A knife picking and matching machine

Abstract

The present invention discloses a knife picking and matching machine, comprising a knife picking machine, a knife matching machine and a plurality of manipulators arranged on one side of the knife picking machine and the knife matching machine; the knife picking machine comprises a knife picking rotating platform, a knife picking turntable and a plurality of knife picking fixtures; the knife picking rotating platform is arranged below the knife picking turntable, and the knife picking rotating platform drives the knife picking turntable to rotate, and a plurality of knife picking fixtures are arranged along the periphery of the knife picking turntable; the knife matching machine comprises a knife matching rotating platform, a knife matching turntable and a plurality of knife matching fixtures; the knife matching rotating platform is arranged below the knife matching turntable, and the knife matching rotating platform drives the knife matching turntable to rotate, and a plurality of knife matching fixtures are arranged along the periphery of the knife matching turntable. The knife picking and matching machine of the present invention has the characteristics of high automation, high processing precision, high production efficiency and the like.

Description

Technical Field

[0001] The invention relates to the field of drill cutter production equipment, in particular to a cutter removal and matching machine. Background Art

[0002] When drilling holes on a multi-axis drilling machine, a large number of drill bits of different types and quantities are used according to product requirements. These drill bits need to be installed in a cutter box in advance, and different types and quantities of drill bits need to be grabbed and screened during the assembly process. The drill bit assembly work in the prior art is usually done manually or semi-automatically, which reduces production accuracy and is prone to assembly confusion or incomplete cutter boxes. It also requires a lot of manpower, which seriously affects normal efficiency and increases production costs. Summary of the invention

[0003] Based on this, the object of the present invention is to provide a knife picking and matching machine with high automation, high processing accuracy and high production efficiency.

[0004] The knife picking and matching machine of the present invention comprises a knife picking machine, a knife matching machine and a plurality of manipulators arranged on one side of the knife picking machine and the knife matching machine;

[0005] The knife picking machine comprises a knife picking rotating platform, a knife picking rotating disk and a plurality of knife picking fixtures; the knife picking rotating platform is arranged below the knife picking rotating disk, and the knife picking rotating platform drives the knife picking rotating disk to rotate, and the plurality of knife picking fixtures are arranged along the periphery of the knife picking rotating disk;

[0006] The knife matching machine includes a knife matching rotating platform, a knife matching turntable and a plurality of knife matching fixtures; the knife matching rotating platform is arranged below the knife matching turntable, and the knife matching rotating platform drives the knife matching turntable to rotate, and the plurality of knife matching fixtures are arranged along the periphery of the knife matching turntable.

[0007] The knife picking and matching machine of the present invention is provided with a knife picking machine, a knife matching machine and multiple manipulators, and the manipulators are used to automatically grab the knife disc box, and the knife picking rotating platform and the knife matching rotating platform automatically drive the knife picking turntable and the knife matching turntable to rotate respectively. The turntable design of the knife picking turntable and the knife matching turntable is convenient for the transportation of the knife disc box and the knife matching operation, and the knife picking clamp and the knife matching clamp can clamp the knife disc box for easy assembly of the drill bit. After the knife matching is completed on the knife matching machine, the knife disc box is output. The production process is highly automated and does not require manual operation, which improves the processing accuracy and production efficiency and saves production costs.

[0008] In one embodiment of the above technical solution, the multiple tool picking fixtures and the multiple tool matching fixtures all include a base plate, a baffle plate and a pressure plate; the base plate is fixed on the tool picking turntable, the baffle plate is fixed along the side of the base plate, and the pressure plate is movably arranged on the base plate and is located on the side opposite to the baffle plate.

[0009] In one embodiment of the above technical solution, the plurality of tool removal fixtures and the plurality of tool matching fixtures all further include a linear slide rail, which is horizontally arranged on the base plate and extends to the outside of the base plate, and the pressure plate is movably arranged on the linear slide rail.

[0010] In one implementation of the above technical solution, the plurality of tool removal fixtures and the plurality of tool matching fixtures all further include a reset spring that can drive the pressure plate to reset along the linear slide rail, and the two ends of the reset spring are respectively connected to the pressure plate and the base plate.

[0011] In one implementation of the above technical solution, the plurality of tool taking fixtures and the plurality of tool matching fixtures each further include a fixing block, the fixing block is connected to the lower portion of the baffle, and the lower portion of the fixing block is configured in a wedge shape;

[0012] The knife taking machine and the knife matching machine also include a plurality of push-up cylinders, which are respectively arranged below the knife taking turntable and the knife matching turntable, the piston rods of the push-up cylinders are arranged upward and connected with push-up blocks, the upper part of the push-up block is arranged in a wedge shape, and the push-up block can press the fixed block and make the pressure plate move toward the outside of the bottom plate along the linear slide rail.

[0013] In one implementation of the above technical solution, U-shaped switch sensors are also provided on the peripheries of the knife taking turntable and the knife matching turntable.

[0014] In one embodiment of the above technical solution, the plurality of manipulators each include a bracket, a guide rail, a sliding frame, a horizontal drive, a vertical drive and a gripper cylinder;

[0015] The bracket is arranged on one side of the knife taking machine or the knife matching machine, the guide rail is horizontally fixed on the upper part of the bracket, the sliding frame can be slidably arranged on the guide rail, the horizontal driver is fixed on the bracket and its power output end is transmission connected with the sliding frame, the vertical driver is fixed on the sliding frame and its power output end can drive the clamping cylinder to rise and fall, and the clamping cylinder is arranged above the knife taking turntable or the knife matching turntable.

[0016] In one implementation of the above technical solution, the plurality of manipulators further include a rotary cylinder, a cylinder body of the rotary cylinder is connected to a power output end of the vertical drive, and a rotary disk thereof is connected to the gripper cylinder.

[0017] In one implementation of the above technical solution, the horizontal driver is a cylinder, a cylinder body of which is horizontally fixed on the bracket, and a piston rod of which is connected to the sliding frame.

[0018] In one implementation of the above technical solution, the vertical driver is a cylinder, a cylinder body of which is vertically fixed on the sliding frame, and a piston rod of which is connected to the cylinder body of the rotating cylinder.

[0019] Compared with the prior art, the present invention provides a knife picking machine, a knife matching machine and multiple manipulators, and uses the manipulators to automatically grab the knife disc box, and the knife picking rotating platform and the knife matching rotating platform automatically drive the knife picking turntable and the knife matching turntable to rotate respectively. The turntable design of the knife picking turntable and the knife matching turntable is convenient for the knife disc box transportation and knife matching operation, and the knife picking fixture and the knife matching fixture can clamp the knife disc box for easy assembly of the drill. After the knife matching is completed on the knife matching machine, the knife disc box is output. Its production process is highly automated, no manual operation is required, and the processing accuracy and production efficiency are improved, saving production costs. The present invention has the characteristics of high automation, high processing accuracy, high production efficiency, etc.

[0020] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional structural schematic diagram of the preferred structure of the knife picking and matching machine of the present invention.

[0022] Figure 2 It is a three-dimensional structural schematic diagram of another angle of the preferred structure of the knife picking and matching machine of the present invention.

[0023] Figure 3 It is a three-dimensional structural schematic diagram of the preferred structure of the knife taking machine.

[0024] Figure 4 It is a three-dimensional structural schematic diagram of another angle of the preferred structure of the knife removal machine.

[0025] Figure 5 It is a side view of the preferred structure of the knife taking machine.

[0026] Figure 6 It is a three-dimensional structural schematic diagram of the preferred structure of the tool removal fixture and the tool matching fixture.

[0027] Figure 7 It is a schematic diagram of multiple manipulators arranged around a knife picking machine and a knife matching machine. DETAILED DESCRIPTION

[0028] The directional terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined relative to their structure and are relative concepts. Therefore, they may change accordingly according to their different locations and different usage conditions. Therefore, these or other directional terms should not be interpreted as restrictive terms.

[0029] The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0030] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0031] See also Figure 1 and Figure 2 . Figure 1 It is a three-dimensional structural schematic diagram of the preferred structure of the knife picking and matching machine of the present invention. Figure 2 It is a three-dimensional structural schematic diagram of another angle of the preferred structure of the knife picking and matching machine of the present invention.

[0032] The knife picking and matching machine of the present invention comprises a knife picking machine 1, a knife matching machine 2 and a plurality of manipulators 3 arranged on one side of the knife picking machine 1 and the knife matching machine 2.

[0033] The knife picking machine 1 includes a knife picking rotating platform 11, a knife picking turntable 12 and a plurality of knife picking fixtures 13; the knife picking rotating platform 11 is arranged below the knife picking turntable 12, and the knife picking rotating platform 11 drives the knife picking turntable 12 to rotate, and the plurality of knife picking fixtures 13 are evenly arranged along the periphery of the knife picking turntable 12.

[0034] The tool matching machine 2 includes a tool matching rotating platform 21, a tool matching turntable 22 and a plurality of tool matching fixtures 23; the tool matching rotating platform 21 is arranged below the tool matching turntable 22, and the tool matching rotating platform 21 drives the tool matching turntable 22 to rotate, and the plurality of tool matching fixtures 23 are evenly arranged along the periphery of the tool matching turntable 22.

[0035] Please read further Figure 3-Figure 5 . Figure 3 It is a three-dimensional structural schematic diagram of the preferred structure of the knife taking machine. Figure 4 It is a three-dimensional structural schematic diagram of another angle of the preferred structure of the knife removal machine. Figure 5 It is a side view of the preferred structure of the knife taking machine.

[0036] Specifically, the knife removing rotating platform 11 and the knife matching rotating platform 21 can both adopt the electric rotating platforms commonly used in the prior art. Usually, these electric rotating platforms include a motor and a rotating seat driven by the motor through gear transmission, and the rotating seat can be connected to the knife removing turntable 12 or the knife matching turntable 22.

[0037] See also Figure 6 , Figure 6 It is a three-dimensional structural schematic diagram of the preferred structure of the tool removal fixture and the tool matching fixture.

[0038] The plurality of tool taking fixtures 13 and the plurality of tool matching fixtures 23 each include a bottom plate 101, a baffle plate 102 and a pressure plate 103. The bottom plate 101 is fixed on the tool taking turntable 12, the baffle plate 102 is fixed along the side of the bottom plate 101, and the pressure plate 103 is movably arranged on the bottom plate 101 and located on a side opposite to the baffle plate 102.

[0039] Preferably, the plurality of tool taking fixtures 13 and the plurality of tool matching fixtures 23 further include a linear slide rail 104, the linear slide rail 104 is horizontally arranged on the bottom plate 101 and extends outward from the bottom plate 101, and the pressing plate 103 is movably arranged on the linear slide rail 104. The pressing plate 103 is installed on the linear slide rail 104 to ensure that the pressing plate 103 moves smoothly along a straight line when opened and closed.

[0040] Furthermore, the plurality of tool removal fixtures 13 and the plurality of tool matching fixtures 23 also include a reset spring 105 that can drive the pressure plate 103 to reset along the linear slide rail 104, and the two ends of the reset spring 105 are respectively connected to the pressure plate 103 and the base plate 101.

[0041] Preferably, the plurality of tool removal fixtures 13 and the plurality of tool matching fixtures 23 all further include a fixing block 106 , the fixing block 106 is connected to the lower portion of the baffle 102 , and the lower portion of the fixing block 106 is configured to be wedge-shaped.

[0042] The knife removing machine 1 and the knife matching machine 2 also include a plurality of push-up cylinders 4, which are respectively arranged below the knife removing turntable 12 and the knife matching turntable 22, and the piston rods of the push-up cylinders 4 are arranged upward and connected with push-up blocks 5, and the upper part of the push-up block 5 is arranged in a wedge shape, and the push-up block 5 can press the fixed block 106 and make the pressure plate 103 move along the linear slide rail 104 toward the outside of the bottom plate 101.

[0043] Preferably, two adjacent sides of the bottom plate 101 are respectively provided with a baffle 102, and the side positions corresponding to the two sides are respectively provided with a pressing plate 103, and there are two fixing blocks 106, and the two fixing blocks 106 are respectively connected to one pressing plate 103. Correspondingly, the piston rod of each of the push-opening cylinders 4 is connected with two push-opening blocks 5, and the two push-opening blocks 5 are respectively arranged under the two fixing blocks 106, so that when the piston rod of the push-opening cylinder 4 is extended, the two pressing plates 103 can move to both sides, so as to facilitate the placement of the cutter head box.

[0044] The tool picking turntable 12 of the tool picking machine 1 of this embodiment is configured with 12 workstations, each workstation is configured with a tool picking fixture 13, there are two push-opening cylinders 4 under the tool picking turntable 12, and the distance between the push-opening cylinders 4 is an integer multiple of the distance between two adjacent tool picking fixtures 13.

[0045] The tool matching turntable 22 of the tool matching machine 2 of this embodiment is configured with 4 workstations, each workstation is configured with a tool matching fixture 23, there are two push-opening cylinders 4 under the tool matching turntable 22, and the distance between the two push-opening cylinders 4 is an integer multiple of the distance between two adjacent tool matching fixtures 23.

[0046] When the knife-taking rotary disc 12 or the knife-matching rotary disc 22 rotates to the right position, the piston rod of the push-opening cylinder 4 extends out, the push-opening block 5 presses upward against the fixing block 106, and the fixing block 106 drives the pressing plate 103 to open outward. At this time, the knife disc box is put in, and then the piston rod of the push-opening cylinder 4 is retracted, and the pressing plate 103 returns to the initial position under the action of the return tension spring 105.

[0047] In addition, U-shaped switch sensors are also provided on the periphery of the knife-taking turntable 12 and the knife-matching turntable 22. The U-shaped switch sensors can monitor the position of the clamp on the knife-taking turntable 12 or the knife-matching turntable 22 at all times to ensure that the rotation position of the knife-taking turntable 12 or the knife-matching turntable 22 is accurate.

[0048] The above-mentioned multiple manipulators 3 each include a bracket 31 , a guide rail 32 , a sliding frame 33 , a horizontal driver 34 , a vertical driver 35 and a gripper cylinder 36 .

[0049] The bracket 31 is arranged on one side of the knife removing machine 1 or the knife matching machine 2, the guide rail 32 is horizontally fixed on the upper part of the bracket 31, the sliding frame 33 can be slidably arranged on the guide rail 32, the horizontal driver 34 is fixed on the bracket 31 and its power output end is transmission connected with the sliding frame 33, the vertical driver 35 is fixed on the sliding frame 33 and its power output end can drive the clamping cylinder 36 to rise and fall, and the clamping cylinder 36 is arranged above the knife removing turntable 12 or the knife matching turntable 22.

[0050] Preferably, the plurality of manipulators 3 further include a rotary cylinder 37 , a cylinder body of the rotary cylinder 37 is connected to the power output end of the vertical driver 35 , and a rotary disk thereof is connected to the gripper cylinder 36 .

[0051] In one embodiment, the horizontal driver 34 is a cylinder, whose cylinder body is horizontally fixed on the bracket 31, and whose piston rod is connected to the sliding frame 33. The horizontal driver 34 can ensure that the sliding frame 33 runs straight on the guide rail 32 without jamming.

[0052] In another embodiment, the horizontal drive 34 can also be a motor, which is a linear motor or a conventional motor. The power output end of the conventional motor drives the sliding frame 33 to slide on the guide rail 32 through common transmission methods, such as chains, belts, racks, screws, etc.

[0053] Preferably, the vertical driver 35 is a cylinder, whose cylinder body is vertically fixed on the sliding frame 33, and whose piston rod is connected to the cylinder body of the rotating cylinder 37. The vertical driver 35 can make the clamping cylinder 36 run in a straight line in the vertical direction.

[0054] Similarly, the vertical drive 35 can also be a motor, which is a linear motor or a conventional motor. The power output end of the conventional motor drives the clamping cylinder 36 to run in a straight line in the vertical direction through common transmission methods such as chains, belts, racks, screws, etc.

[0055] Please read further Figure 7 , Figure 7 It is a schematic diagram of multiple manipulators arranged around a knife picking machine and a knife matching machine.

[0056] In practical applications, the plurality of manipulators 3 can be used as a feeding belt manipulator 301, a knife-taking turntable feeding manipulator 302, a knife-matching feeding manipulator 303, a knife-matching discharging manipulator 304, a non-whole box transfer manipulator 305, an empty box transfer manipulator 306, an empty box feeding manipulator 307, a turntable empty box transfer manipulator 308, a turntable non-whole box transfer manipulator 309, etc., according to their roles in the process. These manipulators 3 can be respectively arranged on one side of the knife-taking machine 1 or the knife-matching machine 2 or along the conveyor line to perform operations such as grabbing and placing materials. The following is an exemplary description of several types of the manipulators 3 used:

[0057] 1. When the robot 3 is a feeding belt robot 301, it can be set on one side of the feeding belt A, and the feeding belt A is set along the knife removing machine 1 and the knife matching machine 2, and the feeding belt robot 301 grabs the knife disc box to the feeding belt A.

[0058] 2. When the robot 3 is a knife-picking turntable loading robot 302, it is arranged on one side of the knife-picking machine 1. It can grab the knife disc box from the loading pull belt A to the knife-picking turntable 12, and turn it to the corresponding position for knife matching.

[0059] 3. When the robot 3 is a tool-matching loading robot 303, it is arranged on one side of the tool-matching machine 2. After the tool-picking turntable 12 rotates into place, the tool-matching loading robot 303 grabs the drill from the tool box of the tool-picking turntable 12 and transports it to the tool-matching turntable 22 for tool matching.

[0060] 4. When the robot 3 is a knife-matching and discharging robot 304, it is arranged on one side of the knife-matching machine 2. When the knife disc box at the knife-matching turntable 22 is matched with knives, it continues to rotate. After rotating into place, the knife-matching and discharging robot 304 grabs the full / partially full knife disc box to the direct delivery line.

[0061] 5. When the robot 3 is a non-whole box transfer robot 305, the unnecessary non-whole box knife disc box on the knife-taking turntable 12 is grabbed by the turntable non-whole box transfer robot 309 to the non-whole box draw belt, and finally the non-whole box transfer robot 305 grabs the knife box to the return line.

[0062] 6. When the robot 3 is an empty box transfer robot 306 and an empty box loading robot 307, the unnecessary empty box cutter disc boxes on the knife taking turntable 12 are grabbed by the turntable empty box transfer robot 308 to the empty box return line, and then grabbed by the empty box transfer robot 306 to the empty box return pull belt B, and finally transferred to the knife matching turntable 22 by the empty box loading robot 307 to replenish the empty turntable position after discharging.

[0063] 7. The empty boxes on the empty box feeding line will eventually be transferred to the empty box return line and grabbed by the empty box transfer robot 306 to the empty box return pull belt B.

[0064] 8. The empty box loading robot 307 is responsible for grabbing the empty box cutter disc from the empty box return belt B and placing it into the cutter matching turntable 22 to ensure that the cutter matching turntable 22 is not short of empty cutter disc boxes.

[0065] 9. When the robot 3 is a turntable empty box transfer robot 308, the turntable empty box transfer robot 308 grabs the empty box knife disc box on the knife picking turntable 12 to the empty box return line, and transports it in reverse to other knife picking and matching machines from the empty box return line.

[0066] 10. When the robot 3 is a turntable incomplete box transfer robot 309 , the turntable incomplete box transfer robot 309 is used to grab and transfer the incomplete boxes on the knife removal turntable 12 .

[0067] It should be noted that the above-mentioned loading pull belt A, empty box return pull belt B, and part-full box return pull belt C are conveyor belt transmission structures commonly seen in the prior art. The above-mentioned direct delivery line, empty box return line and other conveyor lines are process routes in the drill assembly process, which are clear to those skilled in the art. They are only used here to illustrate the usage scenarios and principles of the multiple robots 3.

[0068] Compared with the prior art, the present invention provides a knife picking machine, a knife matching machine and multiple manipulators, and uses the manipulators to automatically grab the knife disc box, and the knife picking rotating platform and the knife matching rotating platform automatically drive the knife picking turntable and the knife matching turntable to rotate respectively. The turntable design of the knife picking turntable and the knife matching turntable is convenient for the knife disc box transportation and knife matching operation, and the knife picking fixture and the knife matching fixture can clamp the knife disc box for easy assembly of the drill. After the knife matching is completed on the knife matching machine, the knife disc box is output. Its production process is highly automated, no manual operation is required, and the processing accuracy and production efficiency are improved, saving production costs. The present invention has the characteristics of high automation, high processing accuracy, high production efficiency, etc.

[0069] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A knife picking and matching machine, characterized in that: It includes a knife taking machine, a knife matching machine and a plurality of manipulators arranged on one side of the knife taking machine and the knife matching machine; The knife picking machine comprises a knife picking rotating platform, a knife picking turntable and a plurality of knife picking fixtures; the knife picking rotating platform is arranged below the knife picking turntable, and the knife picking rotating platform drives the knife picking turntable to rotate, and a plurality of knife picking fixtures are arranged along the periphery of the knife picking turntable, the knife picking turntable is configured with 12 workstations, and each workstation is configured with a knife picking fixture; The tool matching machine includes a tool matching rotating platform, a tool matching turntable and a plurality of tool matching fixtures; the tool matching rotating platform is arranged below the tool matching turntable, and the tool matching rotating platform drives the tool matching turntable to rotate, and the plurality of tool matching fixtures are arranged along the periphery of the tool matching turntable, the tool matching turntable is equipped with 4 workstations, and each workstation is equipped with one tool matching fixture.

2. The knife picking and matching machine according to claim 1 is characterized in that: The plurality of tool taking fixtures and the plurality of tool matching fixtures all include a base plate, a baffle plate and a pressure plate; the base plate is fixed on the tool taking turntable, the baffle plate is fixed along the side of the base plate, and the pressure plate is movably arranged on the base plate and is located on the side opposite to the baffle plate.

3. The knife picking and matching machine according to claim 2 is characterized in that: The plurality of tool removal fixtures and the plurality of tool matching fixtures all further include a linear slide rail, which is horizontally arranged on the bottom plate and extends to the outside of the bottom plate, and the pressure plate is movably arranged on the linear slide rail.

4. The knife picking and matching machine according to claim 3 is characterized in that: The plurality of tool taking fixtures and the plurality of tool matching fixtures all further include a reset spring capable of driving the pressure plate to reset along the linear slide rail, and two ends of the reset spring are respectively connected to the pressure plate and the bottom plate.

5. The knife picking and matching machine according to claim 4 is characterized in that: The plurality of tool taking fixtures and the plurality of tool matching fixtures each further include a fixing block, the fixing block is connected to the lower portion of the baffle, and the lower portion of the fixing block is configured in a wedge shape; The knife taking machine and the knife matching machine also include a plurality of push-up cylinders, which are respectively arranged below the knife taking turntable and the knife matching turntable, the piston rods of the push-up cylinders are arranged upward and connected with push-up blocks, the upper part of the push-up block is arranged in a wedge shape, and the push-up block can press the fixed block and make the pressure plate move toward the outside of the bottom plate along the linear slide rail.

6. The knife removing and matching machine according to any one of claims 1 to 5, characterized in that: The peripheries of the knife taking turntable and the knife matching turntable are both provided with U-shaped switch sensors.

7. The knife removing and matching machine according to any one of claims 1 to 5, characterized in that: Each of the plurality of manipulators comprises a bracket, a guide rail, a sliding frame, a horizontal drive, a vertical drive and a gripper cylinder; The bracket is arranged on one side of the knife taking machine or the knife matching machine, the guide rail is horizontally fixed on the upper part of the bracket, the sliding frame can be slidably arranged on the guide rail, the horizontal driver is fixed on the bracket and its power output end is transmission connected with the sliding frame, the vertical driver is fixed on the sliding frame and its power output end can drive the clamping cylinder to rise and fall, and the clamping cylinder is arranged above the knife taking turntable or the knife matching turntable.

8. The knife removing and matching machine according to claim 7, characterized in that: The plurality of manipulators also include a rotary cylinder, a cylinder body of the rotary cylinder being connected to the power output end of the vertical drive, and a rotary disk thereof being connected to the gripper cylinder.

9. The knife removing and matching machine according to claim 8, characterized in that: The horizontal driver is a cylinder, a cylinder body of which is horizontally fixed on the bracket, and a piston rod of which is connected to the sliding frame.

10. The knife removing and matching machine according to claim 8, characterized in that: The vertical driver is a cylinder, a cylinder body of which is vertically fixed on the sliding frame, and a piston rod of which is connected to the cylinder body of the rotating cylinder.

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