CN111908149A

CN111908149A - Carbide blade intelligence dress box pile up neatly system

Info

Publication number: CN111908149A
Application number: CN202010858005.3A
Authority: CN
Inventors: 罗亮; 李长河; 唐立志; 张彦彬; 吉卫喜; 万斌辉; 尹硕; 曹华军; 卢秉恒; 崔歆; 刘明政; 徐杰; 罗慧明; 徐海州; 杨敏; 洪华平; 高腾; 杨玉莹; 李昊罡; 马五星
Original assignee: Qingdao University of Technology; Ningbo Sanhan Alloy Material Co Ltd
Current assignee: Qingdao University of Technology; Ningbo Sanhan Alloy Material Co Ltd
Priority date: 2020-08-24
Filing date: 2020-08-24
Publication date: 2020-11-10
Anticipated expiration: 2040-08-24
Also published as: CN111908149B

Abstract

The invention discloses an intelligent boxing and stacking system for hard alloy blades, which adopts the technical scheme that: the knife box cover opening system is arranged at one end of the blade boxing system, the knife box cover closing system is arranged at the other end of the blade boxing system, and the stacking system is positioned at one side of the knife box cover closing system; the cutter box opening system comprises a cutter box input conveying device, one side of the cutter box input conveying device is provided with an opening and pushing device, and the opening and pushing device can push the opened cutter box into the blade boxing system; the blade boxing system comprises a knife box conveying device, wherein a vibration feeding device is arranged on one side of the knife box conveying device, and a knife box pushing device is arranged on the other side of the knife box conveying device; the blade box-entering device is arranged above the blade box pushing device, and the blade box pushing device can push the blade box with the blade into the blade box cover-closing system. According to the invention, the intelligent boxing and stacking of the indexable blades are realized according to the visual detection system and the plurality of sensors, and the working efficiency is high.

Description

Carbide blade intelligence dress box pile up neatly system

Technical Field

The invention relates to the technical field of packaging, in particular to an intelligent boxing and stacking system for hard alloy blades.

Background

The numerical control blade is a general name of an indexable turning blade and is a mainstream product in the field of modern metal cutting application. The method is mainly applied to the fields of metal turning, milling, cutting and grooving, thread turning and the like. The material can be divided into a coating blade, a metal ceramic blade, a non-metal ceramic blade, a hard alloy blade, a superhard blade and the like. A turning tool is used for turning, and is one of the most widely used tools for cutting. The combination of the cutting portion and the shank portion of the turning tool is mainly of an integral type, a welding type, a mechanical clamping type and a welding-mechanical clamping type. The mechanically clamped turning tool can avoid the stress and the crack of the hard alloy blade during high-temperature welding, and the tool holder can be used for multiple times. The mechanically clamped lathe tool is one with indexable insert and has insert clamped by screws and pressing board. The blade can be used continuously by transposition after being blunt, and the tool changing time is short when the machine is stopped, thereby achieving rapid development.

The pattern of the front face of the turning tool depends primarily on the nature of the workpiece material and the tool material. The plane with the negative rake angle is suitable for processing hard alloy turning tools of high-strength steel and rough cut steel castings. The plane with the chamfer is a hard alloy turning tool which grinds a negative chamfer on a positive rake plane to improve the strength of a cutting edge and is suitable for processing cast iron and common steel parts. For the turning tool requiring chip breaking, a circular arc surface type with a negative chamfer can be used, or a chip breaking table is ground on the front surface of a plane type. Turning tools can be divided into outer circles, shoulders, end faces, grooving, cutting, threading, forming turning tools and the like according to purposes. And a turning tool specially used for an automatic line and a numerical control machine tool. A turning tool is mounted on a lathe for cutting a metal material. Turning tools include high-speed steel turning tools, ceramic tools, hard alloy turning tools, cubic boron nitride turning tools and the like.

An indexable turning tool is a mechanically clamped turning tool using an indexable insert. Compared with a welding turning tool, the indexable turning tool has the following advantages: the cutter has long service life because the blade avoids the defects caused by high temperature of welding and sharpening; the production efficiency is high, and the machine tool operators do not sharpen the knife any more, so that the auxiliary time of stopping machine for changing the knife and the like can be greatly reduced; the novel technology and the novel process indexable cutter are beneficial to popularization and use of novel cutter materials such as coatings and ceramics; the cutter bar has long service life, so that the cutter bar consumption and inventory are greatly reduced, the cutter management is simplified, and the cutter cost is reduced. Indexable insert manufacturers place inserts in a magazine after they have been machined. At present, the numerical control blade packaging box on the market is mostly a plastic box with single-side pushing or double-side pushing, and each blade box can contain ten blades. The packing process mostly adopts manpower, but the manual packing efficiency is low, and workers can be scratched.

The packaging machine is a machine for packaging products, and plays a role in protection and beauty. The packaging machine mainly comprises two aspects, namely a production line type integral production packaging device and a product peripheral packaging device. The boxing machine is one of packaging machines, and the boxing machine can be divided into the following parts according to the structure of the machine: vertical cartoning machines and horizontal cartoning machines. Generally, the vertical boxing machine has a relatively fast packaging speed, but the packaging range is relatively small, and generally only aims at single products such as medicine plates, and the horizontal boxing machine can box various products such as soap, medicines, foods, hardware, automobile accessories and the like.

The existing boxing technology can only be used for packaging the same specification or the same product, and has the defect of low adaptability. In addition, the conventional boxing machine is used for clamping and packaging small workpieces by using a mechanical arm, so that the problem of low working efficiency is inevitable. And part of boxing machines use industrial robots and are high in cost. Application number "201911239306.1" discloses a silicon wafer boxing machine, which comprises a main frame stand, a turntable, a mechanical gripper, a boxing mechanism and an interlayer configuration mechanism, wherein the interlayer configuration mechanism is arranged on one side of the main frame stand and is used for configuring interlayers of different types; the two turntables are arranged on the table surface of the host rack side by side and used for screening silicon wafers with different qualities; the mechanical gripper is arranged between the two turntables and the interlayer configuration mechanism and can be used for gripping the silicon wafer and the silicon wafer interlayer to realize the layering of the silicon wafer; the boxing mechanism is arranged on one side of the rotary disc, and automatically clamps and arranges the layered silicon wafers, so that boxing is finally realized. The silicon wafer packing machine disclosed by the invention has the advantages of high silicon wafer sorting and classifying efficiency, good integrity of the clamped silicon wafers and wide application. However, the device has low automation degree, lacks an automatic detection device and has certain dependence on workers.

Application number "201910315872. X" provides an automatic cartoning machine of detonator, relates to detonator production facility technical field. The automatic detonator boxing machine comprises a pipe jacking mechanism, a detonator conveying mechanism and a guide mechanism; the pipe jacking mechanism is arranged below the combined die and can jack the detonator to be boxed in the combined die out of the through hole; the detonator conveying mechanism can receive the detonators to be boxed ejected by the pipe jacking mechanism and can place the received detonators to be boxed into the detonator box through the guide mechanism. The technical problems that manual boxing is adopted for detonator boxing, labor intensity is high, production efficiency is low, and certain dangerousness is achieved are solved. According to the invention, through the arrangement of the pipe jacking mechanism, the detonator conveying mechanism and the guide mechanism, the automatic process of loading the detonator to be boxed into the detonator box from the combined die is realized, the box packing efficiency is high, manual operation is not required, and the safety can be ensured. The manual work participation is reduced in the packaging process of the device, but the subsequent stacking process still needs manual operation, and the detonator possibly threatens the health of workers.

The application number '201510199289.9' discloses a novel food boxing machine, which comprises a box unloading mechanism, a box arranging and conveying mechanism and a pushing mechanism, wherein the box unloading mechanism and the pushing mechanism are both arranged above the box arranging and conveying mechanism, the box unloading mechanism is arranged at one end of the pushing mechanism, and a conveying belt for conveying food to be arranged in a box is arranged on one side of the pushing mechanism; the automatic spacing adjustment mechanism comprises an installation frame, wherein the installation frame comprises a fixed installation plate and a plurality of mechanical push plates positioned below the fixed installation plate, the mechanical push plates move in two directions by utilizing a guide device and a horizontal driving mechanism, and full-automatic adjustment can be realized, so that the mechanical push plates can automatically realize spacing adjustment without manpower, and can adapt to support boxes with various sizes only by replacing track plates, thereby eliminating manual participation, improving the production efficiency and enhancing the automation degree. The device has fewer detection devices and lower fault tolerance rate in the boxing process.

By combining the factors and combining the background of intelligent production and the development trend of the current boxing machine, the current boxing machine has the defects of low intelligent degree, single packaged product, low universality and low fault tolerance rate in the packaging process.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide the intelligent boxing and stacking system for the hard alloy blades, which realizes intelligent boxing and stacking of indexable blades according to a visual detection system and a plurality of sensors and has high working efficiency.

In order to achieve the purpose, the invention is realized by the following technical scheme:

the embodiment of the invention provides an intelligent hard alloy blade boxing and stacking system which comprises a knife box cover opening system, a blade boxing system, a stacking system and a knife box cover closing system, wherein the knife box cover opening system is arranged at one end of the blade boxing system;

the cutter box opening system comprises a cutter box input conveying device, one side of the cutter box input conveying device is provided with an opening and pushing device, and the opening and pushing device can push the opened cutter box into the blade boxing system;

the blade boxing system comprises a knife box conveying device, wherein a vibration feeding device is arranged on one side of the knife box conveying device, and a knife box pushing device is arranged on the other side of the knife box conveying device; the blade box-entering device is arranged above the blade box pushing device, and the blade box pushing device can push the blade box with the blade into the blade box cover-closing system.

As a further implementation mode, the uncovering and box-pushing device comprises a pushing cylinder and an uncovering cylinder which are parallel to each other and have different installation heights, the uncovering cylinder is connected with the vacuum sucker assembly, and a proximity switch is arranged on one side of the uncovering cylinder.

As a further implementation manner, the vacuum chuck assembly comprises a vacuum chuck, the vacuum chuck is connected with an air pipe connector through a vacuum chuck connecting piece, and the air pipe connector is provided with an air pipe connector; and a roller is arranged above the vacuum chuck.

As a further implementation mode, the knife box input conveying device comprises a synchronous belt mechanism, and two sides of the synchronous belt mechanism are symmetrically provided with a stop lever mechanism; an inclined plane device is installed at one end above the synchronous belt mechanism, and a knife box bin is arranged at the other end of the synchronous belt mechanism.

As a further implementation manner, the synchronous belt mechanism comprises a baffle synchronous belt driven by a motor, the baffle rod mechanism comprises a plurality of rod clamps, and each rod clamp is connected with one baffle rod; the end parts of the barrier bar rods positioned on the same side are connected with the same barrier bar.

As a further implementation manner, the blade boxing device comprises a linear module and a blade groove, wherein the blade groove is detachably connected with the linear module; a blade push rod is arranged on one side of the blade groove and connected with the double-shaft cylinder; the blade detection sensor is fixed to the side face of the linear module.

As a further implementation manner, a visual detection system is arranged on the side surface of the knife box conveying device, and the visual detection system comprises a CCD camera frame and a CCD camera installed below the CCD camera frame.

As a further implementation manner, the knife box pushing device comprises a double-arm linear module, a forward pushing cylinder and a pushing cylinder, the forward pushing cylinder is fixed at one side of the double-arm linear module, and the pushing cylinder is installed above the double-arm linear module and can move under the action of the double-arm linear module.

As a further implementation manner, the stacking system comprises an X-direction moving device, a Y-direction moving device and a Z-direction moving device, wherein one end of the X-direction moving device is connected with the Z-direction moving device, and the Z-direction moving device is arranged above the Y-direction moving device; the Z-direction movement device is connected with the pneumatic finger, and an industrial camera is installed at the end part of the pneumatic finger.

As a further implementation manner, the knife box cover closing system comprises a knife box cover closing device and a knife box output conveying device, wherein the knife box cover closing device is vertically arranged on one side of the knife box output conveying device.

The beneficial effects of the above-mentioned embodiment of the present invention are as follows:

(1) the knife box storage bin of one or more embodiments of the invention can be adjusted by driving the support of the storage bin through two vertically placed ball screw devices controlled by a servo motor so as to adapt to knife boxes with different sizes and specifications;

(2) the barrier strips arranged on the two sides of the synchronous belt in the conveying process of the knife box in one or more embodiments of the invention are adjustable devices, and the distance between the barrier strips on the left side and the barrier strips on the right side can be adjusted by the rod clamp according to the knife boxes with different sizes and specifications;

(3) according to one or more embodiments of the invention, a vacuum pressure sensor is embedded in a vacuum sucker of the cutter box cover opening device, so that whether the vacuum sucker firmly sucks the cutter box can be detected, the cover opening device is provided with a proximity switch, and a cylinder adopts a reversing loop of a double-acting cylinder; when the proximity switch detects that the knife box cover reaches the designated position, the air cylinder stops acting; rolling friction is formed between the vacuum sucker assembly and the inclined plane device, so that the friction and the abrasion between the vacuum sucker assembly and the inclined plane device are reduced, and the box opening precision is ensured;

(4) the blade boxing device of one or more embodiments of the invention uses ball screw control, and has high control precision; in addition, a machine vision system and a blade detection sensor are matched, the blade detection sensor is used for detecting whether the blade is in place, and the machine vision system is used for extracting the positions of the knife box and the blade loading device, so that full-automatic blade loading is realized. The blade boxing device is provided with a plurality of working positions, one knife box can be filled after two actions, and the working efficiency is obviously improved;

(5) according to one or more embodiments of the invention, the industrial camera is arranged on the end actuating mechanism of the stacking system, so that automatic positioning, grabbing and stacking actions can be realized.

Drawings

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

FIG. 1 is an isometric view of the present invention according to one or more embodiments;

FIG. 2 is an isometric view of a knife box decapping system according to one or more embodiments of the invention;

FIG. 3 is an isometric view of an uncapped push-box apparatus in accordance with one or more embodiments of the present invention;

FIG. 4 is an exploded view of an uncapped push-box apparatus in accordance with one or more embodiments of the present invention;

FIG. 5 is an isometric view of a cylinder front connection block according to one or more embodiments of the present invention;

FIG. 6 is an isometric view of a cylinder rear connector block according to one or more embodiments of the present invention;

FIG. 7 is an isometric view of a vacuum chuck assembly according to one or more embodiments of the present invention;

FIG. 8 is a cross-sectional view of a vacuum chuck assembly with rollers removed according to one or more embodiments of the present disclosure;

FIG. 9 is an isometric view of a ramp device according to one or more embodiments of the present invention;

FIG. 10 is an isometric view of a magazine input transport device according to one or more embodiments of the invention

FIG. 11 is an exploded view of a magazine input transport according to one or more embodiments of the present invention;

FIG. 12 is an isometric view of a blade boxing system in accordance with one or more embodiments of the present invention;

FIG. 13 is an isometric view of a blade pocketing device in accordance with one or more embodiments of the invention;

FIG. 14 is an exploded view of a blade binning apparatus in accordance with one or more embodiments of the present invention;

FIG. 15 is a partial cross-sectional view of a blade magazine assembly according to one or more embodiments of the present disclosure;

FIG. 16 is an isometric view of a blade-receiving slot according to one or more embodiments of the present invention;

FIG. 17 is an isometric view of a linear module support according to one or more embodiments of the invention;

FIG. 18 is an isometric view of an insert pocket connector plate according to one or more embodiments of the present invention;

FIG. 19 is a partial cross-sectional view of an insert pocket web according to one or more embodiments of the present invention;

FIG. 20 is an isometric view of a linear motion device according to one or more embodiments of the present invention;

FIG. 21 is a CCD camera vision inspection system in accordance with one or more embodiments of the present invention;

FIG. 22 is an isometric view of a magazine pusher according to one or more embodiments of the present invention;

FIG. 23 is an exploded view of a magazine pusher according to one or more embodiments of the invention;

FIG. 24 is an isometric view of a two-arm linear module according to one or more embodiments of the invention;

FIG. 25 is an isometric view of a palletizing system according to one or more embodiments of the present invention;

FIG. 26 is an isometric view of a base according to one or more embodiments of the invention;

FIG. 27 is a partial cross-sectional view of a base according to one or more embodiments of the invention;

fig. 28 is an isometric view of a small support plate according to one or more embodiments of the present invention;

FIG. 29 is a partial cross-sectional view of a Y-motion device coupled to a base in accordance with one or more embodiments of the present invention;

FIG. 30 is an isometric view of an X-direction motion device according to one or more embodiments of the present invention;

FIG. 31 is a partial cross-sectional view of an X-guide bar slot, an X-guide bar support, and an X-base plate connection according to one or more embodiments of the present invention;

FIG. 32 is an isometric view of an X-guide bar slot in accordance with one or more embodiments of the present invention;

FIG. 33 is an isometric view of an X-guide rod holder according to one or more embodiments of the invention;

FIG. 34 is an isometric view of a Y-motion device according to one or more embodiments of the invention;

FIG. 35 is an isometric view of a Z-motion device according to one or more embodiments of the invention;

FIG. 36 is a partial cross-sectional view of a Z-motion device according to one or more embodiments of the invention;

FIG. 37 is an isometric view of a pneumatic finger according to one or more embodiments of the present invention;

FIG. 38 is an isometric view of a knife magazine closing system according to one or more embodiments of the present invention;

FIG. 39 is an isometric view of a knife magazine capping device in accordance with one or more embodiments of the present invention;

FIG. 40 is a partial cross-sectional view of a knife box closing device according to one or more embodiments of the present invention;

FIG. 41 is a workpiece force diagram according to one or more embodiments of the present invention with electromagnets de-energized;

FIG. 42 is a workpiece force diagram when an electromagnet according to one or more embodiments of the present invention is energized;

wherein, I-knife box opening system, II-blade boxing system, III-stacking system and IV-knife box closing system;

i-01 cover opening and box pushing devices, I-02 inclined plane devices, I-03 knife box bins and I-04 knife box input conveying devices;

the device comprises an I-0101 first square pipe, an I-0102 supporting plate, an I-0103 cushion block, an I-0104 cylinder rear foot rest, an I-0105 push-in cylinder, an I-0106 uncovering cylinder, an I-0107 first screw, an I-0108 first spring washer, an I-0109 first T-shaped push rod, an I-0110 air pipe joint, an I-0111 vacuum pressure sensor, an I-0112 roller, an I-0113 vacuum sucker connecting piece, an I-0114 vacuum sucker, an I-0115 connecting rod, an I-0116 cylinder front foot rest, an I-0117 proximity switch, an I-0118 second square pipe and an I-0119 third square pipe; i-011601 cylinder front foot rest lower hole, I-011602 cylinder front foot rest side hole, I-010401 cylinder rear foot rest lower hole, I-010402 cylinder rear foot rest side hole;

the steel plate comprises an I-0201 foot seat, an I-0202 first angle steel, an I-0203 second angle steel, an I-0204 third angle steel and an I-0205 inclined block; i-0401 fourth square tube, I-0402 second screw, I-0403 second spring washer, I-0404 motor, I-0405 rod clamp, I-0406 clamping knob, I-0407 synchronous belt left mounting plate, I-0408 bearing seat, I-0409 synchronous pulley, I-0410 synchronous belt connecting plate, I-0411 bar, I-0412 synchronous belt right mounting plate, I-0413 bar, I-0414 third spring washer, I-0415 third screw, I-0416 baffle synchronous belt, I-0417 synchronous pulley shaft, I-0418 synchronous belt pallet, I-0419 fifth square tube, I-0420 sixth square tube;

II-01 vibrating a feeding device, II-02 knife box conveying devices, II-03 blade boxing devices and II-04 knife box pushing devices; II-0301 fourth screw, II-0302 blade groove, II-0303 first screw, II-0304 first nut, II-0305 first gasket, II-0306 fourth spring washer, II-0307 fourth screw, II-0308 straight line module support, II-0309 fifth screw, II-0310 straight line module, II-0311 blade detection sensor, II-0312 fifth spring washer, II-0313 blade groove connecting plate, II-0314 biaxial cylinder, II-0315 sixth spring washer, II-0316 sixth screw, II-0317 connecting plate, II-0318 blade push rod, II-0310319 blade push block, II-0320 fourth spring washer, II-0321CCD camera, II-0322CCD camera frame;

II-030201 blade groove push rod holes, II-030202 blade groove connecting holes, II-030801 linear module bracket connecting holes, II-030802 linear module bracket mounting holes, II-031301 blade groove connecting plate side holes, II-031302 blade groove connecting plate upper holes, II-031303 blade groove connecting plate lower holes, II-031001 lead screw, II-031002 nut seat and II-031003 linear module motor;

II-0401 seventh square tube, II-0402 eighth square tube, II-0403 seventh screw, II-0404 first cylinder mounting seat, II-0405 second T type push rod, II-0406 forward push cylinder, II-0407S type push rod, II-0408 push cylinder, II-0409 double-arm linear module, II-0410 bottom plate, II-0411 seventh spring washer, II-0412 ninth square tube; II-040901 double-arm linear module motor, II-040902 double-arm linear module sliding block and II-040903 coupler;

III-01 base, III-02 small supporting plate, III-03X direction moving device, III-04Y direction moving device, III-05Z direction moving device, III-06 large supporting plate, III-07 pneumatic finger, III-08 industrial camera, III-09 vertical beam; III-0101 base mounting hole, III-0102 base connecting hole, III-0201 small support plate side connecting hole, III-0202 small support plate upper connecting hole, III-0301X directional bottom plate, III-0302X directional cylinder, III-0303X directional connecting seat, III-0304X directional guide rod, III-0305X directional guide rod groove, III-0306X directional connecting body, III-0307X directional guide rod support, III-0401Y directional connecting seat, III-0402 sliding table, III-0403 rodless cylinder and III-0404Y directional bottom plate; III-0501Z-direction bottom plate, III-0502Z connecting seat, III-0503 guide rod, III-0504 air cylinder, III-0505Z guide rod chute, III-0506Z-direction connector and III-0507Z guide rod support; III-0701 upper end cover, III-0702 executive component;

III-030501X guide rod groove mounting holes, III-030502X guide rod groove slideways, III-030701 first mounting holes, III-030702 second mounting holes, III-030703X guide rod support through holes and III-030704 third mounting holes;

IV-01 knife box cover closing device, IV-02 cover opening knife box, IV-03 cover closing knife box and IV-04 knife box output transmission device; IV-0101 second cylinder mounting base, IV-0102 eighth screw, IV-0103 closing cover cylinder, IV-0104 third T-shaped push rod and IV-0105 eighth spring washer.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

for convenience of description, the words "up", "down", "left" and "right" in this application, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The terms "mounted", "connected", "fixed", and the like in the present application should be understood broadly, and for example, the terms "mounted", "connected", and "fixed" may be fixedly connected, detachably connected, or integrated; the two components can be connected directly or indirectly through an intermediate medium, or the two components can be connected internally or in an interaction relationship, and the terms can be understood by those skilled in the art according to specific situations.

The small support plate and the large support plate are relative concepts, and the specific size of the support plate is not limited.

The first embodiment is as follows:

the embodiment provides an intelligent hard alloy blade boxing and stacking system, which comprises a blade box opening system I, a blade box packing system II, a stacking system III and a blade box closing system IV as shown in fig. 1, wherein the blade box opening system I is arranged at one end of the blade box packing system II, and the blade box closing system IV is arranged at the other end of the blade box packing system II; and the stacking system III is positioned on one side of the knife box cover closing system IV. The knife box is opened at a knife box opening system I and then transmitted to a blade boxing system II, the blades are loaded into the box at the blade boxing system II and then transmitted to a knife box closing system IV, the cover of the knife box is closed at the knife box closing system IV, and finally the knife box with the blades is stacked by a stacking system III;

as shown in fig. 2, the knife box uncovering system I comprises an uncovering and box-pushing device I-01, a slope device I-02, a knife box bin I-03 and a knife box input conveyor device I-04, wherein the uncovering and box-pushing device I-01 is arranged perpendicular to the knife box input conveyor device I-04, and the knife box bin I-03 is vertically arranged above the knife box input conveyor device I-04; the inclined plane device I-02 is arranged above the knife box input conveying device I-04 and is aligned with the end part of the cover opening and box pushing device I-01. The knife box bin I-03 is used for containing a knife box, the knife box falls on the knife box input conveying device I-04 from the knife box bin I-03 and is conveyed to the uncovering and box pushing device I-01 and the inclined plane device I-02 through the knife box input conveying device I-04, and the uncovering action of the knife box is realized at the position. And then the uncapped knife box is pushed into a blade boxing system II by a device in the uncapped box pushing device I-01.

As shown in the figures 3 and 4, the uncovering and box-pushing device I-01 comprises a support, a pushing cylinder I-0105 and an uncovering cylinder I-0106, wherein the pushing cylinder I-0105 and the uncovering cylinder I-0106 are parallel to each other and fixed above the support, the pushing cylinder I-0105 is connected with a first T-shaped push rod I-0109, and a vacuum sucker component is installed at the end part of the uncovering cylinder I-0106. The support is a rectangular frame structure formed by fixing a plurality of square pipes, and further, a first square pipe I-0101, a second square pipe I-0118 and a third square pipe I-0119 are welded pairwise to form the support of the cover opening and box pushing device I-01, and finally the support is welded with a supporting plate I-0102 to play a role in supporting the components mounted on the support. The first square pipe I-0101 and the third square pipe I-0119 are perpendicular to each other and located on the same plane, and the second square pipe I-0118 is perpendicular to the plane where the first square pipe I-0101 and the third square pipe I-0119 are located. Six second square pipes I-0118 are used in the support to enhance the overall structural stability of the support and avoid the deformation of the middle part of the support due to loading. A threaded hole is formed in the supporting plate I-0102, the tail end (the end far away from the piston rod) of the pushing cylinder I-0105 is connected with the cylinder rear foot rest I-0104 through a first screw I-0107 and a first spring washer I-0108, the front end of the pushing cylinder I-0105 is connected with the cylinder front foot rest I-0116 through a first screw I-0107 and a first spring washer I-0108 respectively, and the cylinder rear foot rest I-0104 and the cylinder front foot rest I-0116 are connected onto the supporting plate I-0102 through a first screw I-0107 and a first spring washer I-0108. As shown in the figures 5 and 6, the cylinder front foot rest I-0116 is provided with a cylinder front foot rest lower hole I-011601 and a cylinder front foot rest side hole I-011602, the cylinder rear foot rest I-0104 is provided with a cylinder rear foot rest lower hole I-010401 and a cylinder rear foot rest side hole I-010402, the cylinder front foot rest side hole I-011602 and the cylinder rear foot rest side hole I-010402 are respectively connected with the head and the tail of the cylinder body, and the cylinder front foot rest lower hole I-011601 and the cylinder rear foot rest lower hole I-010401 are connected with a bottom plate for mounting the cylinder.

The connection mode of the uncovering cylinder I-0106 and the pushing cylinder I-0105 is similar, but due to the fact that the action heights of the uncovering cylinder I-0106 and the pushing cylinder I-0105 are different, a cushion block I-0103 needs to be added below the uncovering cylinder I-0106, and therefore the cylinder rear foot stand I-0104 and the cylinder front foot stand I-0116 are connected with the cushion block I-0103 and the support plate I-0102 through a first screw I-0107, and the uncovering cylinder I-0106 is fixed. The front end of a piston rod of the uncovering cylinder I-0106 is provided with threads, both ends of the connecting rod I-0115 are provided with threads, and the uncovering cylinder I-0106 is connected with the connecting rod I-0115 and the vacuum chuck connecting piece I-0113 through the threads. Wherein the air pipe joint I-0110, the vacuum pressure sensor I-0111, the roller I-0112, the vacuum chuck connecting piece I-0113 and the vacuum chuck I-0114 form a vacuum chuck component.

As shown in figures 7 and 8, the air pipe connector I-0110 is in threaded connection with the vacuum pressure sensor I-0111, and the vacuum chuck I-0114 is in threaded connection with the vacuum chuck connector I-0113. When the vacuum suction cup works, the vacuum equipment exhausts air, negative pressure is formed in the vacuum suction cup I-0114, and the knife box cover can be sucked. When the piston rod in the uncovering cylinder I-0106 moves, the vacuum sucker component can be driven to move through the connecting rod I-0115. In order to reduce the radial load borne by the uncapping cylinder I-0106, the connecting rod I-0115 is made of a material with certain flexibility. The front end of the piston rod of the push-in cylinder I-0105 is provided with threads and is connected with the first T-shaped push rod I-0109 through the threads. A proximity switch I-0117 is arranged above the supporting plate I-0102 and used for detecting the position of the knife box cover. The piston rod of the pushing cylinder I-0105 can drive the first T-shaped push rod I-0109 to move when moving, the knife box is pushed to the knife boxing system II, and the first T-shaped push rod I-0109 is in contact with the knife box when moving, so that acting force cannot be generated on the knife box cover.

As shown in figure 9, the inclined plane device I-02 comprises a foot seat I-0201, a first angle steel I-0202, a second angle steel I-0203, a third angle steel I-0204 and an inclined block I-0205, wherein the foot seat I-0201, the first angle steel I-0202, the second angle steel I-0203 and the third angle steel I-0204 are welded in pairs to form a bracket whole. Furthermore, two ends of each third angle steel I-0204 are vertically fixed with one first angle steel I-0202 respectively, one end, far away from the third angle steel I-0204, of each first angle steel I-0202 is provided with a foot base I-0201, and an inclined block I-0205 is arranged between the two third angle steels I-0204. The foot seat I-0201 is fixedly connected with the knife box input transmission device I-04. The knife box is in an initial state before reaching the bevel device I-02, the knife box cover is in a closed state, and the knife box is in an open state after the action of the knife box cover. In order to prevent the knife boxes after being uncovered from being blocked by the inclined plane device I-02 to move on the knife box input conveying device I-04, only three first angle steels I-0202 are reserved.

The knife box bin I-03 is an adjustable device and is adjusted by two ball screws which are vertically arranged to adapt to knife boxes with different specifications, and a servo motor is used as a power source of the ball screw device. As shown in fig. 10 and 11, the magazine input transport I-04 includes a support frame and a timing belt mechanism mounted above the support frame. The support frame is formed by connecting a plurality of square tubes into a rectangular frame structure. Furthermore, the fourth pipe I-0401, the fifth pipe I-0419 and the sixth pipe I-0420 are welded in pairs to form a support frame. A synchronous belt supporting plate I-0418 is arranged at the top of the supporting frame, and the synchronous belt supporting plate I-0418 plays a supporting role for a synchronous belt mechanism arranged above. As the fourth tube I-0401 is longer, in order to avoid the deformation of the fourth tube I-0401 caused by loading, two fifth tubes I-0419 are added in the middle of the fourth tube I-0401. The synchronous belt mechanism comprises a baffle synchronous belt I-0416 (a synchronous belt provided with a baffle), a motor I-0404, a synchronous belt left mounting plate I-0407, a synchronous belt right mounting plate I-0412 and a synchronous belt connecting plate I-0410, wherein the motor I-0404 is fixedly connected with a second spring washer I-0403 on the synchronous belt left mounting plate I-0407 through a second screw I-0402, and the motor I-0404 is connected with a synchronous belt wheel shaft I-0417 through a coupler.

A plurality of rod clamps I-0405 are arranged at intervals on the side surfaces of the left mounting plate I-0407 of the synchronous belt and the right mounting plate I-0412 of the synchronous belt, one side of each rod clamp I-0405, which is close to the synchronous belt I-0416 of the baffle, is connected with a stop bar I-0413, and the stop bars I-0413 are connected with a stop bar I-0411; the barrier strip I-0411 is arranged along the length direction of the baffle synchronous belt I-0416, and the barrier strip rod I-0413 is vertical to the barrier strip I-0411; the bar retaining rod I-0413, the bar retaining rod I-0411 and the rod clamp I-0405 form a bar retaining mechanism. Further, the rod clamp I-0405 is connected to a synchronous belt left mounting plate I-0407 and a synchronous belt right mounting plate I-0412 through a second screw I-0402 and a second spring washer I-0403. The upper side surface of the rod clamp I-0405 is provided with a unthreaded hole, the upper side surface of the rod clamp I-0405 is provided with a threaded hole, the unthreaded hole is communicated with the threaded hole, and the barrier rod I-0413 can penetrate into the unthreaded hole. The lower end of the clamping knob I-0406 is provided with threads which are matched with threaded holes on the upper surface of the rod clamp I-0405 to form a simple clamp which clamps the stop rod I-0413, and the clamp has a self-locking function. The baffle I-0411 is fixedly connected with the third spring washer I-0414 and plays a supporting role for the baffle I-0411. The bearing seat I-0408 is connected between the synchronous belt left mounting plate I-0407 and the synchronous belt right mounting plate I-0412 through a third screw I-0415 and a third spring washer I-0414; the synchronous pulley shaft I-0417 and the synchronous pulley I-0409 can be connected by a flat key or a spline. The synchronous belt connecting plate I-0410 is connected to the synchronous belt right mounting plate I-0412 through a second screw I-0402 and a second spring washer I-0403. Threaded holes are formed in corresponding positions of the side faces of the synchronous belt left mounting plate I-0407 and the synchronous belt right mounting plate I-0412, and all the parts connected with the threaded holes and the right mounting plate I-0412 can be correspondingly connected. The motor I-0404 rotates to drive the synchronous pulley shaft I-0417 to rotate, the synchronous pulley shaft I-0417 can drive the synchronous pulley I-0409 to rotate through a key, and the synchronous pulley I-0409 is matched with the teeth of the baffle synchronous belt I-0416, so that the synchronous pulley I-0409 can drive the baffle synchronous belt I-0416 to move; during the movement process, the stop block on the baffle synchronous belt I-0416 can generate a thrust force to the blade box to drive the blade box to move.

As shown in fig. 12, the blade boxing system II comprises a vibration loading device II-01, a blade box conveying device II-02, a blade box entering device II-03 and a blade box pushing device II-04, wherein the blade box entering device II-03 is installed above the blade box conveying device II-02 through screws, and the blade box entering device II-03 and the blade box pushing device II-04 are arranged in parallel; the vibrating feeding device II-01 conveys the blades to a blade boxing device II-03 in an orderly arrangement mode according to a certain posture. As shown in fig. 13 to 20, the blade boxing device II-03 comprises a blade loading groove II-0302, a linear module bracket II-0308, a linear module II-0310, a blade detection sensor II-0311, a blade groove connecting plate II-0313, a double-shaft cylinder II-0314, a connecting plate II-0317, a blade push rod II-0318, and a blade push block II-0319; blade-mounting groove connecting holes II-030202 on the blade groove II-0302 are aligned with blade groove connecting plate side holes II-031301 on the blade groove connecting plate II-0313, the blade groove II-0302 and the blade groove connecting plate II-0313 are connected through bolts 1II-0303, nuts 1II-0304 and first gaskets II-0305, and the blade groove connecting plate II-0313 is fixedly connected with nut seats II-031002 through blade groove connecting plate upper holes II-031302. The double-shaft air cylinder II-0314 is mounted to the lower hole II-031303 of the blade groove connecting plate on the blade groove connecting plate II-0313 through a sixth spring washer II-0315 and a sixth screw II-0316, and the blade groove connecting plate II-0313 is mounted to the nut seat II-031002 of the linear module II-0310 through a screw.

The linear module bracket II-0308 is installed above the knife box conveying device II-02 through a linear module bracket installation hole II-030802 by a fourth screw II-0307 and a fourth spring washer II-0306; the linear module II-0310 is mounted to the linear module bracket connection hole II-030801 on the linear module bracket II-0308 through a fifth screw II-0309 and a fifth spring washer II-0312. The blade detection sensor II-0311 is mounted on the linear module II-0310 through a screw, and can detect whether a blade is in each slot in the blade mounting slot II-0302, so as to judge the action of the next step. The blade push rod II-0318 passes through the blade groove push rod hole II-030201 and is connected with the blade push block II-0319 through a fourth screw II-0301 and a fourth spring washer II-0320; the connecting plate II-0317 is fixedly connected with the double-shaft cylinder II-0314; the connecting plate II-0317 is connected with the blade push rod II-0318 through a screw; the connecting plate II-0317 is fixedly connected with the front end of the double-shaft cylinder II-0314 piston rod. The piston rod of the double-shaft cylinder II-0314 can move to drive the connecting plate II-0317 and the blade push rod II-0318 to move, and further drive the blade push block II-0319 to move; the nut seat II-031002 on the linear module II-0310 can move to drive the blade groove connecting plate II-0313 to move, and the components mounted on the blade groove connecting plate II-0313 also move together.

As shown in FIG. 21, the vision detecting system is located at one side of the knife box input conveyer I-04 and comprises a CCD camera II-0321 and a CCD camera frame II-0322, wherein the CCD camera II-0321 is installed below the CCD camera frame II-0322. The height of the CCD camera II-0321 ensures that the position of the magazine and blade-receiving slot can be detected. As shown in fig. 22 to 24, the magazine pushing device II-04 includes a bracket, a forward pushing cylinder II-0406 installed above the bracket, a pushing cylinder II-0408, a two-arm linear module II-0409, a seventh square tube II-0401, an eighth square tube II-0402, and a ninth square tube II-0412, which are welded to each other in pairs to form a bracket. The bottom plate II-0410 is welded above the bracket and is used for bearing a forward pushing cylinder II-0406, a pushing cylinder II-0408, a double-arm linear module II-0409 and the like. The first cylinder mounting seat II-0404 is mounted on the bottom plate II-0410 through a seventh screw II-0403 and a seventh spring washer II-0411. The tail part of the second T-shaped push rod II-0405 is provided with a threaded hole, and the head part of the piston rod of the forward push cylinder II-0406 is provided with threads which are connected with each other through the threads. The S-shaped push rod II-0407 is fixedly connected with the pushing cylinder II-0408 through threads; the front push cylinder II-0406 and the push cylinder II-0408 are both arranged on other parts through a front air cylinder foot rest I-0116 and a rear air cylinder foot rest I-0104. A forward push cylinder II-0406 is arranged on a first cylinder mounting seat II-0404, and a push cylinder II-0408 is arranged on a double-arm linear module II-0409; the double-arm linear module II-0409 is fixedly connected with the bottom plate II-0410 through screws; the two linear motion mechanisms of the double-arm linear module II-0409 are connected through a coupler. The double-arm linear module motor II-040901 rotates to drive the double-arm linear module sliding block II-040902 to synchronously slide, and the push-out cylinder II-0408 is arranged on the double-arm linear module sliding block II-040902 and can move along with the double-arm linear module sliding block II-040902.

As shown in fig. 25 to 29, the palletizing system III comprises a base III-01, an X-direction moving device III-03, a Y-direction moving device III-04, a Z-direction moving device III-05, a pneumatic finger III-07, an industrial camera III-08, and a vertical beam III-09, wherein the base III-01 is installed at the bottom end of the vertical beam III-09, the top end is connected with the Y-direction moving device III-04, the X-direction moving device III-03 is installed above the Y-direction moving device III-04, one end of the X-direction moving device III-03 is connected with the Z-direction moving device III-05, the Z-direction moving device III-05 is connected with the pneumatic finger III-07, and the industrial camera III-08 is installed at the side surface of the pneumatic finger III-07. Further, a base III-01 is installed on the ground through a base installation hole III-0101 by a foundation bolt, and is connected with a vertical beam III-09 through a base connection hole III-0102 by a bolt, a Y-direction movement device III-04 is connected with the vertical beam III-09 through a small support plate III-02 and a large support plate III-06, wherein the side connection hole III-0201 of the small support plate is connected with the vertical beam III-09 through a bolt, and the connection hole III-0202 on the small support plate is connected with the Y-direction movement device III-04 through a bolt. The large support plate III-06 is connected with the Y-direction moving device III-04 through a bolt, and the large support plate III-06 is also connected with the vertical beam III-09 through a bolt; the large support plate III-06 bears the Y-direction moving device III-04 by the downward load generated by the Y-direction moving device III-04 and the upper part thereof. The X-direction moving device III-03 is arranged on the sliding table III-0402 through a screw; the Z-direction moving device III-05 is arranged at the end part of the X-direction moving device III-03 through a bolt; the pneumatic finger III-07 is connected with the Z-direction movement device III-05 through a bolt, the industrial camera III-08 is arranged adjacent to the pneumatic finger III-07, and the industrial camera III-08 is used for detecting the cutter box and the stacking position.

As shown in fig. 30 to 33, the X-directional movement device III-03 includes an X-directional cylinder III-0302, an X-directional base plate III-0301, an X-directional joint seat III-0303, an X-directional rod III-0304, an X-directional rod groove III-0305, an X-directional joint body III-0306, and an X-directional rod support III-0307, and the X-directional cylinder III-0302 is mounted to the X-directional base plate III-0301 through the X-directional joint seat III-0303 and the X-directional rod support III-0307; the second mounting hole III-030702 is fixedly connected with the X-direction cylinder III-0302 through a screw. The third mounting hole III-030704 is fixedly connected with the X-direction base plate III-0301 through a bolt; the X guide rod groove III-0305 is connected with the X guide rod support III-0307 through a bolt; the X-shaped guide rod groove mounting hole III-030501 is fixedly connected with the first mounting hole III-030701 through a bolt; a piston rod of the X-direction cylinder III-0302 can pass through the X-direction guide rod support through hole III-030703 to do telescopic motion; the piston rod of the X-direction cylinder III-0302 is connected with the X-direction connecting body III-0306 through a bolt. The X-direction guide rod III-0304 passes through the groove in the X-direction guide rod groove III-0305 and can move in the groove; when the piston rod in the X-direction cylinder III-0302 moves, the X-direction connector III-0306 can be driven to move together, and meanwhile, because the X-direction guide rod groove III-0305 is fixedly connected with the X-direction connector III-0306, the X-direction guide rod groove III-0305 also moves together; as the X-direction cylinder III-0302 cannot bear overlarge radial load, the X-direction guide rod III-0304 bears main load, and the damage to the X-direction cylinder III-0302 is avoided.

As shown in fig. 34, the Y-direction moving device III-04 comprises a Y-direction connecting seat III-0401, a sliding table III-0402, a rodless cylinder III-0403, a III-0404Y-direction bottom plate, the rodless cylinder III-0403 and the Y-direction bottom plate III-0404 are connected through the Y-direction connecting seat III-0401; the sliding table III-0402 can freely slide on the rodless cylinder III-0403. As shown in fig. 35 and 36, the Z-direction moving device III-05 includes a Z-direction bottom plate III-0501, a Z-direction connecting base III-0502, a guide rod III-0503, a cylinder III-0504, a Z-direction guide rod chute III-0505, a Z-direction connecting body III-0506, and a Z-direction guide rod support III-0507; the Z-direction bottom plate III-0501 and the air cylinder 5III-0504 are connected with the Z-direction guide rod support III-0507 through a Z connecting seat III-0502; the Z-direction guide rod III-0505 and the Z-direction guide rod support III-0507 are connected through a bolt. The Z-guide rod support III-0507 is similar to the X-guide rod support III-0307 in structure, a hole is formed in the middle of the Z-guide rod support III-0507, and a piston rod in the air cylinder 5III-0504 can penetrate through the hole to do telescopic motion; the guide rod III-0503 can move in the groove of the Z-guide rod III-0505, the guide rod III-0503 and the X-guide rod III-0304 have the same function and are used for bearing the main radial load; the piston rods of the guide rod III-0503 and the air cylinder 5III-0504 are connected with the Z-direction connector III-0506 through threads; the Z-direction connecting body III-0506 is connected with the upper end cover III-0701 through a bolt. As shown in FIG. 37, the pneumatic finger III-07 comprises an upper end cover III-0701 and an executing component III-0702, and the executing component III-0702 can clamp the cutter box and perform subsequent stacking.

As shown in fig. 38 to 40, the knife box closing system IV includes a knife box closing device IV-01 and a knife box output conveyor IV-04, and the knife box closing device IV-01 is disposed perpendicular to the knife box output conveyor IV-04. The knife box output transmission device IV-04 is provided with a plurality of cover closing knife boxes IV-03 and cover opening knife boxes IV-02. The tool box cover closing device IV-01 comprises a second cylinder mounting seat IV-0101, a cover closing cylinder IV-0103 and a third T-shaped push rod IV-0104, wherein the second cylinder mounting seat IV-0101 is mounted on a bottom plate II-0410 through an eighth screw IV-0102 and an eighth spring washer IV-0105; the cover closing cylinder IV-0103 is installed on the second cylinder installation seat IV-0101 through the cylinder front foot frame I-0116 and the cylinder rear foot frame I-0104.

The working principle of the vibration feeding device II-01 is that under the action of an electromagnetic vibrator, a hopper vibrates up and down in a torsion mode, so that workpieces move from low to high along a spiral track and are automatically arranged and oriented until the workpieces enter a material conveying groove from an upper discharge port, and then the workpieces are conveyed to corresponding stations by a feeding mechanism. The working process of the electromagnetic vibration feeding device is that the material groove generates high-speed, high-frequency and micro-amplitude vibration due to the attraction of the electromagnet and the reverse reset action of the supporting spring, so that the workpiece gradually moves to a high position. When the electromagnet is powered off, the trough resets to the upper right under the action of the supporting spring, and the workpiece moves along with the rail to the upper right by means of the friction between the workpiece and the rail and is gradually accelerated. When the electromagnet is electrified, the trough moves to the lower left under the attraction of the electromagnet, and the workpiece is separated from the track under the inertia effect and continues to move (slide or jump) to the upper right. The workpieces move from low to high on the track in cycles.

As shown in fig. 41, the force on the rail: self-gravity, track counter-force, friction force, inertia force; the friction force and the inertia force are related to the current of the electromagnet. When the electromagnet is powered off, the supporting spring is reset, and the rail is accelerated by an acceleration a₁Move to the upper right, the workpiece force is balanced:

ma₁cosβ+mgsinα＝F＝μN；

ma₁sinβ+mgcosα＝N；

as shown in FIG. 42, when the electromagnet is energized, the electromagnet attracts and the orbit accelerates at an acceleration a₂And (3) moving towards the left lower side, and balancing the stress of the workpiece:

ma₂cosβ-mgsinα＝F＝μN；

according to the force analysis, the movement of the workpiece on the rail has two possibilities:

the electromagnet is powered off when the electromagnet slides down along the track due to inertia, and the device is provided with

ma₁cosβ+mgsinα>μN；

a₁>g(sinα-μcosα)/(μsinβ-cosβ)；

When the acceleration a1 of the rail moving to the upper right satisfies the above formula, the workpiece slides down the rail. The rail goes upward, and whether the electromagnet is attracted or not can be obtained:

when the electromagnet is powered off

a₁≤g(sinα-μcosα)/(μsinβ-cosβ)；

When the electromagnet is energized

a₂≥g(sinα+μcosα)/(μsinβ+cosβ)；

The electromagnetic vibration feeder is to realize the acceleration a of the track moving to the upper right direction for the predetermined upper feeding₁And acceleration a of downward and leftward movement₂The above-mentioned conditional expressions for the upward movement of the workpiece along the rail must be satisfied.

The working process of the embodiment is as follows:

the knife box is stored in a knife box bin I-03 in an initial state, namely an uncapped state, the knife box bin I-03 is an adjustable device to adapt to knife boxes with different dimensions, the adjusting device is two ball screw devices which are vertically arranged, and the size of the knife box bin I-03 is controlled by the movement of a matched nut in the ball screw devices. The knife box bin I-03 is vertically arranged, and the knife boxes are stacked in the knife box bin I-03. The knife box input transmission device I-04 is driven by a motor I-0404 to drive a baffle synchronous belt I-0416 to work, the baffle synchronous belt I-0416 is provided with a stop block at regular intervals, and the interval between the stop blocks is larger than the width of the knife box. The knife box falls under the action of gravity, the lower surface of the first knife box is in contact with a baffle synchronous belt I-0416, a motor I-0404 of the knife box input transmission device I-04 rotates by a fixed angle according to an input pulse signal, the baffle synchronous belt I-0416 rotates for a certain distance under the action of the belt I-0404 of the motor, a stop block on the baffle synchronous belt I-0416 can generate transverse thrust to the knife box, the knife box moves along with the baffle synchronous belt I-0416 under the action of the thrust, and simultaneously the second knife box falls. The knife box is conveyed to the positions of the inclined plane device I-02 and the cover opening and box pushing device I-01 by the knife box input conveying device I-04, the cover opening action is completed through the knife box input conveying device and the inclined plane device, and the knife box is pushed to the blade boxing system II after the cover opening action is completed.

The specific working process is that the knife box is conveyed to the position below the bevel device I-02, the piston rod of the uncapping cylinder I-0106 extends out to drive the roller I-0112 of the vacuum sucker component to be in contact with the bevel device I-02, the height of the vacuum sucker I-0114 is slightly higher than that of the knife box cover in the non-extending state, and a downward force is applied to the vacuum sucker component under the action of the bevel device I-02, so that the vacuum sucker component generates a section of small displacement downwards and is just in contact with the knife box cover. After the vacuum chuck I-0114 is contacted with the knife box cover, the vacuum equipment inhales air to enable negative pressure to be generated in the vacuum chuck I-0114, and the vacuum pressure sensor I-0111 is used for detecting whether the vacuum chuck I-0114 firmly sucks the knife box cover. After the vacuum chuck I-0114 firmly sucks the knife box cover, the uncovering cylinder I-0106 acts, the cylinder piston rod drives the vacuum chuck I-0114 and the blade box to retreat, the knife box can move along with the knife box cover under the action of no other acting force, when the knife box moves to the position of the barrier strip I-0114, the height of the barrier strip I-0114 is lower than that of the knife box, the barrier strip I-0114 generates acting force on the knife box to block the movement of the knife box, and at the moment, the knife box cover continues to move along with the cylinder piston rod under the action of the vacuum chuck I-0114. When the knife box cover moves to the maximum position, the knife box cover is partially contacted with the knife box push-pull groove, so that the knife box cover can not fall off. The proximity switch I-0117 arranged on the supporting plate I-0102 senses that the knife box cover reaches a corresponding position and sends a command signal, the uncovering cylinder I-0106 adopts a reversing loop of the double-acting cylinder, the piston rod can stop at the current position, meanwhile, the vacuum equipment stably inflates the vacuum sucker I-0114, the vacuum sucker I-0114 is changed from negative pressure to zero air pressure, and the vacuum sucker I-0114 is separated from the knife box cover to finish the box opening action. The stop strip synchronous belt I-0416 is continuously driven by a motor I-0104 to rotate for a certain distance, and the uncapped knife box is conveyed to the push-in cylinder I-0105. After the knife box reaches the designated position, the PLC output signal controls the pushing cylinder I-0105 to act, the first T-shaped push rod I-0109 connected with the pushing cylinder I-0105 is lower than the knife box cover, and the first T-shaped push rod I-0109 pushes the knife box to pass through the synchronous belt connecting block I-0410 to the blade boxing system II.

In the blade boxing system II, a pulse electromagnet is arranged below a hopper of the vibration feeding device II-01, so that the hopper can vibrate in the vertical direction, and the inclined spring piece drives the hopper to do torsional vibration around the vertical axis of the hopper. The blade in the hopper ascends along the spiral track due to the vibration. During the lifting process, the blade can automatically enter a set position in a uniform state according to the requirement through a series of screening of tracks or posture change. The linear module motor II-031003 drives the screw rod II-031001 to rotate, and the nut seat II-031002 drives the blade boxing assembly to move from right to left. When the first notch position of the blade containing groove II-0302 is aligned with the discharge hole of the vibration feeding device II-01, the linear module motor II-031003 stops rotating, and the vibration feeding device II-01 can convey the blade into the first groove. Because the size of the groove can only contain one blade, when one blade is in the groove, the subsequent blade can not be transmitted. When the blade detection sensor detects that the blade is conveyed into the groove from II-0311, a signal is sent to the linear module motor II-031003, and the motor continues to rotate for a certain angle, so that the second groove is aligned with the discharge hole of the vibration feeding device II-01.

The above action is repeated until all five slots are fitted with blades. The visual detection device converts the position information of the knife box and the knife slot II-0302 into image signals, transmits the image signals to a special image processing system, and converts the image signals into digital signals according to the information of pixel distribution, brightness, color and the like; the image system performs various operations on the signals to extract features, and then controls the rotation angle of the linear module motor II-031003 according to the judgment result to move the blade containing groove II-0302 to the position of the knife box. The knife box is the specification of a common double-row ten-grain knife package in the market, and five slots of the knife blade containing slots II-0302 correspond to a row of slot positions in the knife box. At the moment, the double-shaft air cylinder II-0314 acts to drive the connecting plate II-0317, the blade push rod II-0318 and the blade push block II-0319 to move together, so that the blade is pushed out of the blade-mounting groove II-0302 and falls into the blade box.

In order to ensure that each blade smoothly falls into the corresponding position of the knife box, the height difference between the blade containing groove II-0302 and the knife box is not too large. After the blade falls into the knife box, the double-shaft air cylinder II-0314 retracts. At the moment, the forward pushing cylinder II-0406 receives the signal action and pushes the knife box which is just provided with five blades forward by a distance of half the box width, and two sides of the knife box conveying device II-02 are provided with barrier strips so as to ensure the position of the knife box. At the moment, the motor of the knife box conveying device II-02 rotates for a certain angle to convey the knife box to the next position. The linear module II-0310 drives the blade-loading groove II-0302 to move from left to right, and the action process is repeated until another five blades are loaded into the blade box. And finishing the blade loading work of the blade box. And the blade loading groove II-0302 repeats actions from right to left and from left to right, and is matched with other devices to complete the blade loading work of the next knife box. After the blade loading work of one knife box is finished, the double-arm linear module motor II-040901 rotates the push-out cylinder II-0408 driven by the double-arm linear module II-0409 to move forward to a specified position, at the moment, the S-shaped push rod II-0407 connected with the push-out cylinder II-0408 is positioned at the left side of the knife box, the height of the S-shaped push rod II-0407 is also slightly lower than that of the knife box, the push-out cylinder II-0408 starts the S-shaped push rod II-0407 to directly act on the knife box, and the knife box is pushed into the knife box output transmission device IV-03.

The knife box output transmission device IV-03 motor rotates, and the knife box is transmitted to the knife box cover closing device IV-01 through the baffle synchronous belt. The cover closing cylinder IV-0103 drives the T-shaped push rod IV-0104 to move to push the knife box cover to move the knife box. The cutter box output conveyor belt is also provided with a barrier strip, the cutter box moves to the barrier strip, the barrier strip generates thrust to the cutter box to prevent the cutter box from continuing to move, the cutter box cover and the cutter box move relatively to finish the cover closing action, and the cover closing air cylinder IV-0103 is retracted. X, Y, Z three-directional movement devices of the palletizing system III can move independently, wherein a Z-directional movement device III-05 is arranged on an X-directional movement device III-03, and the X-directional movement device III-03 is arranged on a Y-directional movement device III-04. The pneumatic finger III-07 can move in a certain space range under the action of the three-direction movement device to complete stacking. The tail end executing mechanism of the stacking system III is a pneumatic finger III-07, and meanwhile, the tail end of the stacking system III is provided with an industrial camera III-08 for detecting the position of the cutter box, converting the position of the cutter box into coordinate information and transmitting the coordinate information to the stacking system III. And the stacking system III moves the pneumatic finger III-07 to a specified position according to the coordinate information to realize a clamping function. After clamping is completed, the pneumatic finger III-07 moves to the stacking position III, and the placement of the subsequent knife boxes is judged according to the stacked knife boxes through recognition of the industrial camera III-08.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The intelligent hard alloy blade boxing and stacking system is characterized by comprising a cutter box cover opening system, a blade boxing system, a stacking system and a cutter box cover closing system, wherein the cutter box cover opening system is arranged at one end of the blade boxing system, the cutter box cover closing system is arranged at the other end of the blade boxing system, and the stacking system is positioned on one side of the cutter box cover closing system;

2. The system according to claim 1, wherein the uncovering and box-pushing device comprises a pushing cylinder and an uncovering cylinder which are parallel to each other and have different installation heights, the uncovering cylinder is connected with the vacuum chuck assembly, and a proximity switch is arranged on one side of the uncovering cylinder.

3. The intelligent carbide blade boxing and stacking system as claimed in claim 2, wherein the vacuum sucker assembly comprises a vacuum sucker, the vacuum sucker is connected with an air pipe connector through a vacuum sucker connecting piece, and the air pipe connector is provided with an air pipe connector; and a roller is arranged above the vacuum chuck.

4. The system for intelligently packing and stacking hard alloy blades according to claim 1, wherein the tool box input conveying device comprises a synchronous belt mechanism, and two sides of the synchronous belt mechanism are symmetrically provided with a gear lever mechanism; an inclined plane device is installed at one end above the synchronous belt mechanism, and a knife box bin is arranged at the other end of the synchronous belt mechanism.

5. The system as claimed in claim 4, wherein the synchronous belt mechanism comprises a motor-driven baffle synchronous belt, the baffle lever mechanism comprises a plurality of lever clamps, and each lever clamp is connected with a baffle bar rod; the end parts of the barrier bar rods positioned on the same side are connected with the same barrier bar.

6. The intelligent carbide blade boxing and stacking system as claimed in claim 1, wherein the blade boxing device comprises a linear module and a blade groove, and the blade groove is detachably connected with the linear module; a blade push rod is arranged on one side of the blade groove and connected with the double-shaft cylinder; the blade detection sensor is fixed to the side face of the linear module.

7. The system for intelligently boxing and stacking hard alloy blades according to claim 1, wherein a visual detection system is arranged on the side face of the blade box conveying device and comprises a CCD camera frame and a CCD camera installed below the CCD camera frame.

8. The system for intelligently boxing and stacking hard alloy blades as claimed in claim 1, wherein the blade box pushing device comprises a double-arm linear module, a forward pushing cylinder and a pushing cylinder, the forward pushing cylinder is fixed on one side of the double-arm linear module, and the pushing cylinder is installed above the double-arm linear module and can move under the action of the double-arm linear module.

9. The intelligent carbide blade boxing and stacking system as claimed in claim 1, wherein the stacking system comprises an X-direction moving device, a Y-direction moving device and a Z-direction moving device, one end of the X-direction moving device is connected with the Z-direction moving device, and the Z-direction moving device is installed above the Y-direction moving device; the Z-direction movement device is connected with the pneumatic finger, and an industrial camera is installed at the end part of the pneumatic finger.

10. The system for intelligently boxing and stacking hard alloy blades according to claim 1, wherein the cutter box cover closing system comprises a cutter box cover closing device and a cutter box output conveying device, wherein the cutter box cover closing device is vertically arranged on one side of the cutter box output conveying device.