An automatic mold assembly and disassembly production line

Abstract

The present invention relates to the technical field of die casting, and discloses an automatic die assembly and disassembly production line, which includes a robot die assembly and disassembly mechanism, and also includes a die carrier conveying device with a positioning device, a die tube automatic material distribution and picking device, a die carrier shunt plate positioning device, and a die carrier pressing plate positioning device arranged around the robot die assembly and disassembly mechanism. It also includes an electrical control system and power equipment, so as to solve the defects of low automation level, low efficiency, high labor cost, and low die assembly and disassembly accuracy caused by relying on manual cooperation with a crane for die assembly and disassembly operations in the existing die casting industry.

Description

Technical Field

[0001] The present invention relates to the technical field of die casting equipment, and particularly to an automatic die assembly and disassembly production line. Background Art

[0002] Die casting is also known as hard mold casting. It is a casting method in which liquid metal is poured into a metal mold to obtain a casting. The mold is made of metal and can be reused many times (from several hundred to several thousand times). Previously, in metal casting production enterprises in China, due to equipment and technical reasons, the assembly and disassembly of metal die sets were carried out by manually cooperating with a crane to piece together the dies one by one, followed by manual dust extraction and removal, and then manually transporting the flow divider plate made of refractory mud onto the die, aligning the pouring ports of each die tube, and then manually transporting the fixed connection pressing plate over to connect and fix the above-mentioned die tubes, flow divider plate, and pressing plate. The assembly of the metal casting die set is completed. When disassembling the die set, first, the connecting bolts of the fixed connection pressing plate are manually removed, and then the flow divider plate and each die tube are manually disassembled respectively to complete the disassembly of the die set. Since the weight of an empty die tube is about 50 kg, the weight of the die tube after pouring is about 100 kg, the weight of the flow divider plate is about 60 kg, and the weight of the fixed connection pressing plate is about 60 kg, 4 - 5 sets of die sets need to be assembled or disassembled per shift. Each set of die sets requires a maximum of 32 die tubes to be assembled according to size. The labor intensity of workers is very high, and it is extremely easy to cause personnel safety accidents, greatly affecting the production efficiency of the pouring process, and thus having an adverse impact on the overall efficiency of the pouring production line.

[0003] Metal casting enterprises are urgently in need of an automated complete production line that can greatly reduce the labor intensity and significantly improve the safety performance during the processes of assembling and disassembling die sets. Against the background of the market situation and industry demands, the applicant has therefore developed an automatic die set assembly and disassembly production line for customers by leveraging its own advantages and combining production realities, which has achieved success after being put into production. Summary of the Invention

[0004] (I) Technical Problems to be Solved

[0005] An embodiment of the present invention provides an automatic die assembly and disassembly production line to solve the defects of low automation, low efficiency, high labor cost, and low die assembly and disassembly accuracy existing in the current hard mold casting industry, which rely on manual cooperation with a crane for die assembly and disassembly operations. (II) Summary of the Invention

[0007] An embodiment of the present invention provides an automatic die assembly and disassembly production line, including a robot die assembly and disassembly mechanism, and further including a mold frame conveying device with a positioning device, a die tube automatic feeding and picking device, a mold frame flow divider plate positioning device, and a mold frame pressing plate positioning device arranged around the robot die assembly and disassembly mechanism, and further including an electrical control system and power equipment.

[0008] Furthermore, the robot mold assembly and disassembly mechanism includes a six-axis robot and a robotic arm connected to the six-axis robot, and an electrical control cabinet for controlling the six-axis robot and the robotic arm. The front end of the robotic arm is provided with a machine vision device, a hydraulic chuck and a special combination fixture in sequence. The special combination fixture includes a fixture base plate, a driving part and a centering gear rack mechanism fixed on the mounting plate, and also includes a clamp, which is connected to the centering gear rack mechanism through a linear slide rail, and the fixture base plate is connected to the robotic arm through a flange.

[0009] Furthermore, the hydraulic chuck includes a chuck body and a faceplate. The chuck body is provided with a "T"-shaped groove, which divides the chuck body into four equal parts. It also includes four clamping claws, which are respectively movably installed in the "T"-shaped groove. A linkage pin is also provided at the upper end of the clamping claw. The faceplate is provided with a linkage groove corresponding to the "T"-shaped groove. The linkage pin is clamped in the linkage groove, thereby realizing the linkage between the chuck body and the faceplate.

[0010] Furthermore, a pouring and riser positioning mechanism is also provided on the mounting plate and is arranged beside the flange.

[0011] Furthermore, the hydraulic chuck and the special combination clamp are arranged to be staggered by 90 degrees.

[0012] Furthermore, the mold frame conveying device with a positioning device includes a main frame, the main frame is provided with a plurality of conveying rollers, the main frame is divided into a starting section, a positioning section and a conveying section in sequence, and also includes a side push tightening device and an adjustable side reference positioning device relatively arranged on both sides of the positioning section, the starting section is provided with a first power component for driving the conveying roller; the side push tightening device includes a first bracket, a side push cylinder fixed to the top of the first bracket and a side push plate fixed to the front end of the piston rod of the side push cylinder; the adjustable side reference positioning device includes a second bracket, a positioning cylinder provided on the top of the second bracket, and an adjustable positioning plate connected to the positioning cylinder through a worm gear; a jacking device is also provided under the positioning section, and the jacking device is arranged between the first bracket and the second bracket; it also includes a second power component for providing power to the positioning section, and a third power component for providing power to the conveying section.

[0013] Furthermore, the positioning section is also provided with an in-place detection device, which includes an in-place detection plate fixed above the conveying roller, on which a progressive sensor and an in-place sensor are provided, the progressive sensor is installed between the first bracket and the second bracket, and the in-place sensor is installed at one end of the conveying section close to the positioning section.

[0014] Further, the die tube automatic feeding and picking device includes a material placing table, which includes a material placing base and a die tube raceway. The die tube raceway is hinged to one end of the material placing base. It also includes a material picking and placing clamping mechanism, which includes a mounting plate, a centering device, and at least one set of clamping claws. The centering device is fixed to the bottom of the mounting plate, and the clamping claws are installed above the centering device on the mounting plate. The mounting plate is hinged to the side of the joint between the material placing base and the die tube raceway. It further includes a hydraulic cylinder displacement device, which is installed on the other side of the joint between the material placing base and the die tube raceway, and the hydraulic cylinder displacement device is connected to the mounting plate through a displacement rod.

[0015] Further, a jacking mechanism for jacking up the die tube raceway is also provided below the die tube raceway. There are two sets of jacking mechanisms, including a first jacking mechanism and a second jacking mechanism, which are respectively arranged at both ends of the die tube raceway.

[0016] Further, the die tube automatic feeding and picking device also includes a dust removal device, which is installed on one side of the mounting plate where the clamping claws are not installed.

[0017] (III) Beneficial effects

[0018] An automatic mold casting assembly and disassembly production line provided by an embodiment of the present invention includes a robot mold assembly and disassembly mechanism, and also includes a mold frame conveying device with a positioning device, a die tube automatic feeding and picking device, a mold frame shunt plate positioning device, and a mold frame pressing plate positioning device arranged around the robot mold assembly and disassembly mechanism. It also includes an electrical control system and power equipment. Through the mold frame conveying line device with a precise positioning device, the mold frame is accurately and efficiently conveyed to each die tube automatic feeding and picking device. The die tube automatic feeding and picking device enables the bundled die tubes to be horizontally separated automatically, single-piece automatic feeding, completes the horizontal to vertical flipping of the die tubes and automatic centering. Finally, the robot automatic mold assembly and disassembly device of the machine vision system performs automatic mold assembly and disassembly, thus realizing a complete automated mold assembly and disassembly production line, replacing the traditional manual mold assembly and disassembly, greatly improving the production efficiency and the precision of mold assembly and disassembly. Description of the drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0020] Figure 1 is an isometric view of an automatic mold casting assembly and disassembly production line in an embodiment of the present invention;

[0021] Figure 2It is a schematic structural diagram of a mold tube automatic material distribution and picking device in an automatic mold casting assembly and disassembly production line according to an embodiment of the present invention;

[0022] Figure 3 It is a schematic structural diagram of a mold frame conveying device with a positioning device in an automatic mold casting assembly and disassembly production line according to an embodiment of the present invention;

[0023] Figure 4 It is a schematic structural diagram of a first perspective of a robot mold assembly and disassembly mechanism in an automatic mold casting assembly and disassembly production line according to an embodiment of the present invention;

[0024] Figure 5 It is a schematic structural diagram of a second perspective of a robot mold assembly and disassembly mechanism in an automatic mold casting assembly and disassembly production line according to an embodiment of the present invention;

[0025] Figure 6 It is a schematic structural diagram of a special combination fixture of a robot mold assembly and disassembly mechanism according to an embodiment of the present invention.

[0026] Explanation of reference numerals:

[0027] 1: Robot mold assembly and disassembly mechanism; 11, six-axis robot; 12: Robot arm;

[0028] 13: Robot mounting base; 14: Machine vision device; 15: Hydraulic chuck;

[0029] 16: Special combination fixture; 151: Chuck body; 152: Faceplate;

[0030] 153: Clamping jaw; 154: Linking pin; 155: Linking groove;

[0031] 161: Fixture base plate; 162: Driving part; 163: Centering gear and rack mechanism;

[0032] 164: Claw; 165: Flange plate; 2: Mold frame conveying device;

[0033] 21: Main body frame; 22: Conveying roller; 23: Side pushing and locking device;

[0034] 231: First bracket; 232: Side pushing cylinder; 233: Side pushing plate;

[0035] 24: Adjustable side reference positioning device; 241: Second bracket; 242: Adjustable positioning plate;

[0036] 25: Jacking device; 261: Progressive sensor; 262: In-place sensor;

[0037] 271: The first power component; 272: The second power component; 273: The third power component;

[0038] 311: The material placement base; 312: The die tube raceway; 321: The mounting plate;

[0039] 322: The centering device; 323: The first clamping jaw; 324: The second clamping jaw;

[0040] 331: The hydraulic cylinder displacement device; 332: The displacement rod; 341: The first jacking mechanism;

[0041] 342: The second jacking mechanism; 35: The dust removal device; 3: The die tube automatic feeding and material taking device;

[0042] 4: The die carrier shunt plate positioning device; 5: The electrical control system; 6: The die carrier pressing plate positioning device. Detailed implementation manners

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "first", "second", and "third" are used for numbering product components for clear description and do not represent any substantial difference. The directions of "up", "down", "left", and "right" are subject to the directions shown in the drawings. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0045] It should be noted that unless otherwise clearly defined and limited, the term "connection" should be understood in a broad sense. For example, it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the invention can be understood according to specific circumstances.

[0046] An automatic mold assembly and disassembly production line provided in this embodiment, as Figure 1As shown in the figure, it includes the robot mold assembling and disassembling mechanism 1, and also includes the mold frame conveying device 2 with a positioning device, the mold tube automatic material distribution and picking device 3, the mold frame shunt plate positioning device 4, and the mold frame pressing plate positioning device 6, which are arranged around the robot mold assembling and disassembling mechanism 1. It also includes the electrical control system 5 and the power equipment. Among them, the electrical control system 5 includes the PLC control cabinet and the electrical control cabinet for controlling the six-axis robot 11.

[0047] As Figures 4 to 6 shown in the figure, the robot mold assembling and disassembling mechanism 1 includes the six-axis robot 11 and the robotic arm 12 connected to the six-axis robot 11, as well as the electrical control cabinet for controlling the six-axis robot 11 and the robotic arm 12. At the front end of the robotic arm 12, there are successively arranged a machine vision device 14, a hydraulic chuck 15, and a special combined fixture 16. The special combined fixture 16 includes a fixture base plate 161, a driving part 162 fixed on the fixture base plate 161, and a centering gear rack mechanism 163. It also includes a jaw 164. The jaw 164 is connected to the centering gear rack mechanism 163 through a linear slide rail. The fixture base plate 161 is connected to the robotic arm 12 through a flange plate 165. On the mounting plate 161, there is also arranged a riser positioning mechanism, which is arranged beside the flange plate 165. The riser refers to the supplementary part added above or on the side of the casting to avoid defects in the casting. As Figure 5 shown in the figure, the hydraulic chuck 15 includes a chuck body 151 and a faceplate 152. The chuck body 151 is provided with a "T"-shaped groove, and the "T"-shaped groove divides the chuck body 151 into four equal parts. It also includes four clamping claws 153, which are respectively movably installed in the "T"-shaped groove. A linkage pin 154 is also arranged at the upper end of the clamping claw 153. The faceplate 152 is provided with a linkage groove 155 corresponding to the "T"-shaped groove. The linkage pin 154 is clamped in the linkage groove 155, so as to realize the linkage between the chuck body 151 and the faceplate 152.

[0048] The working principle of the robot mold assembly and disassembly mechanism 1 is as follows: the six-axis robot 11 is installed on the robot mounting seat 13, the robot mounting seat 13 is fixed on the ground, and the four-claw hydraulic chuck 15, the special combination clamp 16, and the machine vision device 14 are respectively installed on the robot arm 12. In order to prevent mutual interference, the hydraulic chuck 15 and the special combination clamp 16 are staggered 90° from each other. When assembling the mold, the six-axis industrial robot installed on the robot mounting seat 13 first drives the robot arm 12, selects the machine vision device 14 to take pictures of the precisely positioned empty mold frame, cooperates with the electrical control system 5 to calculate, and then obtains the coordinates of each mold tube position of the empty mold frame, records and stores them. The six-axis robot 11 drives the robot arm to connect the bracket, selects the visual system to take pictures of the precisely positioned empty mold tube end face, and records and stores the mold tube number for later tracing. Then the six-axis robot 11 drives the robot arm to connect the bracket, selects the hydraulic chuck 15, clamps the mold tube to complete the material removal, and then transfers it to the empty position of the mold frame and inserts it. The hydraulic chuck 15 is released to complete the positioning and placement of the empty mold tube. The mold tubes are taken and placed one by one, and the matching placement diagram of the mold frame and mold tube is generated in the electrical control system 5, recorded and stored. Then, dust is removed from each mold tube. The six-axis robot 11 drives the robot arm to connect the bracket, selects the automatic centering gripping fixture of the diverter disk and the pressure plate assembly to position, grip and position the diverter disk and the pressure plate respectively. At this point, the automated process section of the mold assembly is completed. When disassembling the mold, the opposite is true.

[0049] Among them, the working principle of the hydraulic chuck 15 is as follows: the main body of the hydraulic chuck 15 is divided into four equal parts by a T-slot, and the four clamping claws 153 can slide flexibly in the T-slot, and the four driving parts 162 (hydraulic cylinders are used in this embodiment) are distributed on the periphery of the chuck body 151 facing the T-slot. Linkage pins 154 are installed on the clamping claws 153, and the linkage pins 154 respectively clamp the linkage grooves 155 of the disc 152. When the hydraulic chuck 15 needs to be clamped, the hydraulic cylinders fixed on the four peripheries of the chuck body 151 extend the piston rod under the action of the hydraulic system, pushing the clamping claws 153 to move toward the center, and the linkage pins 154 of the clamping claws 153 move the linkage grooves 155 to drive the disc 152 to rotate, thereby realizing synchronous linkage clamping of the four claws. When the hydraulic chuck 15 needs to be released, the entire action can be reversed. Figure 6 As shown, the working principle of the combined fixture is as follows: when the special combined fixture 16 grabs the diverter plate, the six-axis robot 11 first drives the fixture bottom plate 161 to transfer the current fixture to the fixed-point material picking position of the diverter plate through the flange 165, and the driving cylinder is retracted. The two clamps 164 move synchronously and centripetally under the action of the centering gear rack mechanism 163 to complete the clamping and grabbing of the diverter plate or the pressure plate. At the same time, the cylinder of the pouring and riser positioning mechanism extends to position the diverter plate, and then the six-axis industrial robot transfers it to the mold frame of the mold assembly and positions it. This process completes the mold assembly action. The opposite is true when disassembling the mold.

[0050] As shown Figure 3 in FIG. 1, the mold base conveying device 2 with a positioning device includes a main frame 21. The main frame 21 is provided with a plurality of conveying rollers 22. The main frame 21 is sequentially divided into a starting section, a positioning section and a conveying section. It also includes a side pushing and locking device 23 and an adjustable side reference positioning device 24 which are oppositely arranged on both sides of the positioning section. The starting section is provided with a first power assembly 271 for driving the conveying rollers 22. The side pushing and locking device 23 includes a first bracket 231, a side pushing cylinder 232 fixed to the top of the first bracket 231, and a side pushing plate 233 fixed to the front end of the piston rod of the side pushing cylinder. The adjustable side reference positioning device 24 includes a second bracket 241, a positioning cylinder provided on the top of the second bracket 241, and an adjustable positioning plate 242 connected to the positioning cylinder through a worm and gear. A lifting device 25 is further provided below the positioning section. The lifting device 25 is arranged between the first bracket 231 and the second bracket 241. It also includes a second power assembly 272 for providing power to the positioning section, and a third power assembly 273 for providing power to the conveying section. The positioning section is also provided with a position detection device. The position detection device includes a position detection plate fixed above the conveying rollers 22. The position detection plate is provided with a progressive sensor 261 and a position sensor 262. The progressive sensor 261 is installed between the first bracket 231 and the second bracket 241, and the position sensor 262 is installed at one end of the conveying section close to the positioning section.

[0051] The working principle of the mold base conveying device 2 with a positioning device is as follows: When assembling the casting mold parts, an operator uses a crane to lift the standard empty mold base onto the conveying rollers 22 of the main frame 21 of the conveying line. Then the first power assembly 271 starts to operate, driving the conveying rollers 22 in the starting section to rotate, and conveying the standard empty mold base to the position of the progressive sensor 261 on the main frame 21 of the conveying line. Then the second power assembly 272 starts to operate. The second power assembly 272 is powered by a servo motor, driving the conveying rollers 22 in the middle section to rotate, and conveying the standard empty mold base to the position of the position sensor 262 on the main frame 21 of the conveying line. Then the hydraulic lifting and positioning device lifts up. A positioning pin is installed on the top of the hydraulic lifting and positioning device and inserted into the positioning hole on the bottom plate of the standard mold base to position the bottom of the standard mold base. Then the adjustable side reference positioning device 24 runs to a fixed position to block according to the standard mold base model. The adjustable side reference positioning device 24 is powered by a servo motor and realizes forward and backward movement through a worm and gear reducer to adjust the opening and closing of the adjustable side reference positioning device 24. Then the side pushing and locking device 23 clamps from the side to achieve precise positioning of the standard empty mold base. The side pushing and locking device 23 is driven by a cylinder to move linearly, and the whole process completes the precise positioning of the mold base. After the feeding is completed, the third power assembly 273 starts to operate. The third power assembly 273 is frequency-controlled by a three-phase reduction motor, driving the conveying rollers 22 in the tail section to rotate, and conveying the full-load mold base to the next working position on the main frame 21 of the conveying line.

[0052] like Figure 2 As shown, the mold tube automatic material sorting and picking device 3 includes a material placement table, which includes a material placement base 311 and a mold tube roller 312. The mold tube roller 312 is hinged to one end of the material placement base 311, and also includes a material picking and placing clamping mechanism. The material picking and placing clamping mechanism includes a mounting plate 321, a centering device 322 and two groups of clamping claws 153, which are a first clamping claw 323 and a second clamping claw 324. The first clamping claw 323 is arranged just above the centering device 322, and the second clamping claw 324 is arranged at the first Just above the clamping claw 323, the centering device 322 is fixed to the bottom of the mounting plate 321, the clamping claw 153 is installed on the mounting plate 321 above the centering device 322, and the mounting plate 321 is hinged to the side of the hinged joint of the material placing base 311 and the mold tube raceway 312; it also includes a hydraulic cylinder displacement device 331, which is installed on the other side of the hinged joint of the material placing base 311 and the mold tube raceway 312, and the hydraulic cylinder displacement device 331 is connected to the mounting plate 321 through the displacement rod 323. A lifting mechanism for lifting the mold tube raceway 312 is also provided below the mold tube raceway 312. The lifting mechanism is provided with two groups including a first lifting mechanism 341 and a second lifting mechanism 324, which are respectively arranged at the two ends of the mold tube raceway 312. The lifting mechanism can make the mold tube raceway 312 present a certain inclination angle, so that the mold tube can roll to the material taking and releasing clamping mechanism.

[0053] The working principle of the mold tube automatic material separation and material taking device 3 is as follows: when assembling the casting mold, the first lifting mechanism 341 will lift the tail section of the mold tube raceway 312 hinged to the material placement base 311 through the pin shaft, so that the mold tube raceway 312 is low in the front and high in the back, and forms a certain inclination angle to ensure that the mold tube can slide down smoothly. The bundled standard empty mold tubes are manually lifted to the mold tube raceway 312 by a sling, and the slings are untied. The empty mold tubes are automatically separated and sorted, and the second lifting device 25 is installed at the hinge of the material placement base 311 and the mold tube raceway 312 to lift the mold tube to a certain height to achieve material separation. The material taking and releasing clamping device is reset to a horizontal posture through the hydraulic cylinder displacement device 331 and the displacement rod 323 to grab the mold tube. Then, the hydraulic cylinder displacement device 331 drives the material taking and releasing clamping device to be upright. Then the clamping claw 153 installed on the material taking and unloading clamping device releases the pressure, the mold tube slides down, the centering device 322 extends to block the mold tube, and the mold tube is centered based on the inner diameter of the mold tube. Wait for the robot mold assembly fixture to pick up the material at a fixed point. In this way, the whole set of mold tubes is loaded. After the group loading is completed, the robot mold assembly fixture grabs at a fixed point, and the dust removal device 35 performs dust extraction on the whole batch of mold tubes.

[0054] In summary, an automatic mold assembly and disassembly production line provided by this embodiment uses a mold base conveyor line device with a precise positioning device to accurately and efficiently convey the mold base to each mold tube automatic feeding and picking device 3. The mold tube automatic feeding and picking device 3 enables the horizontal automatic separation of bundled mold tubes, single-piece automatic feeding, completes the flipping of the mold tubes from the horizontal state to the vertical state and automatic centering. Finally, the robot automatic mold assembly and disassembly device of the machine vision system performs automatic mold assembly and disassembly, thus realizing a complete automated mold assembly and disassembly production line, replacing the traditional manual mold assembly and disassembly, greatly improving the production efficiency and the precision of mold assembly and disassembly.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An automatic mold assembly and disassembly production line, characterized in that, it includes a robot mold assembly and disassembly mechanism, and also includes a mold frame conveying device with a positioning device, a mold tube automatic feeding and picking device, a mold frame shunt plate positioning device and a mold frame pressing plate positioning device arranged around the robot mold assembly and disassembly mechanism, and also includes an electrical control system and power equipment; The mold frame conveying device with a positioning device includes a main body frame, the main body frame is provided with a plurality of conveying rollers, the main body frame is sequentially divided into a starting section, a positioning section and a conveying section, and also includes a side pushing and fastening device and an adjustable side reference positioning device oppositely arranged on both sides of the positioning section. The starting section is provided with a first power component for driving the conveying rollers; the side pushing and fastening device includes a first bracket, a side pushing cylinder fixed on the top of the first bracket and a side pushing plate fixed on the front end of the piston rod of the side pushing cylinder; the adjustable side reference positioning device includes a second bracket, a positioning cylinder arranged on the top of the second bracket and an adjustable positioning plate connected to the positioning cylinder through a worm and gear; a jacking device is also arranged below the positioning section, and the jacking device is arranged between the first bracket and the second bracket; it also includes a second power component for providing power to the positioning section, and a third power component for providing power to the conveying section; The mold tube automatic feeding and picking device includes a material placing table, the material placing table includes a material placing base and a mold tube raceway, the mold tube raceway is hinged to one end of the material placing base, and also includes a picking and placing clamping mechanism, the picking and placing clamping mechanism includes a mounting plate, a centering device and at least one group of clamping claws, the centering device is fixed to the bottom of the mounting plate, the clamping claws are installed above the centering device on the mounting plate, and the mounting plate is hinged to the side of the joint of the material placing base and the mold tube raceway; it also includes a hydraulic cylinder displacement device, which is installed on the other side of the joint of the material placing base and the mold tube raceway, and the hydraulic cylinder displacement device is connected to the mounting plate through a displacement rod; A jacking mechanism for jacking up the mold tube raceway is also arranged below the mold tube raceway. There are two groups of the jacking mechanism, including a first jacking mechanism and a second jacking mechanism, which are respectively arranged at both ends of the mold tube raceway.

2. The automatic mold assembly and disassembly production line according to claim 1, characterized in that, the robot mold assembly and disassembly mechanism includes a six-axis robot and a robotic arm connected to the six-axis robot, and an electrical control cabinet for controlling the six-axis robot and the robotic arm. A machine vision device, a hydraulic chuck and a special combined fixture are sequentially arranged at the front end of the robotic arm. The special combined fixture includes a fixture bottom plate, a driving part fixed on the fixture bottom plate and a centering gear rack mechanism, and also includes clamping claws. The clamping claws are connected to the centering gear rack mechanism through linear slide rails, and the fixture bottom plate is connected to the robotic arm through a flange plate.

3. The automatic mold assembly and disassembly production line according to claim 2, characterized in that, The hydraulic chuck includes a chuck body and a faceplate. The chuck body is provided with a "T"-shaped groove, which divides the chuck body into four equal parts. It further includes four clamping claws, which are respectively and movably installed in the "T"-shaped groove. A linkage pin is further provided at the upper end of the clamping claw. The faceplate is provided with a linkage groove corresponding to the "T"-shaped groove, and the linkage pin is clamped in the linkage groove, so as to realize the linkage between the chuck body and the faceplate.

4. An automatic mold casting assembly and disassembly production line according to claim 2, wherein, A riser positioning mechanism is further provided on the fixture bottom plate, and it is arranged beside the flange plate.

5. An automatic mold casting assembly and disassembly production line according to claim 2, wherein, The hydraulic chuck and the special combined fixture are arranged staggeredly by 90°.

6. An automatic mold casting assembly and disassembly production line according to claim 1, wherein, A position-in-place detection device is further provided on the positioning section. The position-in-place detection device includes a position-in-place detection plate fixed above the conveying roller. A proximity sensor and a position-in-place sensor are provided on the position-in-place detection plate. The proximity sensor is installed between the first bracket and the second bracket, and the position-in-place sensor is installed at one end of the conveying section close to the positioning section.

7. An automatic mold casting assembly and disassembly production line according to claim 1, wherein, The mold tube automatic feeding and material taking device further includes a dust removal device, and the dust removal device is installed on a side surface of the mounting plate where the clamping claw is not installed.

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