CN113955506B

CN113955506B - Automatic pick-up system

Info

Publication number: CN113955506B
Application number: CN202111229701.9A
Authority: CN
Inventors: 靳晓峰
Original assignee: Aimi Shanghai Technology Co ltd
Current assignee: Aimi Shanghai Technology Co ltd
Priority date: 2021-10-22
Filing date: 2021-10-22
Publication date: 2023-04-21
Anticipated expiration: 2041-10-22
Also published as: CN113955506A

Abstract

The application relates to an automatic pickup system, which comprises a first mechanical arm, a cooling device, a slag ladle removing device, a deburring device, a second mechanical arm, an automatic box changing device and an automatic stacking device, wherein the automatic box changing device is arranged at a box filling station and used for changing a part box, and the automatic stacking device is used for stacking the filled part box; the automatic box changing device comprises a conveying frame, a conveying roller set rotatably arranged on the conveying frame and a driving piece for driving the conveying roller set to rotate, and a box filling station is positioned on the conveying roller set; the automatic stacking device comprises a clamping mechanism for clamping or loosening the part boxes and a stacking control mechanism for controlling the clamping mechanism to reciprocate between a boxing station and a stacking station and perform stacking. The utility model has the advantages of can carry out the change and the pile up neatly work of part case voluntarily, improve the degree of automation of part die-casting processing system.

Description

Automatic pick-up system

Technical Field

The application relates to the field of automobile part processing technology, in particular to an automatic pick-up system.

Background

Die casting is a metal casting process and is characterized in that high pressure is applied to molten metal by utilizing the inner cavity of a die; the mold is typically fabricated from a stronger alloy, somewhat similar to injection molding; most die cast castings are free of iron, such as zinc, copper, aluminum, magnesium, lead, tin, and lead-tin alloys and alloys thereof.

The application number is CN201820559185.3, a flexible die-casting automatic production system of an oven is disclosed, which comprises a flexible bus control system, and a die casting machine, an automatic spraying device, a product detection device, a deslagging machine, a variable-frequency cooling mechanism, an oil pressure trimming device, an NC machining center, a plurality of variable-distance robot clamping hands which are all connected with the flexible bus control system, wherein the flexible bus control system controls the die casting machine, the automatic spraying device, the product detection device, the deslagging machine, the variable-frequency cooling mechanism, the oil pressure trimming device, the NC machining center and the plurality of variable-distance robot clamping hands to cooperatively work.

For the related technology, after the processing of the parts is finished, the parts are required to be packaged for storage or transportation, and the processed parts are usually taken out of the processing station by a mechanical arm and then put into the parts box, but the replacement and stacking of the parts box still need to be performed manually; therefore, it is desirable to provide an automated picking system that automatically performs parts box replacement and palletizing operations.

Disclosure of Invention

For automatic part box replacement and palletizing work, the application provides an automatic part taking system.

The automatic pick-up system provided by the application adopts the following technical scheme:

the automatic workpiece taking system comprises a first mechanical arm, a cooling device, a slag ladle removing device, a deburring device and a second mechanical arm, wherein the first mechanical arm is used for taking out a part molded in the die casting machine and transferring the part between the cooling device, the slag ladle removing device and the deburring device, the second mechanical arm is used for taking out the part in the deburring device and transferring the part to a boxing station, and the automatic workpiece box changing device is arranged at the boxing station and used for changing a part box, and the automatic workpiece box stacking device is arranged at a stacking station and used for stacking the filled part boxes;

the automatic box changing device comprises a conveying frame, a conveying roller set rotatably mounted on the conveying frame and a driving piece for driving the conveying roller set to rotate, and a box filling station is positioned on the conveying roller set;

the automatic stacking device comprises a clamping mechanism for clamping or loosening the part box and a stacking control mechanism for controlling the clamping mechanism to reciprocate between a boxing station and a stacking station and perform stacking.

By adopting the technical scheme, the first mechanical arm takes out the part die-cast in the die-casting machine and places the part in the cooling device for cooling; after the part is cooled, the part is clamped and transferred into a deslagging package device by a first mechanical arm, and the deslagging package device removes redundant parts on the part; after the deslagging package is completed, clamping the part by a first mechanical arm, transferring the part into a deburring device, polishing and deburring the part in the deburring device, and cutting a handle to obtain a finished product; the second mechanical arm takes out the finished parts processed in the deburring device and then transfers the finished parts to a boxing station for boxing, when boxing, the empty boxes are conveyed to the boxing station by the conveying roller group, the part boxes filled with the parts are clamped by the clamping mechanisms and are controlled to move by the stacking control mechanism, so that the part boxes filled with the parts are moved from the boxing station and transferred to the stacking station for stacking, then the conveying roller group conveys the next empty boxes to the boxing station, and therefore the functions of automatic replacement of the part boxes and automatic stacking are achieved, and the degree of automation is improved.

Preferably, the empty box waiting station is arranged beside the boxing station on the conveying roller set, the empty box waiting station and the boxing station are sequentially distributed along the conveying direction of the conveying roller set, a box blocking mechanism for controlling the part boxes to enter the boxing station one by one is arranged at the empty box waiting station, the box blocking mechanism comprises an upper baffle arranged between the boxing station and the empty box waiting station, the upper baffle is arranged right above the conveying roller set and is provided with a box inlet for the independent part boxes to pass through with the conveying roller set, and the box blocking mechanism further comprises a lifting mechanism for lifting or putting down the part boxes at the empty box waiting station and a blocking assembly for preventing the part boxes outside the empty box waiting station from entering the empty box waiting station.

By adopting the technical scheme, when empty boxes are placed on the conveying roller set, a plurality of empty boxes can be stacked on each empty box in the vertical direction while the empty boxes are sequentially placed along the conveying direction of the conveying roller set, namely, the number of the empty boxes placed on the conveying roller set is increased; when the boxing operation is carried out, a group of empty boxes enter an empty box waiting station, when the empty boxes need to be conveyed to the boxing station, the empty boxes positioned above are blocked to move to the boxing station by the upper baffle plate, a plurality of empty boxes positioned above are lifted by the lifting mechanism, so that the bottommost empty box enters the boxing station through the box inlet, the empty boxes at the front end of the empty box waiting station are blocked by the blocking component, after the empty box replacement is finished, the empty boxes are lowered onto the conveying roller group by the lifting mechanism, and the empty boxes are conveyed next time until all the empty boxes on the empty box waiting station are conveyed; and then removing the blocking component to enable the next empty box to move to an empty box waiting station, repeating the above process, so that the automatic box changing function can be realized, and the conveying roller set can stack a large number of empty boxes last time, so that the frequency of manually placing the empty boxes is reduced, the manual workload is reduced, and the production efficiency is improved.

Preferably, the stacking control mechanism controls the clamping mechanism to vertically lift and move in two mutually perpendicular directions on a horizontal plane.

By adopting the technical scheme, the vertical lifting of the clamping mechanism and the movement of the clamping mechanism in two mutually perpendicular directions on the horizontal plane can cover the whole three-dimensional space, so that after the part box is clamped, the part box can vertically lift and move in two mutually perpendicular directions on the horizontal plane, and the function of stacking the part box can be realized; and the clamping mechanism moves linearly along a plurality of directions, so that the implementation and control are easier, and the structure of the stacking control mechanism is as simple as possible.

Preferably, a positioning sensor for positioning the parts box is arranged on the conveying frame at the boxing station.

Preferably, a fixing component for fixing the part box is arranged on the conveying frame at the boxing station.

Through adopting above-mentioned technical scheme, through positioning sensor location part case, make the accurate transport of part case to on the vanning station to make the part case fixed through fixed subassembly, in order to guarantee that part vanning job stabilization goes on.

Preferably, the stacking station is arranged beside the conveying frame, and a positioning assembly for positioning the part box tray is arranged at the stacking station.

Through adopting above-mentioned technical scheme, locating component fixes a position the part case tray, and fixture and pile up neatly control mechanism are operated according to the route that the system set up to make pile up neatly job stabilization and accurate going on.

Preferably, the lifting mechanism comprises two groups of lifting assemblies arranged on two sides of the conveying direction of the conveying roller group, each lifting assembly comprises a lifting plate arranged in a vertical lifting manner and a lifting driving assembly for driving the lifting plate to lift, and lifting blocks sliding along the direction perpendicular to the conveying direction of the conveying roller group and lifting driving cylinders for driving the lifting blocks to slide are arranged on the lifting plates.

Through adopting above-mentioned technical scheme, when needs lift the part case, make the lifter plate move to by supreme empty part case place height of second down through lift drive assembly, be close to the part case motion to butt in the part case through lift drive cylinder drive hoisting block, two sets of lifting element synchronous operation of both sides, two hoisting block centre gripping are in the part case relative both sides promptly, the rethread lift drive assembly makes the lifter plate rise this moment, can lift the part case, realize the function of lifting the empty part case of empty case waiting station department promptly to the empty case is carried to vanning station one by one.

Preferably, the blocking assembly comprises a lower baffle plate and a blocking driving cylinder, the lower baffle plate is arranged on the conveying frame in a sliding manner, the blocking driving cylinder is used for driving the lower baffle plate to slide, the lower baffle plate is positioned above the conveying roller set, the sliding direction of the lower baffle plate is perpendicular to the conveying direction of the conveying roller set and parallel to the conveying surface of the conveying roller set, the lower baffle plate is positioned on one side of the empty box waiting station, which is far away from the boxing station, and the distance from the lower baffle plate to the conveying roller set is smaller than the distance from one side of the empty box, which is contacted with the conveying roller set, to the conveying roller set, which is far away from the conveying roller set.

Through adopting above-mentioned technical scheme, when carrying empty box to vanning station, the conveying roller group starts, makes down the baffle move to being located on the travel path of the empty box that contacts with conveying roller group through blocking the drive cylinder this moment to stop the empty box and wait for the outside part case of station along with conveying roller group motion through down the baffle, realize stopping the empty box and wait for the outside part case of station to get into the function of empty box waiting for the station promptly, and when needs make the part case get into the empty box waiting for the station, make down the baffle move to the conveying roller outside can.

In summary, the present application includes at least one of the following beneficial technical effects:

1. through the arrangement of the automatic box changing device and the automatic stacking device, empty boxes are conveyed to the box loading station on the conveying roller set, the part boxes filled with parts are clamped by the clamping mechanism and controlled to move through the stacking control mechanism, so that the part boxes filled with the parts are moved away from the box loading station and transferred to the stacking station to be stacked, then the conveying roller set conveys the next empty box to the box loading station, the functions of automatic replacement of the part boxes and automatic stacking are realized, and the degree of automation is improved;

2. through the arrangement of the empty box waiting station and the box blocking mechanism, a large number of empty boxes can be stacked on the conveying roller set, and the empty boxes enter the box loading station one by one during box changing, so that the automatic box changing function is realized, the frequency of manually placing the empty boxes is reduced, the manual workload is reduced, and the production efficiency is improved;

3. the stacking control mechanism controls the clamping mechanism to vertically lift and move in two mutually perpendicular directions on a horizontal plane, so that the moving path of the clamping mechanism can cover the whole three-dimensional space, and after the part box is clamped, the part box can vertically lift and move in two mutually perpendicular directions on the horizontal plane, and the function of stacking the part box can be realized; and the clamping mechanism moves linearly along a plurality of directions, so that the implementation and control are easier, and the structure of the stacking control mechanism is as simple as possible.

Drawings

FIG. 1 is a schematic view of the overall structure of the present embodiment;

fig. 2 is a schematic structural view of the automatic box changing device and the automatic stacking device in the present embodiment;

FIG. 3 is a schematic view of the structure of the automatic box changing device in the present embodiment;

fig. 4 is a schematic view of the structures of the movable plate and the fixed driving cylinder in the present embodiment;

fig. 5 is an enlarged view at a in fig. 3;

FIG. 6 is a schematic view of the structure of the blocking mechanism in the present embodiment;

fig. 7 is a schematic structural view of the automatic stacking device in the present embodiment;

fig. 8 is a schematic structural view of the clamping mechanism in the present embodiment;

fig. 9 is a schematic structural view of the palletizing driving mechanism in the present embodiment.

Reference numerals: 1. a first mechanical arm; 2. a cooling device; 3. a slag ladle removing device; 4. a deburring device; 5. a second mechanical arm; 6. a control device; 7. an automatic box changing device; 71. a carriage; 72. a conveying roller set; 73. a driving motor; 74. a positioning rod; 75. a fixing plate; 76. a movable plate; 77. a fixed driving cylinder; 78. a box blocking mechanism; 781. an upper baffle; 782. a lifting mechanism; 7821. a lifting plate; 7822. a lifting driving assembly; 7823. a vertical guide rail; 7824. a lifting block; 7825. a lift driving cylinder; 783. a blocking mechanism; 7831. a lower baffle; 7832. blocking the driving cylinder; 79. a portal frame; 8. an automatic stacking device; 81. a clamping mechanism; 811. a bottom plate; 812. a movable clamping plate; 813. fixing the clamping plate; 814. a clamping driving cylinder; 815. a horizontal guide rail; 816. a sliding plate; 817. a laser ranging sensor; 818. a bearing plate; 82. a support frame; 821. a support column; 822. a mounting frame; 83. a stacking driving mechanism; 831. a horizontal mounting column; 832. a slide plate; 833. a slide; 834. a side plate; 835. a vertical mounting column; 836. a first rack; 837. a first moving motor; 838. a second rack; 839. a second moving motor; 840. a third rack; 841. a third moving motor; 842. rotating the platform; 9. a boxing station; 10. a stacking station; 11. positioning a sensor; 12. waiting for a station by an empty box; 13. and (5) positioning the plate.

Detailed Description

The present application is described in further detail below with reference to the accompanying drawings.

Referring to fig. 1, the embodiment of the application discloses an automatic workpiece taking system, which comprises a first mechanical arm 1, a cooling device 2, a deslagging package device 3, a deburring device 4, a second mechanical arm 5 and a control device 6, wherein the control device 6 controls the first mechanical arm 1, the cooling device 2, the deslagging package device 3, the deburring device 4 and the second mechanical arm 5 to operate, the first mechanical arm 1 is used for taking out a part formed in a die casting machine and transferring the part between the cooling device 2, the deslagging package device 3 and the deburring device 4, specifically, the first mechanical arm 1 takes out the part in the die casting machine and then places the part into the cooling device 2 for cooling, after the part is cooled, the first mechanical arm 1 takes out the part in the cooling device 2 and places the part into the deburring device 3 for removing redundant parts, after the deslagging package is completed, the part is clamped by the first mechanical arm 1 and transferred into the deburring device 4, the finished part is obtained after the part is subjected to deburring and cutting and deburring, and the second mechanical arm 5 transfers the finished part to the die casting device 4 to a station for boxing after the finished part is taken out and boxing 9.

Referring to fig. 1 and 2, in order to realize automatic boxing, palletizing and empty box replacement of machined parts, an automatic box-changing device 7 for replacing part boxes is arranged at a boxing station 9, an automatic palletizing device 8 for palletizing the part boxes filled with the parts is arranged at a palletizing station 10, and correspondingly, the control device 6 is also used for controlling the operation of the automatic box-changing device 7 and the automatic palletizing device 8.

Referring to fig. 2, a positioning assembly for positioning the pallet of the parts box is further arranged at the stacking station 10, the positioning assembly comprises a plurality of positioning plates 13, the plurality of positioning plates 13 are enclosed to form the stacking station 10, and a positioning sensor 11 is arranged on the positioning plates 13.

Referring to fig. 3, the automatic box changing device 7 includes a carriage 71, a conveying roller set 72 rotatably mounted on the carriage 71, and a driving member for driving the conveying roller set 72 to rotate, and the boxing station 9 of the second mechanical arm 5 is located on the conveying roller set 72; specifically, in this embodiment, the conveying roller sets 72 are horizontally arranged, two ends of each conveying roller are coaxially and fixedly provided with sprockets, the driving piece is a driving motor 73 fixed on the conveying frame 71, the sprocket is coaxially fixed on the output shaft of the driving motor 73, and the sprocket on the driving motor 73 is connected with the sprocket on the conveying roller through a chain, so that the function of automatically conveying the part box filled with parts and conveying the empty box to the boxing station 9 to complete box replacement can be realized; in order to realize the replacement of empty boxes one by one, the width of the conveying roller set 72 is set to be matched with the empty boxes individually, and the empty boxes are arranged in a row on the conveying roller set 72 along the conveying direction.

Referring to fig. 3, in order to accurately convey the parts box to the boxing station 9, a positioning sensor 11 for positioning the parts box is fixedly provided on the carriage 71 at the boxing station 9; specifically, two positioning sensors 11 are provided, and the two positioning sensors 11 are respectively and symmetrically arranged at two sides of the conveying direction of the conveying roller set 72; in order to avoid the parts box from sliding past the boxing station 9 due to inertia during conveying, a positioning rod 74 positioned at the boxing station 9 is fixed on the conveying frame 71, the positioning rod 74 is positioned right above the conveying roller set 72 and positioned on the conveying path of the parts box, the positioning rod 74 is horizontally arranged, the length direction of the positioning rod is perpendicular to the conveying direction of the conveying roller set 72, and the parts box is positioned on the boxing station 9 when contacting with the positioning rod 74.

Referring to fig. 3 and 4, a fixing assembly for fixing the parts box is further disposed on the carriage 71 at the boxing station 9, the fixing assembly includes a fixing plate 75 and a movable plate 76, the fixing plate 75 and the movable plate 76 are disposed on two sides of the conveying direction of the conveying roller set 72 and are disposed opposite to each other, the fixing plate 75 and the movable plate 76 are parallel to each other and are perpendicular to the conveying roller axis of the conveying roller set 72, the fixing plate 75 is fixed on the carriage 71, the movable plate 76 is horizontally slidably disposed on the carriage 71 along the direction perpendicular to the conveying direction of the conveying roller set 72, and correspondingly, a fixing driving cylinder 77 for driving the movable plate 76 to slide is fixed on the carriage 71, and the parts box is clamped by cooperation of the movable plate 76 and the fixing plate 75, so that boxing operation is stably performed.

Referring to fig. 3, in order to make the length of the conveying roller set 72 as small as possible to reduce the occupied space thereof, the boxing station 9 is disposed at an end portion of the conveying roller set 72 near the second mechanical arm 5, and an empty box waiting station 12 is disposed beside the boxing station 9 on the conveying roller set 72, the empty box waiting station 12 and the boxing station 9 are sequentially distributed along the conveying direction of the conveying roller set 72, a positioning sensor 11 is also disposed at the empty box waiting station 12 on the conveying frame 71, two positioning sensors 11 are also disposed at the empty box waiting station 12, and the two positioning sensors 11 are also disposed symmetrically at both sides of the conveying direction of the conveying roller set 72; the box blocking mechanism 78 for controlling the parts boxes to enter the boxing station 9 one by one is further arranged at the empty box waiting station 12, specifically, the box blocking mechanism 78 comprises an upper baffle 781 arranged between the boxing station 9 and the empty box waiting station 12, the upper baffle 781 is positioned right above the conveying roller set 72 and a box inlet for the individual parts boxes to pass through is reserved between the upper baffle 781 and the conveying roller set 72, and in the embodiment, the upper baffle 781 is vertically arranged and the length direction of the upper baffle 781 is perpendicular to the conveying direction of the conveying roller set 72; and the bin gate mechanism 78 also includes a lift mechanism 782 for lifting or lowering the parts bin at the empty bin standby station 12 and a blocking assembly for blocking or releasing the parts bin outside of the empty bin standby station 12 into the empty bin standby station 12.

Through the setting of fender case mechanism 78, when putting the empty box on the conveying roller group 72, when putting a plurality of in proper order with the empty box along the direction of delivery of conveying roller group 72, can stack a plurality of empty boxes along vertical direction on every empty box to get into vanning station 9 one by one through fender case mechanism 78 control empty box, thereby increase the quantity of the empty box of putting on the conveying roller group 72, with the length that reduces conveying roller group 72, reduce the frequency of manual work and put the empty box simultaneously.

Referring to fig. 3 and 5, the lifting mechanism 782 includes two sets of lifting assemblies disposed on two sides of the conveying direction of the conveying roller set 72, the lifting assemblies include a lifting plate 7821 disposed in a vertical lifting manner and a lifting driving assembly 7822 for driving the lifting plate 7821 to lift, and the lifting plate 7821 is provided with a lifting block 7824 sliding along a direction perpendicular to the conveying direction of the conveying roller set 72 and a lifting driving cylinder 7825 for driving the lifting block 7824 to slide.

Referring to fig. 3 and 5, specifically, in the present embodiment, on the carriage 71, a gantry 79 is fixed on both sides of the conveying direction of the conveying roller set 72, a lifting plate 7821 is slidably mounted inside the gantry 79, and both sides of an upper baffle 781 are fixed between the two gantry 79, respectively; the lifting driving assembly 7822 is composed of a synchronous belt, synchronous pulleys and lifting motors, the two lifting pulleys are respectively arranged at the bottom and the top of the portal frame 79, the axes of the lifting pulleys are horizontal and vertical to the conveying direction of the conveying roller set 72, the lifting motors are arranged at the top of the portal frame 79, the output shafts of the lifting motors are fixedly connected with the lifting pulleys at the top in a coaxial manner, the synchronous belt is sleeved on the two synchronous pulleys, in the embodiment, the two portal frames 79 are fixedly connected through the connecting rods at the top, and the two connecting rods are fixedly provided with protective shells covering the two lifting motors; the lifting plate 7821 is fixedly connected with a connecting plate, the connecting plate is fixedly connected with one side edge of the synchronous belt, and the lifting motor drives the synchronous belt pulley to rotate, so that the synchronous belt rotates to drive the lifting plate 7821 to lift through the connecting plate.

Referring to fig. 5, in order to improve the lifting stability of the lifting plate 7821, two vertical guide rails 7823 are fixed inside the gantry 79, the cross section of the guide rails is in an "i" shape, and the lifting plate 7821 is fixedly connected with sliding blocks respectively slidably mounted on the two guide rails.

Referring to fig. 6, the blocking assembly includes a lower baffle 7831 slidably disposed on the carriage 71 and a blocking driving cylinder 7832 for driving the lower baffle 7831 to slide, the lower baffle 7831 being disposed above the conveying roller set 72, the sliding direction of the lower baffle 7831 being perpendicular to the conveying direction of the conveying roller set 72 and parallel to the conveying surface of the conveying roller set 72, the lower baffle 7831 being disposed on a side of the empty box waiting station 12 away from the boxing station 9, the distance from the lower baffle 7831 to the conveying roller set 72 being smaller than the distance from the side of the empty box contacting the conveying roller set 72 away from the conveying roller set 72 to the conveying roller set 72; specifically, in this embodiment, the lower baffle 7831 is disposed vertically and the plane thereof is perpendicular to the conveying direction of the conveying roller set 72, and the lower baffles 7831 are disposed on both sides of the conveying direction of the conveying roller set 72, and correspondingly, the blocking driving cylinders 7832 are also disposed in two. So that the lower shutter 7831 can be driven to move onto the parts box conveying path by the blocking driving cylinder 7832 to block the conveying of the parts box.

Referring to fig. 7, the automatic palletizing apparatus 8 includes a clamping mechanism 81 for clamping or unclamping the parts box and a palletizing control mechanism for controlling the clamping mechanism 81 to reciprocate between the boxing station 9 and the palletizing station 10 and perform palletizing; specifically, to make the structure of the palletizing control mechanism as simple as possible, the palletizing control mechanism controls the vertical lifting and the movement of the clamping mechanism 81 in two mutually perpendicular directions on the horizontal plane.

Referring to fig. 8, the clamping mechanism 81 includes a bottom plate 811, in this embodiment, the bottom plate 811 is horizontally disposed, a movable clamping plate 812 and a fixed clamping plate 813 are disposed on the lower side of the bottom plate 811, the movable clamping plate 812 and the fixed clamping plate 813 are vertically disposed and parallel to each other, the movable clamping plate 812 and the fixed clamping plate 813 are respectively disposed on two opposite sides of the bottom plate 811, the fixed clamping plate 813 is fixedly connected with the bottom plate 811, and the movable clamping plate 812 is slidably mounted on the bottom plate 811 along a direction perpendicular to the fixed clamping plate 813; specifically, a clamping driving cylinder 814 is fixed on the upper side of the bottom plate 811, an output shaft of the clamping driving cylinder 814 is perpendicular to the movable clamping plate 812 and faces a direction away from the fixed clamping plate 813, and the movable clamping plate 812 is fixedly connected with a piston rod of the clamping driving cylinder 814 through a connecting block; in order to improve the stability of the sliding installation of the movable clamping plate 812, two horizontal guide rails 815 are fixed on the lower side of the bottom plate 811, the length direction of the horizontal guide rails 815 is parallel to the axial direction of the piston rod of the clamping driving cylinder 814, the cross section of the horizontal guide rails 815 is in an I shape, a horizontal sliding plate 816 is fixed on one side of the movable clamping plate 812, which is close to the fixed clamping plate 813, and sliding blocks which are respectively in sliding fit with the two horizontal guide rails 815 are fixedly connected on the sliding plate 816. The parts box is clamped by the cooperation of the movable clamping plate 812 and the fixed clamping plate 813 so as to be convenient for transferring and stacking the parts box.

Referring to fig. 8, in order to improve structural stability of the movable clamp plate 812 and the fixed clamp plate 813, rib plates are provided between the movable clamp plate 812 and the sliding plate 816 and between the fixed clamp plate 813 and the bottom plate 811; a laser ranging sensor 817 is further fixed on the lower side of the bottom plate 811, and the laser ranging sensor 817 monitors the moving distance of the sliding plate 816 to precisely control the moving distance of the movable clamping plate 812. In order to improve the stability of the clamping process of the parts box, a supporting plate 818 is fixed on the lower side of the movable clamping plate 812 and the lower side of the fixed clamping plate 813, and the supporting plate 818 is horizontally arranged and extends between the movable clamping plate 812 and the fixed clamping plate 813 to form a supporting part for supporting the parts box.

Referring to fig. 7 and 9, the stacking control mechanism includes a supporting frame 82, the supporting frame 82 includes four vertically arranged supporting columns 821, the bottoms of the supporting columns 821 are fixed on the ground through supporting plates, the four supporting columns 821 are equally divided into two groups and distributed on two sides of the conveying direction of the conveying roller set 72, and the four supporting columns 821 are distributed in rectangular shapes with different lengths and widths, and the long sides of the rectangles are perpendicular to the conveying direction of the conveying roller set 72; the support frame 82 further comprises a rectangular mounting frame 822 which is horizontally arranged, the mounting frame 822 is positioned at the top end of the support column 821, four corners of the mounting frame 822 are respectively fixed with the four support columns 821, the length direction of the longer side edge of the mounting frame 822 is perpendicular to the length direction of the conveying roller set 72, specifically, a horizontal top plate is fixed at the top of the support column 821, horizontal mounting plates are respectively fixed at the four corners of the mounting frame 822, and the mounting plates are fixedly bolted with the top plate; the palletizing station 10 and the boxing station 9 are both located below the mounting frame 822 and in the projection of the mounting frame 822 on the ground, and the palletizing station 10 is located on the ground beside the boxing station 9.

Referring to fig. 7 and 9, the stacking control mechanism further includes a stacking driving mechanism 83 disposed on the mounting frame 822, the stacking driving mechanism 83 includes a horizontal mounting post 831 disposed between two longer sides of the mounting frame 822, a length direction of the horizontal mounting post 831 is parallel to a conveying direction of the conveying roller set 72, two first limiting rails disposed along a length direction of the longer sides are respectively fixed on the two longer sides of the mounting frame 822, a cross section of each first limiting rail is in an "i" shape, two first limiting sliders are slidably mounted on each first limiting rail, two horizontal sliding plates 832 are fixedly connected to two ends of the horizontal mounting post 831, the sliding plates 832 are located above the first limiting rails, and four first limiting sliders located on the two first limiting rails on the same side of the mounting frame 822 are fixedly connected to one sliding plate 832; in this embodiment, base plates disposed along the length direction of the longer sides are respectively fixed to the two longer sides of the mounting frame 822, and the first limiting rail is fixed to the base plates.

Referring to fig. 9, two second limiting rails are fixed on a vertical side surface on the horizontal mounting column 831 along the length direction thereof, the cross section of the second limiting rails is in an "h" shape, and two second limiting sliders are slidably mounted on each of the second limiting rails; a vertical sliding seat 833 is arranged on the horizontal mounting column 831, and four second limiting sliding blocks are fixed with the sliding seat 833; two side plates 834 which are vertically arranged and are vertical to the slide seat 833 are fixed on the slide seat 833, the two side plates 834 are mutually parallel, and one side of the two side plates 834, which is far away from the slide seat 833, is fixedly connected through a vertical coaming; a vertical mounting column 835 is arranged between the two side plates 834, vertical limiting guide rails are fixedly arranged on two sides of the vertical mounting column 835 facing the two side plates 834 respectively, the cross sections of the vertical limiting guide rails are I-shaped, two third limiting slide blocks are slidably assembled on the vertical limiting guide rails, and the two third limiting slide blocks located on the same vertical limiting guide rail are fixed with the side plate 834 close to the same vertical limiting guide rail.

The bottom plate 811 is mounted on the lower end of the vertical mounting column 835, and thus the vertical lifting and movement of the clamping mechanism 81 in two mutually perpendicular directions on the horizontal plane can be achieved by sliding the horizontal mounting column 831, the slider 833 and the vertical mounting column 835.

Referring to fig. 9, to control the movement of the clamping mechanism 81, a first rack 836 is fixed on the two base plates, the first rack 836 is located between the two first limiting rails, the length direction of the first rack 836 is consistent with the length direction of the first limiting rails, a first moving motor 837 is also fixed on the two sliding plates 832, the output shaft of the first moving motor 837 vertically moves downwards and passes through the sliding plates 832, a first gear located on the lower side of the sliding plates 832 is coaxially and fixedly arranged on the output shaft of the first moving motor 837, and the first gear is meshed with the first rack 836; a second rack 838 arranged along the length direction of the horizontal mounting column 831 is fixed on the upper side of the horizontal mounting column 831, a horizontal lug plate is fixed on one side of the sliding seat 833 close to the horizontal mounting column 831, a second mobile motor 839 is fixed on the lug plate, an output shaft of the second mobile motor 839 vertically downwards passes through the lug plate, and a second gear meshed with the second rack 838 is coaxially and fixedly arranged on an output shaft of the second driving motor 73; a third rack 840 is fixed on the vertical support column 821 and on one side close to the sliding seat 833, a third moving motor 841 is fixed on one side of the sliding seat 833 close to the horizontal installation shaft, an output shaft of the third moving motor 841 is horizontal and vertical to the length direction of the horizontal installation column 831, and a third gear meshed with the third rack 840 is coaxially and fixedly connected with the output shaft of the third moving motor 841 after passing through the sliding seat 833. So that the movement control of the clamping mechanism 81 is more convenient and the control of the movement distance is more accurate to accurately perform the stacking work.

Referring to fig. 9, to achieve horizontal rotation of the clamping mechanism 81 for more accurate palletizing work, the lower end of the vertical mounting post 835 is connected to the bottom plate 811 through the rotary table 842, and the bottom plate 811 is fixed to the turntable of the rotary table 842. Thereby the horizontal angle of the parts box can be adjusted to more accurately perform palletizing.

The implementation principle of the embodiment is as follows: after the part is subjected to die casting forming in a die casting machine, taking out the die-cast part in the die casting machine by a first mechanical arm 1, and placing the die-cast part in a cooling device 2 for cooling; after the parts are cooled, the parts are clamped and transferred into a slag ladle removing device 3 by a first mechanical arm 1, and the slag ladle removing device 3 removes redundant parts on the parts; after the deslagging package is completed, clamping the part by the first mechanical arm 1, transferring the part into the deburring device 4, and polishing, deburring and cutting a handle of the part in the deburring device 4 to obtain a finished product; the second mechanical arm 5 takes out finished parts processed in the deburring device 4 and then transfers the finished parts to the boxing station 9 for boxing, after boxing is completed, the part boxes are clamped by the clamping mechanism 81, the clamping mechanism 81 is controlled by the stacking control mechanism to move so as to remove the filled part boxes, and then the empty boxes are controlled by the box blocking mechanism 78 to enter the boxing station 9 one by one so as to be replaced; then the clamping mechanism 81 is controlled by the stacking control mechanism to move so as to remove the part box filled with the parts from the boxing station 9 and transfer the part box to the stacking station 10, and the clamping mechanism 81 is vertically lifted, moved in two mutually perpendicular directions in the horizontal direction and horizontally rotated so as to adjust the position of the part box and perform stacking work, so that the functions of automatically replacing the part box and automatically stacking the part box are realized, and the degree of automation is improved.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims

1. Automatic get a system, including first arm (1), cooling device (2), deslagging bagging apparatus (3), burring device (4) and second arm (5), first arm (1) are used for taking out the part of die casting machine internal shaping and shift the part between cooling device (2), deslagging bagging apparatus (3) and burring device (4), and second arm (5) are used for taking out the part in burring device (4) and transferring to vanning station (9), its characterized in that: the automatic box changing device (7) is arranged at the box filling station (9) and used for changing the part boxes, and the automatic stacking device (8) is arranged at the stacking station (10) and used for stacking the filled part boxes;

the automatic box changing device (7) comprises a conveying frame (71), a conveying roller set (72) rotatably mounted on the conveying frame (71) and a driving piece for driving the conveying roller set (72) to rotate, and a box filling station (9) is positioned on the conveying roller set (72);

the automatic stacking device (8) comprises a clamping mechanism (81) for clamping or loosening the part boxes, and a stacking control mechanism for controlling the clamping mechanism (81) to reciprocate between a boxing station (9) and a stacking station (10) and perform stacking;

the automatic box feeding device is characterized in that an empty box waiting station (12) is arranged beside a box loading station (9) on a conveying roller set (72), the empty box waiting station (12) and the box loading station (9) are sequentially distributed along the conveying direction of the conveying roller set (72), a box blocking mechanism (78) for controlling part boxes to enter the box loading station (9) one by one is arranged at the empty box waiting station (12), the box blocking mechanism (78) comprises an upper baffle (781) arranged between the box loading station (9) and the empty box waiting station (12), the upper baffle (781) is arranged right above the conveying roller set (72) and a box inlet for allowing individual part boxes to pass through is reserved between the conveying roller set (72), and the box blocking mechanism (78) further comprises a lifting mechanism (782) for lifting or putting the part boxes at the empty box waiting station (12) and a blocking assembly for blocking or releasing the part boxes outside the empty box waiting station (12) from entering the empty box waiting station (12).

2. The automated picking system of claim 1, wherein: the stacking control mechanism controls the clamping mechanism (81) to vertically lift and move in two mutually perpendicular directions on a horizontal plane.

3. The automated picking system of claim 1, wherein: a positioning sensor (11) for positioning the part box is arranged on the conveying frame (71) at the boxing station (9).

4. The automated picking system of claim 1, wherein: and a fixing component for fixing the part box is arranged on the conveying frame (71) at the boxing station (9).

5. The automated picking system of claim 1, wherein: the stacking station (10) is arranged beside the conveying frame (71), and a positioning assembly for positioning the part box tray is arranged at the stacking station (10).

6. The automated picking system of claim 1, wherein: the lifting mechanism (782) comprises two groups of lifting assemblies arranged on two sides of the conveying direction of the conveying roller group (72), the lifting assemblies comprise lifting plates (7821) arranged in a vertical lifting mode and lifting driving assemblies (7822) for driving the lifting plates (7821) to lift, lifting blocks (7824) sliding in the direction perpendicular to the conveying direction of the conveying roller group (72) and lifting driving cylinders (7825) for driving the lifting blocks (7824) to slide are arranged on the lifting plates (7821).

7. The automated picking system of claim 1, wherein: the blocking assembly comprises a lower baffle plate (7831) arranged on the conveying frame (71) in a sliding manner and a blocking driving cylinder (7832) for driving the lower baffle plate (7831) to slide, the lower baffle plate (7831) is arranged above the conveying roller set (72), the sliding direction of the lower baffle plate (7831) is perpendicular to the conveying direction of the conveying roller set (72) and parallel to the conveying surface of the conveying roller set (72), the lower baffle plate (7831) is arranged on one side, far away from the boxing station (9), of the empty box waiting station (12), and the distance from the lower baffle plate (7831) to the conveying roller set (72) is smaller than the distance from one side, far away from the conveying roller set (72), of an empty box in contact with the conveying roller set (72) to the conveying roller set (72).