CN209729291U - Automatic production line training system - Google Patents

Abstract

The utility model discloses a kind of automatic production line training system, which includes manufacture real training producing line and packaging real training producing line；Manufacture real training producing line includes linkage transmission device, along the direction of transfer loading assemblies successively arranged of linkage transmission device, component of affixing one's seal, boring assemblies, carving milling component, laser engraving machinery hand, signature manipulator and finished product transmission device；Packaging real training producing line include transport mechanism and along transport mechanism direction of transfer successively arrange back box feed transhipment component, substrate feed transhipment component and box cover feed transhipment component the utility model setting parallel arrangement manufacture real training producing line and packaging real training producing line, solves the problems, such as in the prior art the analog machine of not production line be unfavorable for impart knowledge to students.

Description

Automatic production line training system

technical field

The utility model relates to the field of teaching and training, in particular to an automatic production line training system.

Background technique

With the proposal of Industry 4.0 and the "Made in China 2025" plan, the reform and optimization of automation, electromechanical, and mechanical manufacturing majors in higher vocational colleges across the country, and the reform and optimization of course teaching need to follow the development trend of the industry in intelligent manufacturing. And correspondingly combine new technologies to cultivate new talents that meet the requirements of "smart factories" and "smart production", especially high-quality skilled talents for information integration and control of smart manufacturing production lines that enterprises urgently need.

At present, teachers mainly use textbooks to teach, and the teaching form is relatively single, which leads to students' low interest in learning. A vivid teaching tool can greatly improve students' learning enthusiasm and enhance learning effects. During the learning process, it is often impossible to clearly understand the operation process of the entire production line, so some teaching equipment is urgently needed to fully reproduce the simulation process of a production line.

Utility model content

The main purpose of the utility model is to propose an automatic production line training system, which aims to solve the problem that the simulation equipment without production line is not conducive to teaching in the prior art.

In order to achieve the above purpose, the utility model proposes an automatic production line training system, which includes a manufacturing training production line and a packaging training production line;

The manufacturing training production line includes a linkage conveying device, the linkage conveying device includes a mounting rod that can be vertically lifted and horizontally translated, and a plurality of workpiece suction claws and a plurality of fixing seats correspondingly arranged under each of the workpiece suction claws and used to fix the workpiece;

The manufacturing training production line also includes a feeding assembly, a stamping assembly, a drilling assembly, an engraving and milling assembly, a laser engraving manipulator and signature manipulator;

The manufacturing training production line also includes a finished product conveying device arranged on one side of the signature manipulator and docked with the linkage conveying device;

The packaging training production line includes a conveying mechanism and a bottom box feeding and transferring assembly, a substrate feeding and transferring assembly, and a box cover feeding and transferring assembly arranged sequentially along the conveying direction of the conveying mechanism;

The lid feeding and transfer assembly includes a lid feeding mechanism arranged on one side of the conveying mechanism and a lid transfer manipulator docked with the finished product conveying device and used to put the finished product into the bottom box. The lid transfer manipulator is also used to take the lid out from the lid feeding mechanism and buckle it on the bottom box.

Preferably, the linkage transmission device also includes:

first mounting frame;

The installation rod lifting mechanism includes a first lifting drive cylinder that is arranged on the first mounting frame and the driving direction is vertically set, a first connecting plate that is arranged on the push rod of the first lifting drive cylinder and connects the first lifting drive cylinder. the first connecting plate and the first vertical sliding assembly of the first mounting frame;

The installation rod translation mechanism includes a first screw mechanism horizontally arranged on the first installation frame, a first motor that drives the screw rod of the first screw mechanism to rotate, and connects the installation rod with the first screw mechanism. The second vertical sliding assembly at the output end of the screw mechanism and the first horizontal sliding assembly connecting the installation rod and the first connecting plate.

Preferably, the fixing seat includes a workpiece mounting plate with a workpiece fixing groove on the upper surface, and the loading assembly includes a workpiece stacking frame arranged on one side of the workpiece fixing groove, and a workpiece stacking frame arranged at the bottom of the workpiece stacking frame. The workpiece discharge port, the workpiece pushing plate arranged under the workpiece stacking rack, and the workpiece pushing plate that drives the pushing plate to push the workpiece out of the workpiece discharge port and enter the workpiece fixing groove driver;

The stamping assembly includes a second mounting frame arranged on one side of the next fixed seat, a stamping cylinder vertically arranged on the second mounting frame, an atomic stamp arranged at the output end of the stamping cylinder, and a third vertical slide assembly connecting the atomic chapter and the second mounting frame;

The drilling assembly includes a third mounting frame, a drill bit lifting drive motor vertically arranged on the third mounting frame, a second lead screw mechanism connected with the drill bit lifting drive motor and vertically arranged, and the The drilling motor connected to the output end of the second lead screw mechanism and the fourth vertical slide assembly connecting the drilling motor and the third mounting frame.

Preferably, the engraving and milling assembly includes a fourth mounting frame, an X-Z axis driving mechanism vertically arranged on the fourth mounting frame, an engraving and milling machine head arranged on the X-Z axis driving mechanism, and an The Y-axis drive mechanism on the fourth mounting frame and below the engraving and milling machine head; the fixed seat corresponding to the engraving and milling assembly is connected to the output end of the Y-axis drive mechanism; the laser engraving manipulator includes a first A manipulator and a laser emitting head arranged at the free end of the first manipulator; the signature manipulator includes a second manipulator and a pen holder arranged at the free end of the second manipulator for holding a signature pen; the finished product delivery device includes Two workpiece conveyor belts arranged side by side, and an ejection separation cylinder arranged between the two workpiece conveyor belts; the manufacturing training production line also includes a CCD inspection camera and a light bar arranged above the ejection separation cylinder.

Preferably, the transmission mechanism includes two bottom box conveyor belts arranged in parallel, a plurality of lifting stations arranged between the two bottom box conveyor belts, and a plurality of lifting stations arranged on one side of the lifting stations for detecting the bottom box The position sensor, the lifting station is respectively set corresponding to the bottom box feeding and transferring assembly, the substrate feeding and transferring assembly and the lid feeding and transferring assembly; the lifting station includes a lifting cylinder, a A fixed plate and an air suction hole arranged on the fixed plate.

Preferably, the bottom box feeding and transferring assembly includes a bottom box feeding mechanism and a bottom box transferring manipulator;

The bottom box feeding mechanism includes:

The bottom box stacking rack is arranged on one side of the conveying mechanism, the top of the bottom box stacking rack is provided with a first feeding port for putting in the bottom box, and the bottom of the bottom box stacking rack faces the One side of the transmission mechanism is provided with a first discharge port; the bottom box pushing plate is arranged at the bottom of the bottom box stacking frame and the bottom box receiving groove for accommodating the bottom box is arranged on the surface; the bottom box pushing driving member , connected with the bottom box pushing plate and used to drive the bottom box pushing plate into and out of the bottom box stacking frame through the first outlet;

The bottom box transfer manipulator includes:

The bottom box lifting assembly is opposite to the bottom box stacking rack and is arranged on the other side of the transmission mechanism; the bottom box retrieving arm is arranged at the output end of the bottom box lifting assembly and is located at the end of the transmission mechanism Above: the bottom box suction claw, including the bottom box picking plate arranged on the free end of the bottom box picking arm and the suction nozzle set on the bottom box picking plate.

Preferably, the substrate feeding and transferring assembly includes a substrate feeding mechanism and a substrate transferring robot;

The substrate feeding mechanism includes:

Substrate stacking rack, a substrate stacking rack set on one side of the bottom box feeding mechanism, the upper end of the substrate stacking rack is provided with a substrate loading port;

a substrate supporting plate, which can be movable up and down in the substrate stacking rack, and is used to support the substrate in the substrate stacking rack;

The substrate lifting drive mechanism is arranged on one side of the substrate stacking rack, and its output end is connected to the substrate supporting plate, and is used to drive the substrate supporting plate to move up and down in the substrate stacking rack ;

The substrate transfer manipulator includes a third manipulator opposite to the substrate stacker and disposed on the other side of the transfer mechanism, and a substrate suction claw disposed at the free end of the third manipulator, the substrate suction The claw includes a substrate pick-up plate and suction nozzles arranged on the substrate pick-up plate.

Preferably, the lid feeding mechanism includes:

The lid stacking rack is arranged on one side of the substrate stacking rack, the top of the lid stacking rack is provided with a second feed port for putting in the lid, and the bottom of the lid stacking rack A second discharge port is provided on the side facing the conveying mechanism;

The box cover pushing plate is arranged on the bottom of the box cover stacking frame and the surface is provided with a box cover fixing groove for fixing the bottom box;

The lid pusher driving member is connected with the lid pusher plate and is used to drive the lid pusher plate into and out of the lid stacking frame through the second outlet;

The lid transfer manipulator includes a fourth manipulator opposite to the lid stacking rack and disposed on the other side of the transfer mechanism, and a lid suction claw disposed at a free end of the fourth manipulator.

Preferably, the packaging training production line also includes:

The fifth manipulator is arranged between the substrate transfer manipulator and the lid transfer manipulator;

The accessory jaw includes a jaw cylinder body connected to the free end of the fifth manipulator, and the jaws of the jaw cylinder are arranged vertically downward;

The first tray frame is arranged opposite to the fifth manipulator, the upper end of the first tray frame is open, and the inside is provided with a first pallet for supporting a tray with accessories;

The second tray rack is arranged on one side of the first tray rack, the upper end of the second tray rack is open, and a second pallet for supporting empty trays is arranged inside;

The pallet lifting platform is arranged on the same side of the first pallet frame and the second pallet frame, and the pallet lifting platform includes a vertically arranged lifting synchronous belt, and the first pallet is connected to a section of the lifting synchronous belt. The second pallet is connected to another section of the lifting synchronous belt;

The pallet transfer mechanism includes a pallet suction claw arranged above the first pallet rack and the second pallet rack, and a pallet transfer driving member that drives the pallet suction claw to move back and forth between the first pallet rack and the second pallet rack.

Preferably, a dispensing assembly is further provided between the bottom box material supply and transfer assembly and the substrate supply and transfer assembly, and the dispensing assembly includes a sixth manipulator and a dispensing head disposed at the free end of the sixth manipulator.

The utility model is provided with a manufacturing training production line and a packaging training production line arranged in parallel, and automatically completes the stamping, drilling, engraving and milling, laser engraving and signature processes on the workpiece through the manufacturing training production line; at the same time, through the packaging training The production line completes the assembly process of the packaging box, and finally puts the processed workpiece (finished product) into the bottom box and covers the box lid through the box cover transfer robot installed between the manufacturing training production line and the packaging training production line. The automatic processing and packaging of the workpiece is realized, and the problem that the simulation equipment without a production line is not conducive to teaching in the prior art is solved.

Description of drawings

Fig. 1 is the structural representation of an embodiment of the automatic production line training system of the present invention;

Fig. 2 is the structural representation of manufacturing training production line in Fig. 1 embodiment;

Fig. 3 is the structural representation of the packaging training production line in the embodiment of Fig. 1;

Fig. 4 is a schematic structural view of the linkage transmission device in the embodiment of Fig. 1;

Fig. 5 is a structural schematic diagram of another angle of the linkage transmission device in the embodiment of Fig. 1;

Fig. 6 is a schematic structural view of the feeding assembly in the embodiment of Fig. 1;

Fig. 7 is a schematic structural view of the stamp assembly in the embodiment of Fig. 1;

Fig. 8 is a schematic structural view of the drilling assembly in the embodiment of Fig. 1;

Fig. 9 is a schematic structural view of the engraving and milling assembly in the embodiment of Fig. 1;

Fig. 10 is a schematic structural view of the finished product conveying device in the embodiment of Fig. 1;

Fig. 11 is a schematic structural view of the transmission mechanism in the embodiment of Fig. 1;

Fig. 12 is a schematic structural view of the bottom box feeding mechanism in the embodiment of Fig. 1;

Fig. 13 is a schematic structural view of the bottom box transfer manipulator in the embodiment of Fig. 1;

FIG. 14 is a schematic structural view of the substrate feeding mechanism in the embodiment of FIG. 1;

FIG. 15 is a schematic structural view of the substrate transfer robot in the embodiment of FIG. 1;

Fig. 16 is a schematic structural view of the lid feeding mechanism in the embodiment of Fig. 1;

Fig. 17 is a schematic structural view of the fifth manipulator and the accessory gripper in the embodiment of Fig. 1;

Fig. 18 is a schematic structural view of the pallet lifting platform and the pallet transfer mechanism in the embodiment of Fig. 1 .

Detailed ways

Embodiments of the present invention will be described in detail below, examples of which are shown in the drawings, wherein the same reference numerals represent the same elements or elements having the same function throughout. The embodiments described below by referring to the accompanying drawings are exemplary, intended to explain the utility model, but can not be construed as a limitation of the utility model, based on the embodiments of the utility model, those of ordinary skill in the art do not make All other embodiments obtained under the premise of creative labor belong to the scope of protection of the utility model.

In order to solve the above technical problems, the utility model proposes an automatic production line training system, referring to Figure 1, the automatic production line training system includes a manufacturing training production line and a packaging training production line, and the manufacturing training production line includes a linkage transmission device 610, the linkage transmission device 610 includes a mounting rod 616 capable of vertical lifting and horizontal translation, a plurality of workpiece suction claws 619 equidistantly arranged on the mounting rod 616 along the extension direction of the mounting rod 616, and correspondingly arranged on each workpiece suction claw 619 and a plurality of fixed seats 610a for fixing workpieces; the manufacturing training production line also includes a feeding assembly 620, a stamping assembly 630, Drilling assembly 640, engraving and milling assembly 650, laser engraving manipulator 660, and signature manipulator 670; the manufacturing training production line also includes a finished product conveying device 680 arranged on the side of the signature manipulator 670 and docked with the linkage conveying device 610; the packaging training production line The line includes a conveying mechanism 100 and a bottom box feeding and transferring assembly, a substrate feeding and transferring assembly and a lid feeding and transferring assembly arranged sequentially along the conveying direction of the conveying mechanism 100; The lid feeding mechanism 410 on one side of the mechanism 100 and the lid transfer manipulator 320 docked with the finished product conveying device 680 and used to put the finished product in the bottom box, the lid transfer manipulator 320 is also used to feed the lid from the lid Take it out from the mechanism 410 and buckle it on the bottom box.

In this embodiment, referring to FIG. 2 , the manufacturing training production line and the packaging training production line are parallel and the transmission direction is kept in the same direction. Each workpiece suction claw 619 on the linkage transmission device 610 corresponds to the fixed seat 610a below it one by one. It is provided that each lift and translation of the installation rod 616 can transfer the workpiece in each fixed seat 610a to the next fixed seat 610a, and the fixed seat 610a at the end is transferred to the finished product conveying device 680 . Each workpiece passes through each fixing seat 610a and completes a processing procedure. When the linkage conveying device 610 transmits the workpiece, the workpiece suction claw 619 goes down and then goes up after it sucks the workpiece directly below it, and then the workpiece suction claw 619 translates and moves to the top of the next adjacent fixed seat 610a, and then the workpiece suction claw 619 goes down And transfer the workpiece from the original fixed seat 610a to the next fixed seat 610a, the workpiece suction claw 619 stops sucking air and puts the workpiece down, and the installation rod 618 drives the workpiece suction claw 619 to move upward and move to the top of the original fixed seat 610a. Linkage transfer of multiple workpieces. The aforementioned feeding assembly 620 , stamping assembly 630 , drilling assembly 640 , engraving and milling assembly 650 , laser engraving manipulator 660 and signature manipulator 670 are arranged equidistantly in the same order and corresponding to the fixing seats 610a respectively. During the processing of the workpiece by the above assembly and the manipulator, the workpiece suction claw 619 moves between two adjacent fixed seats 610a, so as to provide a processing space for the corresponding processing component to move downward. Specifically, this manufacturing training production line can be used to process plate-shaped or sheet-shaped workpieces, and can be used to produce combs, bookmarks, wooden signs and other objects during the simulation process. The stamping component 630 is used for printing graphics and drilling components. 640 is used for drilling, the engraving and milling assembly 650 is used for processing the main body shape of the workpiece, the laser engraving manipulator 660 is used for laser engraving patterns on the surface of the workpiece, and the signature manipulator 670 is used for writing the name of the visitor on the workpiece As a commemoration.

In this embodiment, referring to FIG. 3 , the transmission mechanism 100 can realize the transmission of the bottom box between the stations by means of belt transmission or linkage transmission of linked manipulators. The bottom box feeding and transferring assembly, the substrate feeding and transferring assembly, and the lid feeding and transferring assembly are sequentially arranged along the conveying direction of the conveying mechanism 100, wherein the bottom box feeding and transferring assembly is used to take out the bottom box and place it on the conveying mechanism 100, the substrate feeding transfer assembly is used to take out the substrate and put it into the bottom box flowing through it, and the cover feeding transfer assembly is used to suck the processed workpiece (finished product) from the finished product conveyor 680 and put it into the bottom box middle. The box cover feeding mechanism 410 is located at the rear end of the substrate feeding and transporting assembly along the conveying direction of the bottom box, and includes a material rack for stacking the box covers, where the box covers can also be combined with the bottom box by discharging Push out from the bottom of the rack. The cover transfer manipulator 320 is set opposite to the substrate feeding mechanism 310. Here, the cover transfer manipulator 320 adopts a planar multi-joint table-top manipulator, so as to grab and place the finished product in the bottom box, and take out the box cover from the top of the material rack. And buckle on the bottom box.

The utility model is provided with a manufacturing training production line and a packaging training production line arranged in parallel, and automatically completes the stamping, drilling, engraving and milling, laser engraving and signature processes on the workpiece through the manufacturing training production line; at the same time, through the packaging training The production line completes the assembly process of the packaging box, and finally puts the processed workpiece (finished product) into the bottom box through the box cover transfer robot 320 set between the manufacturing training production line and the packaging training production line and closes the box cover , realize the automatic processing and packaging of the workpiece, and solve the problem that the simulation equipment without production line is not conducive to teaching in the prior art.

Further, referring to FIG. 4 , the linkage transmission device 610 also includes: a first mounting frame 611; a mounting rod lifting mechanism, including a first lifting drive cylinder 614 arranged on the first mounting frame 611 and the driving direction is vertically set, and arranged on the first mounting frame 611 The first connecting plate 612 on the push rod of the first lifting drive cylinder 614 and the first vertical sliding assembly 613 connecting the first connecting plate 612 and the first mounting frame 616; The first lead screw mechanism on the frame 616, the first motor 617 that drives the screw mandrel of the first lead screw mechanism to rotate, the second vertical slide assembly 618 that connects the output end of the installation rod and the first lead screw mechanism, and connects the installation rod and the output end of the first lead screw mechanism The first horizontal sliding assembly 615 of the first connecting plate 612 .

In this embodiment, referring to FIG. 5 , the first installation frame 611 includes a bottom plate, two uprights vertically arranged on the bottom plate, and a side plate vertically arranged on the lower section of the uprights and parallel to the two uprights. The first vertical slide assembly 613 is preferably two parallel and respectively vertically arranged slide rails on the two columns and a slide block arranged on the slide rails, and the first connecting plate 612 is also vertically arranged and connected with the two slide rails so as to be vertical slide. The body of the first lift driving cylinder 614 is arranged on the bottom plate, and its push rod is arranged vertically and connected with the first connecting plate 612 . The first horizontal sliding assembly 615 is preferably provided with a sliding rail and a sliding block horizontally arranged on the first connecting plate 612 , and the installation rod 616 is arranged on the sliding block of the first horizontal sliding assembly 615 and kept horizontal. The first lead screw mechanism, the first motor 617 that drives the horizontal lead screw to rotate, and the nut pair arranged on the horizontal lead screw are arranged on the side plate, and the nut pair and the mounting rod 616 are connected by a second vertical sliding assembly 618, The second vertical sliding assembly 618 can also choose vertically arranged slide rails and sliders.

Further, referring to FIG. 6 , the fixing seat 610a includes a workpiece mounting plate with a workpiece fixing groove 610b on the upper surface, and the feeding assembly 620 includes a workpiece stacking frame 621 arranged on one side of the workpiece fixing groove 610b, and a workpiece stacking frame 621 arranged on the workpiece fixing groove 610b. 621 bottom and close to the workpiece discharge opening on the side of the workpiece fixing groove 610b, the workpiece pushing plate 623 arranged under the workpiece stacking rack 621 and the driving pushing plate to push the workpiece from the workpiece discharging opening and enter the workpiece fixing groove 610b The workpiece pushing drive member 624. In this embodiment, a stopper 610c for limiting the position of the workpiece is further provided on one side of the workpiece fixing groove 610b. The workpiece stacking rack 621 includes two angle steels that are arranged on the workpiece mounting plate and are diagonally opposite to each other, thereby forming a space for accommodating and restricting stacked workpieces. feed port. The bottom of the angle steel is provided with a notch, that is, a discharge port. The height of the notch is slightly greater than the thickness of the workpiece so that the workpiece can be pushed out from the discharge opening. The workpiece pushing plate 623 is arranged on the bottom of the workpiece stacking rack 621, and its thickness is slightly less than the height of the gap. The workpiece pushing drive is preferably arranged on the cylinder at the bottom of the workpiece mounting plate. The push rod of the cylinder is kept parallel to the pushing direction, and It is connected with the end of the workpiece pushing plate 623 away from the workpiece fixing groove 610b.

Further, referring to FIG. 7 , the stamping assembly 630 includes a second mounting frame 631 arranged on one side of the next fixing seat 610a, a stamping cylinder 632 vertically arranged on the second mounting frame 631 , and a stamping cylinder 632 arranged on the stamping cylinder 632. The atomic chapter 633 at the output end and the third vertical sliding assembly 634 connecting the atomic chapter 633 and the second installation frame 631 . In this embodiment, the second installation frame 631 includes a first vertical plate vertically arranged on one side of the fixing seat 610a. Stamping cylinder 632 is arranged on the upper section of the first vertical plate and its push rod is arranged vertically downward. The free end of the push rod is connected with the upper surface of a connecting block, and the atomic stamp 633 is arranged on the lower surface of the connecting block. A slide block of a third vertical slide assembly 634 is arranged on the side of the connection block opposite to the first vertical plate, and the slide rail of the third vertical slide assembly 634 is vertically arranged on the first vertical plate. The stamping cylinder 632 can drive the atomic stamp 633 downward to contact with the surface of the workpiece directly below to print corresponding pictures and texts.

Further, referring to FIG. 8 , the drilling assembly 640 includes a third mounting frame 641 , a drill lifting drive motor 642 vertically arranged on the third mounting frame 641 , a second wire connected to the drill lifting driving motor 642 and vertically arranged. The rod mechanism 643 , the drilling motor 646 connected to the output end of the second lead screw mechanism 643 , and the fourth vertical slide assembly 647 connecting the drilling motor 646 and the third mounting frame 641 . In this embodiment, the third installation frame 641 includes a second vertical plate vertically arranged on one side of the fixing seat 610a, and the drill lifting driving motor 642 is arranged on the top of the second vertical plate. The second lead screw mechanism 643 is vertically arranged on the side of the second vertical plate away from the fixing seat 610 a and is connected with the drill lifting drive motor 642 . On both sides of the side of the second vertical plate facing the fixed seat 610a, two slide rails vertically arranged and a slide block respectively arranged on each slide rail are arranged, and an electric drill mounting plate 645 is arranged on the slide block, and the electric drill mounting plate One side of 645 is provided with drilling motor 646, and the other side is connected with the nut pair of the second lead screw mechanism 643. The drill motor 642 can drive the drill motor 646 to go down so as to drill the workpiece on the fixed seat 610a directly below it.

Further, referring to FIG. 9, the engraving and milling assembly 650 includes a fourth mounting frame 651, an X-Z axis driving mechanism 652 vertically arranged on the fourth mounting frame 651, an engraving and milling machine head 653 arranged on the X-Z axis driving mechanism 652, and The Y-axis driving mechanism 654 arranged on the fourth installation frame 651 and located below the engraving and milling machine head 653 ; the corresponding fixing seat 610 a of the engraving and milling assembly 650 is connected with the output end of the Y-axis driving mechanism 654 . In this embodiment, the third installation frame 641 includes a base plate arranged horizontally, and the X-Z axis drive mechanism 652 includes two Z-axis drive mechanisms arranged vertically on the base plate and an X-axis set at the output end of the two Z-axis drive mechanisms. The drive mechanism, wherein the X-axis drive mechanism and the Z-axis drive mechanism are preferably electric cylinders. The engraving and milling head 653 is arranged at the output end of the X-axis driving mechanism, and the engraving and milling head 653 includes an engraving and milling motor whose rotating shaft is vertically arranged and an engraving and milling cutter arranged on the rotating shaft of the engraving and milling motor. The Y-axis driving mechanism 654 is arranged directly under the X-axis driving mechanism, which is also preferably an electric cylinder, and the fixing seat 610a is arranged on the output end of the X-axis driving mechanism. Thus, the X, Y, and Z-axis drive mechanisms constitute a three-axis orthogonal drive mechanism for engraving and milling the workpiece on the fixed seat 610a. In this embodiment, it is mainly used for chamfering the edge of the workpiece or for the surface of the workpiece. Perform mechanical engraving.

Further, the laser engraving manipulator 660 includes a first manipulator and a laser emitting head disposed at a free end of the first manipulator. In this embodiment, the first manipulator is preferably the dobot desktop manipulator of Yuejiang Technology. Its patent application number is CN201520613719.2. Engraving graphic information on the surface of the workpiece.

Further, the signature manipulator 670 includes a second manipulator and a pen holder disposed at a free end of the second manipulator for holding a signature pen. In this embodiment, the second manipulator is preferably the dobot desktop manipulator of Yuejiang Technology. The pen clip is set at the free end of the second manipulator, and the movement of the laser emitting head driven by the second manipulator can complete the graffiti signature on the surface of the workpiece.

Further, referring to FIG. 10 , the finished product conveying device 680 includes two workpiece conveyor belts arranged side by side, and an ejection separation cylinder 682 arranged between the two workpiece conveyor belts; the automatic production line training system also includes a CCD disposed above the ejection separation cylinder 682 Check camera 684 and light bar 685. In this embodiment, the finished product conveying device 680 includes two fixed rods arranged horizontally and parallel to each other, rotating shafts arranged at both ends of the fixed rods and parallel to each other, a motor driving one of the rotating shafts to rotate, and two rotating shafts connected to each other and arranged at intervals. Workpiece conveyor. Ejection separation cylinder 682 is arranged between two workpiece conveyor belts and is positioned at the below of two conveyer belts, is also provided with top plate on the push rod of ejection separation cylinder 682, is also provided with the photoelectric sensor of upward detection workpiece position on top plate side. When the photoelectric sensor senses that the workpiece is transferred to the top plate, the ejection separation cylinder 682 drives the top plate to pass between the two workpiece conveyor belts to lift the workpiece off the workpiece conveyor belt. A fourth installation frame 651 is also arranged on one side of the finished product conveying device 680, a CCD inspection camera 684 and a light bar 685 are arranged on the fifth installation frame 683, and the CCD camera is arranged downward and facing the top plate. The workpiece is lifted by setting the ejection and separation cylinder 682 so that the CCD camera can shoot and complete the subsequent appearance inspection. When the appearance of the workpiece is bad, the ejection separation cylinder 682 descends, and the defective product is sent to the defective product box at its tail end along with the workpiece conveyor belt to realize the sorting of the defective product.

Further, referring to FIG. 11 , the transmission mechanism 100 includes two bottom box conveyor belts arranged in parallel and at the same speed, a plurality of lifting stations 120 arranged between the two bottom box conveyor belts, and a plurality of lifting stations 120 arranged on one side of the lifting station 120 for detecting The sensor 123 for the position of the bottom box and the lifting station 120 are respectively set corresponding to the bottom box feeding and transferring assembly, the substrate feeding and transferring assembly and the lid feeding and transferring assembly. In this embodiment, the transmission mechanism 100 includes two connecting rods 110 arranged horizontally and parallel to each other, rotating shafts arranged at both ends of the connecting rods 110 and parallel to each other, a drive motor 132 for driving one of the rotating shafts to rotate, connecting the two rotating shafts to rotate and spaced apart The first conveyor belt 131 and the second conveyor belt 133 are provided. The lifting station 120 is arranged under the connecting rod 110 and corresponding to the bottom box feeding and transferring assembly, the substrate feeding and transferring assembly and the lid feeding and transferring assembly. Wherein, the lifting station 120 includes a vertically arranged double-rod lifting cylinder 122, a fixed plate 121 arranged on the cylinder push rod, an air suction hole arranged on the fixed plate 121, and an air suction hole arranged under the fixed plate 121 for upward detection. Sensor 123 for bottom box position. When the sensor 123 senses that the bottom box is transferred to the fixed plate 121, the double-rod lifting cylinder 122 drives the fixed plate 121 to pass between the two bottom box conveyor belts to lift the bottom box off the conveyor belt, and at the same time, the suction hole sucks air to fix the bottom box on the bottom box. on the fixed plate 121. By setting up and down stations, each packaging station is independent of the conveyor belt, so as to complete the packaging process of the finished product.

Further, referring to FIG. 12 , the bottom box feeding mechanism 210 includes a bottom box stacking rack 211 arranged on one side of the conveying mechanism 100 , a bottom box stacking rack 211 arranged at the bottom of the bottom box stacking rack 211 and a bottom box accommodating groove 214 on the surface thereof. Pushing plate 212, driving the bottom box from the bottom box stacking rack 211 and returning the bottom box pushing driver 213; The bottom box lifting assembly on the side and the bottom box suction claw 223 arranged on the bottom box lifting assembly, the bottom box suction claw 223 is located directly above the transmission mechanism 100 .

In this embodiment, the bottom box feeding mechanism 210 is arranged opposite to the bottom box transfer robot 220 , and the transfer mechanism 100 is located between them. The bottom box feeding mechanism 210 pushes out the stacked bottom boxes by means of bottom discharge. The bottom box transfer manipulator 220 adopts the dobot desktop manipulator of Yuejiang Technology. Its patent application number is CN201520613719.2. The bottom box feeding mechanism 210 The bottom box pushed out from the bottom is sucked and placed in the conveying mechanism 100. In this embodiment, the substrate feeding mechanism 310 is located at the rear end of the bottom box feeding mechanism 210 along the conveying direction of the bottom box, and includes a rack for stacking substrates. The substrate transfer robot 320 is set opposite to the substrate feeding mechanism 310. The substrate transfer robot 320 is located at the rear end of the bottom box transfer robot 220. Here, the dobot desktop robot is also used to take the substrate from the top of the material rack and place it on the in the bottom box.

Specifically, the bottom box stacking frame 211 includes four vertically arranged angle steels, and the bottom boxes are stacked therein, and the four corners thereof are constrained by the angle steels. Its top forms the first material inlet that puts into the bottom box, and the bottom box can be stacked into from the upper end of the bottom box stacking frame 211. Part of the side plate at the bottom of the angle steel is removed to form a notch for pushing out the push plate 212 of the bottom box, that is, the first discharge port. The length of the bottom box pushing plate 212 is consistent with the length of the bottom box, and the width of the bottom box pushing plate is about twice the width of the bottom box. A bottom box accommodating groove 214 is provided at the end of the bottom box pushing plate near the gap. The size of the box accommodating groove 214 is consistent with the external dimensions of the bottom box, and is used to accommodate the bottom box so that the bottom box at the bottom is pushed out from the side thereupon, and the bottom box on it is not provided with a bottom box accommodating groove on the upper surface of the bottom box pushing plate 212 214 area to undertake. On the opposite side of the side where the bottom box stacking frame 211 is provided with a gap is provided with a bottom box pushing drive member 213 that drives the bottom box pushing plate 212 in and out of the bottom box stacking frame 211 , preferably an air cylinder here. Between the bottom box pushing plate 212 and the bottom plate on which the bottom box stacking frame 211 is installed, a sliding assembly is arranged to limit the movement direction of the bottom box pushing plate 212 . After the bottom box pushing plate 212 is pushed out by the cylinder, the bottom box in the bottom box receiving groove 214 is taken out, the cylinder drives the bottom box pushing plate 212 back into the bottom box stacking frame 211, and the other bottom box falls into the bottom box for storage. In the groove 214, so reciprocate.

In addition, in the bottom box feeding mechanism 210, accommodating bins for accommodating side-by-side bottom boxes may also be provided, and a feeding opening is provided on the side of the accommodating bin close to the conveying mechanism, and a feeding opening is arranged on the other side of the accommodating bin and aligned with the arrangement direction. The same push screw is driven by the motor to rotate, and the nut pair on it is driven to translate. The nut pair is provided with a driving rod, which pushes the bottom box out from the feeding opening.

Referring to Fig. 13 , the bottom box transfer manipulator 220 includes a pick-up mounting plate 221 vertically arranged on the opposite side of the bottom box stacking rack 211, a cylinder or electric cylinder vertically driven on the mounting plate 221, and an output of the cylinder or electric cylinder. The ends are connected and keep the vertical sliding assembly, the bottom box picking arm 222 arranged on the sliding assembly, and the bottom box suction claw 223 arranged at the free end of the bottom box picking arm 222 . The bottom box picking arm 222 extends outward to the top of the conveying mechanism 100 , and the bottom box suction claw 223 includes a bottom box suction plate arranged horizontally and a suction nozzle arranged on the lower surface of the bottom box suction plate. The utility model sets the bottom box feeding mechanism 210 and the bottom box transfer manipulator 220, so that the bottom box can be pushed out from the bottom of the bottom box stacking rack 211 to the top of the transmission mechanism 100, and the bottom box transfer manipulator 220 goes down and takes it out and then goes up , after the bottom box pushing plate 212 is retracted, the bottom box transfer manipulator 220 moves down to place the bottom box on the conveying mechanism 100 below, thereby completing the automatic feeding of the bottom box.

Further, referring to FIG. 14 and FIG. 15 , the substrate feeding mechanism 310 includes a substrate stacking frame 311 disposed on one side of the bottom box feeding mechanism 210 , and a substrate stacking plate 312 disposed at the bottom of the substrate stacking frame 311 1. The substrate lifting drive mechanism 313 that drives the substrate support plate 312 to move up and down in the substrate stacking rack 311; The manipulator 321 and the substrate suction claw 322 disposed at the free end of the third manipulator 321 .

In this embodiment, the structure of the substrate stacking frame 311 is set on the same side as the bottom box stacking frame 211 and is located at the rear end of the bottom box stacking frame 211, and the structure of the two is similar. The substrate stacking frame 311 is composed of four angle steel To limit the position, the top of the substrate stacking rack 311 is opened to form a substrate taking port for taking out materials. At the bottom of the substrate stacking frame 311, there is also a substrate support plate 312 for supporting stacked substrates. The bottom of the substrate support plate 312 is connected to a connection block, and one end of the connection block is connected to the substrate lifting drive mechanism 313. mobile connection. Here, the substrate lifting drive mechanism 313 includes a vertically arranged slide rail and a slider, and the slider is driven by a vertically arranged synchronous wheel, a synchronous belt and a motor, or is driven by an electric cylinder. Here the connecting block is connected with the slider. The substrate supporting plate 312 can be driven up by the synchronous belt structure of the motor or the electric cylinder, so as to ensure that the uppermost substrate is at the same height when unloading. The lifting drive mechanism 313 mentioned above is not limited to using a motor-synchronous belt mechanism to achieve lifting, but also can use linear controllable stroke driving methods such as electric cylinders, motor-rack and pinion structures to replace driving the substrate support plate 312 to lift.

In addition, in the substrate feeding mechanism 310, a storage bin for accommodating the substrates arranged side by side may also be provided, a feeding opening is provided on the side of the storage bin close to the conveying mechanism, and a feeding opening is provided on the other side of the storage bin and aligned with the arrangement direction. The same push screw is driven by the motor to rotate, and the nut pair on it is driven to translate. The nut pair is provided with a push rod, and the push rod pushes the substrate out from the feeding opening.

The substrate transfer robot 320 is set on the same side as the bottom box transfer robot 220 and opposite to the substrate stacker 311 across the transfer mechanism 100. The structures of the claws 223 are the same and will not be described here. It is worth noting that a trumpet-shaped substrate guide groove is also provided above the conveying mechanism 100 between the substrate stacker 311 and the substrate transfer robot 320. When the bottom box moves to the substrate guide groove , the substrate transfer manipulator 320 takes out the substrate and places it therein, and the substrate falls into the bottom box smoothly through the substrate guide groove, and the substrate guide groove functions as a positioning guide.

Further, referring to FIG. 16, the lid feeding mechanism 410 includes a lid stacking frame 411 arranged on one side of the substrate stacking frame 311, a lid pushing plate 412 arranged at the bottom of the lid stacking frame 411, and a driving Lid is released from the lid stacking frame 411 and the lid pushing driver 413 that returns, the lid pushing plate 412 is provided with a groove for accommodating and fixing the lid frame; The lid stacking rack 411 is opposite to the fourth manipulator disposed on the other side of the conveying mechanism 100 and the lid suction claw disposed at the free end of the fourth manipulator.

In this embodiment, the box cover feeding mechanism 410 is on the same side as the substrate stacking frame 311 and is located at the rear end of the substrate stacking frame 311 . Lid feeding mechanism 410 has the same structure as bottom box feeding mechanism 210, and also adopts the mode of discharging at the bottom. The side of the bottom close to the conveying mechanism 100 is provided with a second material outlet for the box cover pushing plate 412 to enter and exit. The only difference is that the lid opening on the lid pushing plate 412 is stacked downwards, and the lid fixing groove 414 on the lid pushing plate 412 is positioned in cooperation with the side plate of the lid. Bottom box suction holes are also arranged on the lid pusher plate 412, and the lid pusher driver 413 is preferably an air cylinder.

In addition, in the box cover feeding mechanism 410, also can be provided with the storage compartment that accommodates the box cover that arranges side by side, be provided with feeding opening on the side of this storage compartment close to the conveying mechanism, on the other side of the storage compartment and aligning direction The same push screw is driven by the motor to rotate, and the nut pair on it is driven to translate. The nut pair is provided with a driving rod, which pushes the lid and pushes it out from the feeding opening.

The lid transfer manipulator 320 is arranged opposite to the lid feeding mechanism 410 and is located at the rear end of the substrate transfer manipulator 320, wherein the fourth manipulator is preferably a planar multi-joint desktop manipulator, including a liftable base and a Three coaxial joints whose center of rotation remains vertical. The structure of the lid suction claw is the same as the above-mentioned lid suction claw, and will not be described here. In this embodiment, the finished products can be stacked and placed on the same side of the fourth manipulator, and then transferred from the bottom box to the assembly station. After the box cover is taken out on the pushing plate 412, it is buckled on the bottom box to complete the matching packaging.

Further, referring to FIG. 17 , the packaging training system further includes a fifth manipulator 521 arranged between the substrate transfer manipulator 320 and the lid transfer manipulator 320 and an accessory gripper 522 arranged at the free end of the fifth manipulator 521, the accessory gripper The 522 is used to grab accessories and place them in the back box. In this embodiment, the fifth manipulator 521 is preferably a dobot desktop manipulator, and the accessory gripper 522 includes a main body of a gripper cylinder 522a connected to the free end of the dobot desktop manipulator, and the gripper 522b of the gripper cylinder is vertically downward. For picking up accessories and placing them in the back box.

Further, referring to Fig. 18, the packaging training system also includes a first tray rack 511 and a second tray rack 512 opposite to the fifth manipulator 521, the first tray rack 511 is used to place trays with accessories, and the second tray Rack 512 is used for placing empty pallets; A pallet lifting platform is provided between the first pallet rack 511 and the second pallet rack 512, and a pallet lifting platform in the first pallet rack 511 is also provided between the first pallet rack 511 and the second pallet rack 512. The empty pallets are transferred to the pallet transfer mechanism 513 of the second pallet rack 512.

In this embodiment, the first tray rack 511 and the second tray rack 512 are arranged side by side and opposite to the fifth manipulator 521 . Wherein the first tray rack 511 and the second tray rack 512 are also limited by angle steel so that the tray can move up and down therein. The tray elevating mechanism 515 includes a first plate 517 vertically arranged on one side of the first tray frame 511 and the second tray frame 512, two sliding assemblies vertically arranged on the first plate 517, and vertically arranged on the first plate 517. The lifting synchronous belt 516 on the plate body 517 and the synchronous wheel and motor driving the lifting synchronous belt 516, wherein the left and right sections of the lifting synchronous belt 516 are respectively connected with the sliders of the two sliding components, and the two sliders are reversely synchronized under the drive of the motor Movement achieves lift. The first pallet rack 511 is provided with a first pallet (not shown in the figure), and the second pallet rack 512 is provided with a second pallet (not shown in the figure), wherein the first pallet is positioned at the first pallet rack 511 and connected with one of the sliders, the second pallet is located in the second tray frame 512 and connected with the other slider.

In this embodiment, the pallet transfer mechanism 513 includes a second board 518 disposed on the other side of the first pallet rack 511 and the second pallet rack 512 and opposite to the first board 517 . The second plate body 518 is provided with a sliding assembly (here preferably a slide rail and a slide block) arranged horizontally along the arrangement direction of the first tray rack 511 and the second tray rack 512, and a drive cylinder for driving the slider to move. A tray suction claw 514 placed horizontally is also arranged on the block, and the tray suction claw 514 includes a tray suction plate and a suction nozzle arranged vertically downward. After the accessories in the tray on the top of the first pallet rack 511 are used up, the pallet suction claw 514 moves above the first pallet rack 511, and the empty pallet on the top floor is higher than the limit angle steel of the first pallet rack 511 on the first pallet and Grabbed by the tray suction claw 514 , then the tray suction claw 514 moves to the top of the second tray frame 512 , and the second pallet rises to accept the empty tray grabbed by the tray suction claw 514 . After receiving, the downward movement of the second pallet corresponds to the upward movement of the first pallet, so that the fifth manipulator 521 and the accessory jaw 522 can grab the accessories in the new pallet. The pallet transfer rate can be accelerated by setting a pallet lifting mechanism 515 including a first pallet and a second pallet that can be linked, and a pallet transfer mechanism 513 that transfers pallets in parallel.

Further, referring to FIG. 1 , a dispensing assembly 700 is provided between the bottom box feeding and transferring assembly and the substrate feeding and transferring assembly, and the dispensing assembly 700 includes a sixth manipulator and a dispensing head disposed at the free end of the sixth manipulator. In this embodiment, the sixth manipulator is also preferably a dobot table-top manipulator, and the dispensing head is arranged at its free end, and the dispensing assembly 700 is provided so that the substrate and the bottom box are bonded together to prevent the substrate from falling.

The above are only part or preferred embodiments of the present utility model, and neither the text nor the accompanying drawings can limit the scope of protection of the present utility model. The equivalent structural transformation made by the content of the figure, or direct/indirect application in other relevant technical fields are all included in the protection scope of the present utility model.

Claims (10)

1. An automatic production line training system, characterized in that it comprises a manufacturing training production line and a packaging training production line; The manufacturing training production line includes a linkage conveying device, the linkage conveying device includes a mounting rod that can be vertically lifted and horizontally translated, and a plurality of workpiece suction claws and a plurality of fixing seats correspondingly arranged under each of the workpiece suction claws and used to fix the workpiece; The manufacturing training production line also includes a feeding assembly, a stamping assembly, a drilling assembly, an engraving and milling assembly, a laser engraving manipulator and signature manipulator; The manufacturing training production line also includes a finished product conveying device arranged on one side of the signature manipulator and docked with the linkage conveying device; The packaging training production line includes a conveying mechanism and a bottom box feeding and transferring assembly, a substrate feeding and transferring assembly, and a box cover feeding and transferring assembly arranged sequentially along the conveying direction of the conveying mechanism; The lid feeding and transfer assembly includes a lid feeding mechanism arranged on one side of the conveying mechanism and a lid transfer manipulator docked with the finished product conveying device and used to put the finished product into the bottom box. The lid transfer manipulator is also used to take the lid out from the lid feeding mechanism and buckle it on the bottom box. 2. The automatic production line training system according to claim 1, wherein the linkage transmission device further comprises: first mounting frame; The installation rod lifting mechanism includes a first lifting drive cylinder that is arranged on the first mounting frame and the driving direction is vertically set, a first connecting plate that is arranged on the push rod of the first lifting drive cylinder and connects the first lifting drive cylinder. the first connecting plate and the first vertical sliding assembly of the first mounting frame; The installation rod translation mechanism includes a first screw mechanism horizontally arranged on the first installation frame, a first motor that drives the screw rod of the first screw mechanism to rotate, and connects the installation rod with the first screw mechanism. The second vertical sliding assembly at the output end of the screw mechanism and the first horizontal sliding assembly connecting the installation rod and the first connecting plate. 3. The automatic production line training system according to claim 1, wherein the fixing base includes a workpiece mounting plate with a workpiece fixing groove on the upper surface, and the feeding assembly includes a workpiece mounting plate arranged in the workpiece fixing groove. The workpiece stacking frame on the side, the workpiece discharge port arranged at the bottom of the workpiece stacking frame, the workpiece pushing plate arranged under the workpiece stacking frame and drive the pushing plate to move the workpiece from the The workpiece pushing drive part is pushed out from the workpiece outlet and enters the workpiece fixing groove; The stamping assembly includes a second mounting frame arranged on one side of the next fixed seat, a stamping cylinder vertically arranged on the second mounting frame, an atomic stamp arranged at the output end of the stamping cylinder, and a third vertical slide assembly connecting the atomic chapter and the second mounting frame; The drilling assembly includes a third mounting frame, a drill bit lifting drive motor vertically arranged on the third mounting frame, a second lead screw mechanism connected with the drill bit lifting drive motor and vertically arranged, and the The drilling motor connected to the output end of the second lead screw mechanism and the fourth vertical slide assembly connecting the drilling motor and the third mounting bracket. 4. The automatic production line training system according to claim 1, wherein the engraving and milling assembly includes a fourth mounting frame, an X-Z axis drive mechanism vertically arranged on the fourth mounting frame, The engraving and milling machine head on the X-Z axis drive mechanism and the Y axis drive mechanism arranged on the fourth installation frame and below the engraving and milling machine head; the fixed seat corresponding to the engraving and milling assembly is connected to the Y The output end of the shaft drive mechanism is connected; the laser engraving manipulator includes a first manipulator and a laser emitting head arranged at the free end of the first manipulator; the signature manipulator includes a second manipulator and is arranged at the free end of the second manipulator and It is used to clamp the pen clip of the signature pen; the finished product conveying device includes two workpiece conveying belts arranged side by side, and an ejection separation cylinder arranged between the two workpiece conveying belts; the manufacturing training production line also includes CCD inspection camera and light bar above the ejection separation cylinder. 5. The automatic production line training system according to claim 1, wherein the transmission mechanism includes two bottom box conveyor belts arranged in parallel, a plurality of lifting stations arranged between the two bottom box conveyor belts, and a set The sensor on the side of the lifting station and used to detect the position of the bottom box, the lifting station is respectively set corresponding to the bottom box feeding and transferring assembly, the substrate feeding and transferring assembly and the box cover feeding and transferring assembly ; The lifting station includes a lifting cylinder, a fixed plate connected to the lifting cylinder, and an air suction hole arranged on the fixed plate. 6. The automatic production line training system according to claim 1, wherein the bottom box feeding and transferring assembly includes a bottom box feeding mechanism and a bottom box transferring manipulator; The bottom box feeding mechanism includes: The bottom box stacking rack is arranged on one side of the conveying mechanism, the top of the bottom box stacking rack is provided with a first feeding port for putting in the bottom box, and the bottom of the bottom box stacking rack faces the One side of the transmission mechanism is provided with a first discharge port; the bottom box pushing plate is arranged at the bottom of the bottom box stacking frame and the bottom box receiving groove for accommodating the bottom box is arranged on the surface; the bottom box pushing driving member , connected with the bottom box pushing plate and used to drive the bottom box pushing plate into and out of the bottom box stacking frame through the first outlet; The bottom box transfer manipulator includes: The bottom box lifting assembly is opposite to the bottom box stacking rack and is arranged on the other side of the transmission mechanism; the bottom box retrieving arm is arranged at the output end of the bottom box lifting assembly and is located at the end of the transmission mechanism Above: the bottom box suction claw, including the bottom box picking plate arranged on the free end of the bottom box picking arm and the suction nozzle set on the bottom box picking plate. 7. The automatic production line training system according to claim 1, wherein the substrate feeding and transferring component includes a substrate feeding mechanism and a substrate transferring manipulator; The substrate feeding mechanism includes: Substrate stacking rack, a substrate stacking rack set on one side of the bottom box feeding mechanism, the upper end of the substrate stacking rack is provided with a substrate loading port; a substrate supporting plate, which can be movable up and down in the substrate stacking rack, and is used to support the substrate in the substrate stacking rack; The substrate lifting drive mechanism is arranged on one side of the substrate stacking rack, and its output end is connected to the substrate supporting plate, and is used to drive the substrate supporting plate to move up and down in the substrate stacking rack ; The substrate transfer manipulator includes a third manipulator opposite to the substrate stacking rack and disposed on the other side of the transfer mechanism, and a substrate suction claw disposed at the free end of the third manipulator. The claw includes a substrate pick-up plate and suction nozzles arranged on the substrate pick-up plate. 8. The automatic production line training system according to claim 1, wherein the lid feeding mechanism comprises: The lid stacking rack is arranged on one side of the substrate stacking rack, the top of the lid stacking rack is provided with a second feed port for putting in the lid, and the bottom of the lid stacking rack A second discharge port is provided on the side facing the conveying mechanism; The box cover pushing plate is arranged on the bottom of the box cover stacking frame and the surface is provided with a box cover fixing groove for fixing the bottom box; The lid pusher driving member is connected with the lid pusher plate and is used to drive the lid pusher plate into and out of the lid stacking frame through the second outlet; The lid transfer manipulator includes a fourth manipulator opposite to the lid stacking rack and disposed on the other side of the transfer mechanism, and a lid suction claw disposed at a free end of the fourth manipulator. 9. The automatic production line training system according to claim 7, wherein the packaging training production line further comprises: The fifth manipulator is arranged between the substrate transfer manipulator and the lid transfer manipulator; The accessory jaw includes a jaw cylinder body connected to the free end of the fifth manipulator, and the jaws of the jaw cylinder are arranged vertically downward; The first tray frame is arranged opposite to the fifth manipulator, the upper end of the first tray frame is open, and the inside is provided with a first pallet for supporting a tray with accessories; The second tray rack is arranged on one side of the first tray rack, the upper end of the second tray rack is open, and a second pallet for supporting empty trays is arranged inside; The pallet lifting platform is arranged on the same side of the first pallet frame and the second pallet frame, and the pallet lifting platform includes a vertically arranged lifting synchronous belt, and the first pallet is connected to a section of the lifting synchronous belt. The second pallet is connected to another section of the lifting synchronous belt; The pallet transfer mechanism includes a pallet suction claw arranged above the first pallet rack and the second pallet rack, and a pallet transfer driving member that drives the pallet suction claw to move back and forth between the first pallet rack and the second pallet rack. 10. The automatic production line training system according to claim 1, characterized in that, a dispensing assembly is also arranged between the bottom box feeding and transferring assembly and the substrate feeding and transferring assembly, and the dispensing assembly includes the first Six manipulators and a dispensing head arranged at the free end of the sixth manipulator.