes a reclaiming rack 2233, the reclaiming rack 2233 is horizontally fixed on the reclaiming support plate 2232, and the end of the reclaiming rack 2233 faces the vertical Library 21 Directions.

The output end of the reclaiming drive motor 2231 is connected with a reclaiming gear 2234 , and the reclaiming gear 2234 meshes with the reclaiming rack 2233 .

Using the cooperation of the reclaiming gear and the reclaiming rack 2233 to drive the reclaiming pallet 2232 to move, the driving stability is high, the positioning is accurate, and it is convenient to take out and unload materials.

Preferably, two hook posts 2235 are provided on the reclaiming support plate 2232, the two hook posts 2235 are vertically fixed, and the bottom of the knife box can be hooked and pulled out by using the two hook posts 2235.

The RGV manipulator 22 is also preferably provided with an electric box 225. The electric box 225 is fixed on one side of the sliding frame 221. Electrical connection.

Preferably, there are four reclaiming robots 223 in this embodiment, and the four reclaiming robots 223 are symmetrically arranged on both sides of the bracket 224 . Of course, other numbers of the reclaiming robots 223 can also be set as required. Disposing a plurality of the reclaiming manipulators 223 can improve the efficiency of taking out and unloading materials.

See Figure 8-14. FIG. 8 is a schematic three-dimensional structural diagram of the preferred structure of the knife-taking and matching machine. FIG. 9 is a schematic three-dimensional structural diagram of another angle of the preferred structure of the knife fetching and matching machine. Fig. 10 is a schematic three-dimensional structure diagram of the preferred structure of the knife taking machine. Fig. 11 is a schematic three-dimensional structure diagram of another angle of the preferred structure of the knife-removing machine. Figure 12 is a side view of a preferred configuration of the knife taker. FIG. 13 is a schematic three-dimensional structural diagram of the preferred structure of the tool fetching fixture and the tool matching fixture. FIG. 14 is a schematic diagram of a plurality of manipulators disposed around the knife taker and the knife matcher.

In the third aspect, the knife taking and matching machine 3 includes a knife taking machine 31 , a knife matching machine 32 , and a plurality of manipulators 33 arranged on one side of the knife taking machine 31 and the knife matching machine 32 .

The knife taking machine 31 includes a knife taking rotary platform 311, a knife taking turntable 312 and a plurality of knife taking fixtures 313; The tool-taking turntable 312 is driven to rotate, and a plurality of the tool-taking fixtures 313 are evenly arranged along the periphery of the tool-taking turntable 312 .

The knife matching machine 32 includes a knife matching rotating platform 321, a knife matching turntable 322 and a plurality of knife matching fixtures 323; The knife matching turntable 322 is driven to rotate, and a plurality of the knife matching jigs 323 are evenly arranged along the periphery of the knife matching turntable 322 .

Specifically, both the knife-taking rotary platform 311 and the knife-matching rotary platform 321 can use electric rotary platforms commonly used in the prior art. Usually, these electric rotary platforms include a motor and a rotary base driven by the motor through gear transmission. The rotary base can be connected with the tool-taking turntable 312 or the tool-arranging turntable 322 .

Each of the plurality of the tool-taking fixtures 313 and the plurality of the tool-matching fixtures 323 includes a bottom plate 3101 , a baffle plate 3102 and a pressing plate 3103 . The bottom plate 3101 is fixed on the knife-taking turntable 312 , the baffle plate 3102 is fixed along the side of the bottom plate 3101 , and the pressing plate 3103 is movably disposed on the bottom plate 3101 and located opposite to the baffle plate 3102 side.

Preferably, each of the plurality of the tool-taking fixtures 313 and the plurality of the tool-matching fixtures 323 further includes a linear slide rail 3104 , and the linear slide rail 3104 is horizontally disposed on the bottom plate 3101 and extends to the outside of the bottom plate 3101 , the pressing plate 3103 is movably arranged on the linear slide rail 3104 . Installing the pressing plate 3103 on the linear slide rail 3104 can ensure that the pressing plate 3103 moves smoothly along a straight line when opened and closed.

Further, a plurality of the tool-taking fixtures 313 and a plurality of the tool-matching fixtures 323 further include a reset tension spring 3105 that can drive the pressing plate 3103 to reset along the linear slide rail 3104 . The ends are respectively connected with the pressing plate 3103 and the bottom plate 3101 .

Preferably, each of the plurality of the tool-taking fixtures 313 and the plurality of the tool-matching fixtures 323 further includes a fixing block 3106, the fixing block 3106 is connected to the lower part of the baffle 3102, and the lower part of the fixing block 3106 is arranged is wedge-shaped.

Both the knife taking machine 31 and the knife matching machine 32 further include a plurality of top-opening cylinders 34, and the plurality of the top-opening cylinders 34 are respectively arranged under the knife taking turntable 312 and the knife matching carousel 322, so The piston rod of the top-opening cylinder 34 is upwardly arranged and connected with a top-opening block 35. The upper part of the top-opening block 35 is set to be wedge-shaped. Move to the outside of the bottom plate 3101 along the linear slide rail 3104 .

Preferably, two adjacent sides of the bottom plate 3101 are respectively provided with the baffles 3102, and the side positions corresponding to the two sides are respectively provided with the pressing plates 3103, and the fixing blocks 3106 are two The two fixing blocks 3106 are respectively connected with one of the pressing plates 3103 . Correspondingly, the piston rod of each of the lift cylinders 34 is connected with two lift blocks 35 , and the two lift blocks 35 are respectively arranged below the two fixed blocks 3106 . After the piston rod of the top-opening air cylinder 34 is extended, the two pressing plates 3103 can be moved to both sides, which is convenient for putting the cutter disk box in.

The tool-taking turntable 312 of the tool-taking machine 31 in this embodiment is configured with 12 stations, each of which is provided with one tool-taking fixture 313 , and the ejection cylinders 34 under the tool-taking turntable 312 are 2 Each of them, the distance between the ejection cylinders 34 is an integral multiple of the distance between two adjacent tool holders 313 .

The tool matching turntable 322 of the tool matching machine 32 in this embodiment is configured with 4 workstations, each of which is configured with one tool matching fixture 323 , and the top-opening cylinders 34 under the tool matching turntable 322 are 2 The distance between two of the top-opening cylinders 34 is an integral multiple of the distance between two adjacent tool holders 323 .

When the knife fetching turntable 312 or the knife matching turntable 322 is rotated in place, the piston rod of the ejecting cylinder 34 protrudes, the ejecting block 35 is pressed against the fixing block 3106 and pushes upward, and the fixing block 3106 The pressing plate 3103 is driven to open outward. At this time, the cutter box is put in, and then the piston rod of the top-opening cylinder 34 is retracted, and the pressing plate 3103 is restored to its original position under the action of the return tension spring 3105 .

In addition, a U-shaped switch sensor is also provided on the periphery of the knife-taking turntable 312 and the knife-arranging turntable 322 . The U-shaped switch sensor can monitor the position of the fixture on the tool-taking turntable 312 or the tool-matching turntable 322 at all times, so as to ensure that the rotational position of the tool-taking turntable 312 or the tool-matching turntable 322 is accurate.

The above-mentioned multiple manipulators 33 include a bracket 331 , a guide rail 332 , a sliding frame 333 , a horizontal driver 334 , a vertical driver 335 and a gripper cylinder 336 .

The bracket 331 is disposed on one side of the knife removing machine 31 or the knife matching machine 32 , the guide rail 332 is horizontally fixed on the upper part of the bracket 331 , and the sliding frame 333 is slidably disposed on the guide rail 332 Above, the horizontal driver 334 is fixed on the bracket 331 and its power output end is connected to the sliding frame 333 in a driving manner, and the vertical driver 335 is fixed on the sliding frame 333 and its power output end can drive the The clamping jaw cylinder 336 moves up and down, and the clamping jaw cylinder 336 is disposed above the tool-taking turntable 312 or the tool-arranging turntable 322 .

Preferably, each of the multiple manipulators 33 further includes a rotating cylinder 337 , the cylinder block of the rotating cylinder 337 is connected to the power output end of the vertical driver 335 , and the rotating disk of the rotating cylinder 337 is connected to the gripper cylinder 336 .

In one embodiment, the horizontal driver 334 is an air cylinder, the cylinder body of which is horizontally fixed on the bracket 331 , and the piston rod is connected to the sliding frame 333 . The horizontal driver 334 can ensure that the sliding frame 333 runs straight on the guide rail 332 without jamming.

In another embodiment, the horizontal driver 334 may also be a motor, the motor is a linear motor or a conventional motor, and the power output end of the conventional motor adopts a common transmission method, such as a chain, a belt, a rack, a lead screw, etc. , drive the sliding frame 333 to slide on the guide rail 332 .

Preferably, the vertical driver 335 is a cylinder, the cylinder of which is vertically fixed on the sliding frame 333 , and the piston rod of which is connected to the cylinder of the rotating cylinder 337 . The vertical driver 335 can make the jaw cylinder 336 run in a straight line in a vertical direction.

Similarly, the vertical driver 335 can also be a motor, the motor is a linear motor or a conventional motor, and the power output end of the conventional motor drives the clip through a common transmission method, such as a chain, a belt, a rack, a screw, etc. The jaw cylinder 336 runs in a straight line in the vertical direction.

In practical applications, a plurality of the manipulators 33 can be respectively used as the feeding and pulling manipulator 3301, the feeding manipulator 3302 for the knife-removing turntable, the feeding manipulator 3303 with the knife, the feeding manipulator 3303 with the knife, The feeding robot 3304, the partial box transfer robot 3305, the empty box transfer robot 3306, the empty box feeding robot 3307, the turntable empty box transfer robot 3308, the turntable non-full box transfer robot 3309, etc. The knife machine 31 or one side of the knife matching machine 32 or along the conveying line is arranged to carry out operations such as grabbing, discharging, etc. Several kinds of the manipulators 33 used are exemplified below:

1. When the manipulator 33 is the feeding and pulling manipulator 3301, it can be arranged on one side of the feeding pulling belt A, and the feeding pulling belt A is arranged along the knife taking machine 31 and the knife matching machine 32 , and the feeding and pulling belt manipulator 3301 grabs the cutter box to the feeding pulling belt A.

2. When the manipulator 33 is the knife-removing turntable feeding manipulator 3302, it is arranged on one side of the knife-removing machine 31, and it can grab the knife-reel box from the feeding belt A to the knife-receiving turntable 312 , and turn to the corresponding position to match the knife.

3. When the manipulator 33 is the knife matching and feeding manipulator 3303, it is arranged on one side of the knife matching machine 32. After the knife fetching turntable 312 is rotated in place, the knife matching and feeding manipulator 3303 removes the knife from the The drill cutter is grabbed from the cutter disc box of the cutter turntable 312 and transported to the cutter turntable 322 for cutter fitting.

4. When the manipulator 33 is a knife matching and discharging manipulator 3304, it is arranged on one side of the knife matching machine 32. When the knife box box at the knife matching turntable 322 is completed, it continues to rotate, and after turning in place , the knife-discharging manipulator 3304 grabs the full-knife/non-full-knife cutter box to the direct delivery line.

5. When the manipulator 33 is a part-carton transfer manipulator 3305, the unneeded part-cartridge cassette on the knife-taking turntable 312 is grabbed by the turntable part-carton transfer manipulator 3309 to the part-cartridge drawstring, Finally, the partial box transfer manipulator 3305 grabs the knife box to the return line.

6. When the manipulator 33 is the empty box transfer robot 3306 and the empty box feeding robot 3307, the empty box cutter box that is not needed on the knife take-out carousel 312 is grabbed by the carousel empty box transfer robot 3308 and returned to the empty box. Then, the empty box transfer robot 3306 grabs the empty box and returns to the pull belt B, and finally is transferred to the knife matching turntable 322 by the empty box feeding robot 3307 to supplement the empty space of the turntable after discharging.

7. The empty boxes on the empty box feeding line will finally be transferred to the empty box return line, and the empty box transfer manipulator 3306 will grab it to the empty box return pull belt B.

8. The empty box feeding manipulator 3307 is responsible for grabbing the empty box cutter disc from the empty box return belt B and placing it into the cutter matching turntable 322 to ensure that the cutter matching turntable 322 does not lack empty cutter disc boxes.

9. When the robot arm 33 is a turntable empty box transfer robot 3308, the turntable empty box transfer robot 3308 grabs the empty box cutter box on the tool take-off carousel 312 to the empty box return line, and is reversed by the empty box return line. Other knife-taking and matching machine 3 is conveyed.

10. When the manipulator 33 is a turntable part-carton transfer manipulator 3309 , the turntable part-carton transfer manipulator 3309 is used to grab and transfer the part-cartridge on the knife-taking turntable 312 .

The knife fetching and matching machine 3 is provided with a knife fetching machine 31, a knife matching machine 32 and a plurality of manipulators 33, and the manipulator 33 is used to automatically grab the cutter box. The knife turntable 312 and the knife matching carousel 322 rotate. The rotary design of the knife turning table 312 and the knife matching carousel 322 is convenient for the transfer of the knife box and the operation of the knife matching. It is convenient to assemble the drill. After the cutter is matched on the cutter machine 32, the cutter box is output. The production process is highly automated, and manual operation is not required, which improves the processing accuracy and production efficiency, and saves production costs.

Compared with the prior art, the knife storage logistics system of the present invention can take out the whole box/non-whole box cutter tray box from the storage position by setting the knife storage logistics system, the storage location and the knife matching machine. , and send it to the knife matching machine for knife matching. After the knife matching is completed, take out the complete knife box/non-whole box cutter box after the well-equipped drill from the knife matching machine, and the non-whole box knife box can be used again Returning to the storage location, the whole box/non-whole box knife box can be directly shipped out of the warehouse, realizing automatic storage and automatic knife matching of drill knives, replacing manual operation, reducing labor cost and improving production efficiency. The knife storage and distribution system of the invention has the characteristics of integration, automation and high efficiency.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention.

Claims (10)

1. A knife storage and matching system, characterized in that it comprises a knife storage logistics system, a storage location and a plurality of knife fetching and matching machines for matching knives into a knife disc box; The storage location is arranged on one side of the knife storage and logistics system, and a plurality of the knife taking and matching machines are arranged along the knife storage and logistics system. 2 . The knife storage and distribution system according to claim 1 , wherein the knife storage and logistics system comprises: an empty box feeding line for feeding empty knife disc boxes, and an empty box feeding line for outputting a storage location. 3 . The outbound line of the whole box or the non-whole box of the cutter box in the warehouse, the direct outbound line used to directly output the cutter box after the knife or the cutter box of the warehouse location directly, and the direct output line for the non-full box. The return line that transports the entire box of cutter disc boxes back to the storage location; A plurality of the knife taking and matching machines are arranged along the empty box feeding line; The outgoing line is parallel and adjacent to the direct outgoing line and the incoming outgoing line, and the outgoing line, the direct outgoing line and the incoming outgoing line are also arranged along a plurality of fetching and matching tools. The warehouse location is provided on one side of the warehouse-out line, the direct warehouse-out line and the warehouse-return line. 3. The knife storage and distribution system according to claim 2, wherein the knife material storage system further comprises an empty box return line for returning the empty boxes on the empty box feeding line, so The empty box return line and the empty box feeding line are arranged in parallel and adjacent to each other; The knife storage material system also includes a full box/non-full box feeding line for feeding the full box or non-full box cutter box and being transferred to the storage location, the full box/non-full box feeding line. The feeding line is arranged on one side of the end of the returning line. 4. The knife storage and distribution system according to any one of claims 1-3, wherein the storage location comprises a vertical library and an RGV manipulator; The top of the vertical warehouse is horizontally provided with a guide rail; The RGV manipulator includes a sliding frame, a lifting module and a reclaiming manipulator. The sliding frame can be slidably erected on the guide rail of the vertical warehouse, and the lifting module is vertically arranged on the sliding frame. The material manipulator is connected with the lifting module and can be driven to lift by the lifting module. 5 . The knife storage and distribution system according to claim 4 , wherein the top of the sliding frame is provided with a roller, and the sliding frame is slidably mounted on the guide rail of the vertical library through the roller; 5 . The top of the vertical warehouse is also provided with a horizontal rack parallel to the guide rail, and the top of the sliding frame is provided with a horizontal drive motor, the output end of the horizontal drive motor is connected with a horizontal drive gear, and the horizontal drive A gear meshes with the horizontal rack. 6 . The knife storage and distribution system according to claim 4 , wherein the RGV manipulator further comprises a bracket, the bracket can be slid up and down on the sliding frame, and the bracket is connected to the lifting mold. 7 . group connection, the reclaiming manipulator is fixed on the bracket. 7 . The knife storage and distribution system according to claim 6 , wherein the reclaiming manipulator comprises a reclaiming drive motor and a reclaiming pallet; 7 . The reclaiming drive motor is fixed on the bracket, the output end of the reclaiming drive motor is connected to the reclaiming pallet, and the reclaiming drive motor can drive the reclaiming pallet to the vertical. Library direction moves. 8. The knife storage and matching system according to any one of claims 1 to 3, wherein the knife fetching and matching machine comprises a knife fetching machine, a knife matching machine, and a knife fetching machine and a knife matching machine. Multiple manipulators on one side of the cutter; The knife taking machine includes a knife taking rotary platform, a knife taking turntable and a plurality of knife taking fixtures; the knife taking rotating platform is arranged below the knife taking carousel, and the knife taking rotating platform drives the knife taking carousel to rotate , a plurality of the tool-taking fixtures are arranged along the periphery of the tool-taking turntable; The knife matching machine includes a knife matching rotary platform, a knife matching turntable and a plurality of knife matching fixtures; the knife matching rotary platform is arranged below the knife matching rotary table, and the knife matching rotary platform drives the knife matching rotary table to rotate , and a plurality of the tool-matching fixtures are arranged along the periphery of the tool-matching turntable. 9 . The tool storage and matching system according to claim 8 , wherein a plurality of the tool fetching fixtures and a plurality of the tool matching fixtures comprise a bottom plate, a baffle plate and a pressing plate; the bottom plate is fixed on the On the knife-taking turntable, the baffle plate is fixed along the side of the bottom plate, and the pressing plate is movably arranged on the bottom plate and located on the opposite side of the baffle plate. 10 . The knife storage and distribution system according to claim 8 , wherein each of the multiple manipulators comprises a bracket, a guide rail, a sliding frame, a horizontal driver, a vertical driver and a gripper cylinder; 10 . The bracket is arranged on one side of the tool removal machine or the tool distribution machine, the guide rail is horizontally fixed on the upper part of the bracket, the sliding frame can be slidably arranged on the guide rail, and the horizontal driver is fixed On the bracket and its power output end is connected to the sliding frame in a transmission, the vertical driver is fixed on the sliding frame and its power output end can drive the gripper cylinder to rise and fall, and the gripper cylinder is provided with above the knife-taking turntable or the knife-matching turntable.

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