Automatic wheel and trimming device and method for a storage case

Abstract

The application discloses a kind of automatic wheel and edge trimming device and method of storage box, including controller, wheel device, edge trimming device and unloading mechanism, controller is connected with wheel device, edge trimming device and unloading mechanism communication respectively, wheel device includes feeding mechanism, material taking mechanism, wheel mechanism, storage box fixing mechanism and storage box steering mechanism, edge trimming device includes tool bit driving device, tool bit device and visual positioning device, feeding mechanism, material taking mechanism, wheel mechanism, storage box fixing mechanism, storage box steering mechanism, unloading mechanism, tool bit driving device, tool bit device and visual positioning device are installed on cabinet, the present application adopts double-edge tool bit, and adds rotating structure to make tool bit can realize steering function, to realize the bidirectional cutting of tool bit, compared with the traditional scheme using unidirectional cutting, double-edge tool bit saves a large part of time of tool withdrawal, to make process time be greatly optimized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of storage boxes 4, and relates to an automatic wheel pressing and edge trimming device and method for a storage box. BACKGROUND

[0002] The storage box 4 is used for storing articles and is an indispensable storage device in daily life. When the storage box 4 is molded, flash will be generated on the skirt edge, which is easy to scratch the skin and needs to be cleaned by an edge trimming device. The edge trimming device usually adopts a cutter head. There are several problems with the conventional cutter head. First, the cutter head is single-edged. After the flash on one side of the skirt edge is cleaned, the cutter head is moved to the initial position to trim the flash on the second skirt edge, thereby prolonging the trimming time. Second, the direction of the flash generated by the mold is random, and the cutter head will miss the flash in other directions when trimming in one direction. Third, the trimmed flash is easy to hang on the cutter head device, which is not conducive to subsequent trimming work. In addition, the current trimming is performed manually by using a cutter head, which is low in efficiency and high in labor cost. The distance adjustment between the cutter head and the flash to be trimmed is only based on visual observation, which is time-consuming, laborious and low in accuracy. SUMMARY

[0003] The application is provided to overcome the deficiencies of the prior art and provides an automatic wheel pressing and edge trimming device and method for a storage box.

[0004] In order to achieve the above-mentioned purpose, the application adopts the following technical scheme: an automatic wheel pressing and edge trimming device for a storage box, comprising a controller, a wheel pressing device, an edge trimming device and a discharging mechanism. The controller is in communication connection with the wheel pressing device, the edge trimming device and the discharging mechanism. The wheel pressing device comprises a feeding mechanism, a taking mechanism, a wheel pressing mechanism, a storage box fixing mechanism and a storage box turning mechanism. The edge trimming device comprises a cutter head driving device, a cutter head device and a visual positioning device. The feeding mechanism, the taking mechanism, the wheel pressing mechanism, the storage box fixing mechanism, the storage box turning mechanism, the discharging mechanism, the cutter head driving device, the cutter head device and the visual positioning device are installed on a cabinet. The cutter head device comprises a cutter head, a material guiding structure, a discharging auxiliary structure and a rotating structure.

[0005] Further, the feeding mechanism, the taking mechanism, the wheel pressing mechanism, the storage box fixing mechanism, the storage box turning mechanism and the discharging mechanism are sequentially arranged and located in the same horizontal direction. The feeding mechanism is in butt joint with the taking mechanism. The taking mechanism is in butt joint with the wheel pressing mechanism. The wheel pressing mechanism is in butt joint with the storage box. The storage box fixing mechanism is fixed on a turntable. The storage box is adsorptively fixed on the turntable. The turntable is connected with the storage box turning mechanism. The rotating shaft drives the turntable to rotate synchronously. The discharging mechanism is in butt joint with the storage box.

[0006] Further, the first buffer module is arranged on the discharging mechanism and is used for buffering during the operation of the discharging mechanism to prevent the discharging mechanical arm from being too heavy to cause excessive buffering load.

[0007] Furthermore, it also includes a second buffer module, which is arranged on the rotating shaft of the steering mechanism of the storage box. The second buffer module divides the rotation of the rotating shaft into two rotations consisting of different speeds. The angle of the first rotation is greater than the angle of the second rotation, and the speed of the first rotation is greater than the speed of the second rotation.

[0008] Furthermore, it includes a light sensor, which is fixed at the end of the material-picking structure. The light sensor is used to detect whether the material-picking structure grabs the caster. When the caster loading is completed, the light sensor is triggered and the vibration plate stops vibrating to feed the material. When the caster is clamped by the pressure wheel structure, the light sensor does not detect the caster, and the vibration plate starts to move to transfer the new caster to the caster limit.

[0009] Furthermore, it also includes

[0010] Equipment initialization and self-test module: used to initialize the equipment before the first operation and to perform self-test on the initialized device;

[0011] Operation mode module: The module has built-in automatic mode and manual mode. The automatic mode executes the automatic process; the manual mode executes the manual process.

[0012] Storage box quantity judgment module: built-in number of storage boxes to be processed, used to determine whether the storage boxes are fully processed.

[0013] The controller is respectively communicated with the device initialization and self-test module, the operation mode module, the storage box quantity judgment module and the storage box quantity judgment module, and makes judgments on the device initialization and self-test module, the operation mode module, the storage box quantity judgment module and the storage box quantity judgment module.

[0014] A method for automatically pressing and trimming a storage box includes the following steps:

[0015] Step S1: Equipment initialization and self-test;

[0016] The device is initialized before the first operation. After the initialization is completed, the initialized device is self-checked to determine whether the device has a fault; if so, troubleshoot the fault; if not, execute step S2;

[0017] Step S2: Setting the number of storage boxes to be processed N1;

[0018] Step S3: judging whether to use the full-automatic mode or the manual mode according to the signal sent by the controller, if the full-automatic mode is used, executing the full-automatic process; if the manual mode is used, executing the manual process;

[0019] The fully automatic mode and manual mode respectively perform the operations of vibrating plate discharging, caster loading, storage box loading, trimming, caster installation, and storage box unloading;

[0020] When an emergency accident occurs during the execution of the full-automatic process or the manual process, the controller is clicked to pause, the program is terminated to pause, and the mechanical zero-reset operation is performed in the manual mode after the termination of the program,

[0021] After the return to the safe position, the mode selection is performed again.

[0022] Step S4: The number N2 of the processed storage boxes is accumulated, and it is determined whether the number N2 of the processed storage boxes reaches the set value N1. If yes, step S5 is executed, and if no, step S3 is executed.

[0023] Step S5: The device is exited, and the step is ended.

[0024] Further, the step S1 device initialization and self-checking includes the following steps:

[0025] Step S1.0: Controller IO port setting and device initialization;

[0026] Step S1.1: The vibration disc is powered on, the first direction driving mechanism is zero-reset in the x-axis, the second direction driving mechanism is zero-reset in the y-axis, and the storage box turning mechanism is zero-reset in the z-axis.

[0027] Step S1.2: It is determined whether the x-axis reaches the zero position. If yes, step S1.3 is executed, and if no, the x-axis zero-reset fault is recorded, and the fault is eliminated.

[0028] Step S1.3: It is determined whether the y-axis reaches the zero position. If yes, step S1.4 is executed, and if no, the y-axis zero-reset fault is recorded, and the fault is eliminated.

[0029] Step S1.4: It is determined whether the z-axis reaches the zero position. If yes, step S1.5 is executed, and if no, the z-axis zero-reset fault is recorded, and the fault is eliminated.

[0030] Step S1.5: It is determined whether the vibration disc normally discharges. If yes, step S1.6 is executed, and if no, the vibration disc discharge fault is recorded, and the fault is eliminated.

[0031] Step S1.6: The tool head device trimming test tool is started, and it is determined whether the tool head device and the process normally operate,

[0032] If yes, the step is ended, and if no, the tool head device and the process fault are recorded, and the fault is eliminated.

[0033] Further, the step S1.0: controller IO port setting is specifically:

[0034] The zero position and limit position of the x, y, z axes are equipped with input port settings, the positive limit position of x corresponds to the input IO port 1, the negative limit position of x corresponds to the input IO port 3, and the zero position of x corresponds to the input IO port 2; the positive limit position of y corresponds to the input IO port 4, the negative limit position of y corresponds to the input IO port 6, and the zero position of y corresponds to the input IO port 5; the z axis only has a zero position input IO port, which corresponds to the input port 7, and the lighting of the port is an important indicator for judging whether the motor is running to the zero position or the limit position, the on-off control foot wheel installation process of the output port 1 and 2, the communication signal of the 1st port is to extend the mechanical arm of the material taking mechanism 92 carrying the foot wheel to the upper side of the storage box, so that the mechanical arm reaches the positive side of the pressing wheel position, and the off signal of the 1st port is to retract the mechanical arm to the position before extension; the communication signal of the 2nd port is that the mechanical claw clamping the foot wheel is pressed down by the pressing wheel mechanism, and the foot wheel is installed in the foot wheel groove of the storage box, and the off signal of the 2nd port is to reset the mechanical claw, the 3rd port, the 5th port and the 6th port control the unloading process of the storage box, the 5th port controls the movement of the unloading mechanical arm of the unloading mechanism, the communication signal state moves the unloading mechanical arm to the two sides of the storage box, the off signal state resets the unloading mechanical arm, the communication signal state of the 3rd port tightens the unloading mechanical arm on the two sides of the storage box inward to achieve the effect of clamping the box body, and the off signal state resets the unloading mechanical arm to the state of not tightening the storage box, that is, the state of extending outward, and the 6th port controls the suction cup on the unloading mechanical arm, the communication signal state tightens the suction cup, and the off signal state releases the suction cup.

[0035] Further, the full-automatic process in the step S3 specifically includes the following steps:

[0036] Step 1.1: Storage box loading and position judgment;

[0037] The controller places the storage box on the turntable, if the storage box is located at the set position, the photoelectric switch is triggered, at this time the storage box fixing mechanism is started to adsorb and fix the storage box; if the photoelectric switch does not detect the storage box,

[0038] The position of the storage box is manually corrected until the photoelectric switch is triggered, or the controller is reloaded;

[0039] Step 1.2: x, y, z axis mechanical zero;

[0040] Step 1.3: The controller starts the vibrating disc, transports the foot wheel, and the ultrasonic generator starts preheating;

[0041] Step 1.4: Edging and foot wheel installation;

[0042] The relationship between the z-axis rotation angle and the trimming is set as follows: when the z-axis rotation angle is 0 degree or 180 degree, the long side is trimmed; when the z-axis rotation angle is 90 degree or 270 degree, the short side is trimmed; the z-axis is the rotation shaft of the turning mechanism 95 of the storage box; the caster is installed through the long side trimming process; when it is confirmed that the side to be trimmed is the long side, the material taking mechanism clamps the caster and the pressure wheel mechanism presses the caster into the caster groove of the storage box; after the installation is completed, the material taking mechanism and the pressure wheel mechanism are reset;

[0043] When the caster feeding is completed, the light sensor triggers, the vibration disc stops vibrating and feeding, and the mechanical arm of the material taking mechanism 92 stably grabs the caster. When the caster is clamped by the pressure wheel structure, the light sensor does not detect the caster, and the vibration disc starts to move to transmit the new caster to the caster limiting position, waiting for the next operation.

[0044] When the short side trimming is executed twice, the storage box trimming and the caster installation are completed;

[0045] Step 1.5: the storage box is discharged after the execution of step 1.4;

[0046] Step 1.6: the x, y and z axes are mechanically reset to zero, and the trimming and caster installation of a group of storage boxes are completed.

[0047] Further, during the storage box discharging process of step 1.6, the controller starts the discharging mechanism 96 to run, and the discharging mechanical arm moves to both sides of the storage box. During the movement of the discharging mechanical arm, a communication signal is inserted once to slow down the movement speed of the discharging mechanical arm, thereby reducing the buffer load. The specific steps are as follows: first, a communication signal is transmitted to the discharging mechanical arm, and the discharging mechanical arm moves in a circular motion. When it moves to 3 / 4 of a circle, a communication signal is inserted once, and a force in the opposite direction is given to the discharging mechanical arm to slow down the speed caused by inertia. Then, a communication signal is inserted again to smoothly move the discharging mechanical arm to both sides of the storage box. Then, a communication signal is transmitted to No. 3 port to clamp the storage box, and a communication signal is transmitted to No. 6 port to suck the storage box. A communication signal is transmitted to No. 5 port again to move the clamped storage box to the outside of the device. After the storage box is moved to the outside of the device, a communication signal is transmitted to No. 3 and No. 6 ports to release the suction disc, and the discharging is completed. During the removal of the storage box by the discharging mechanical arm, a communication signal is inserted once to reduce the buffer pressure.

[0048] The application also provides a trimming device for a storage box, which comprises a cutter head driving device 1, a cutter head device 2 and a visual positioning device 3. The cutter head driving device 1, the cutter head device 2 and the visual positioning device 3 are respectively connected with a controller in communication. The controller controls the operation of the cutter head driving device 1, the cutter head device 2 and the visual positioning device 3. The cutter head device comprises a cutter head, a material guiding structure, a discharging auxiliary structure and a rotating structure. The material guiding structure is fixed above the cutter head, the discharging auxiliary structure is fixed below the cutter head, the rotating structure drives the cutter head to rotate, and the cutter head is a double-blade structure.

[0049] Further, it also includes

[0050] The device initialization and self-checking module is used for initializing the device before initial operation and self-checking the initialized device.

[0051] The operation mode module is internally provided with the full-automatic mode and the manual mode, the full-automatic mode executes the full-automatic process, and the manual mode executes the manual process.

[0052] The storage box quantity judgment module is internally provided with the quantity of the storage boxes to be processed, and is used for judging whether the storage boxes are completely processed.

[0053] The controller is in communication connection with the device initialization and self-checking module, the operation mode module, the storage box quantity judgment module and the storage box quantity judgment module, and judges the device initialization and self-checking module, the operation mode module, the storage box quantity judgment module and the storage box quantity judgment module.

[0054] Further, the tool head driving device includes a first direction driving mechanism 11, a second direction driving mechanism 12 and a third direction driving mechanism 13, the first direction driving mechanism 11 drives the tool head device to move along the first direction, the second direction driving mechanism 12 drives the tool head device to move along the second direction, and the third direction driving mechanism 13 drives the tool head device to move along the third direction.

[0055] Further, the first direction driving mechanism 11 and the second direction driving mechanism 12 are provided as ball screw driving mechanisms, the third direction driving mechanism 13 is provided as a stepping motor, the tool head device is arranged on the third direction driving mechanism 13, the third direction driving mechanism 13 is arranged on the second direction driving mechanism 12, and the second direction driving mechanism 12 is arranged on the first direction driving mechanism 11.

[0056] Further, the material guiding structure 22 is provided as a V-shaped structure composed of two groups of side plates 221, the material guiding structure 22 is arranged above the blade in an inverted V shape, and the two groups of side plates are respectively located on the two sides of the blade, at this time, the two groups of side plates are horizontally and upwardly distributed, and the flash to be trimmed has a tendency to flip along the horizontal direction upward when contacting the material guiding structure 22.

[0057] Further, the width of the material guiding structure 22 is greater than the width of the blade.

[0058] Further, the blanking auxiliary structure 23 is provided as a V-shaped structure composed of two groups of auxiliary side plates 231, and the blanking auxiliary structure 23 is arranged below the blade in an inverted V shape.

[0059] Further, the visual positioning device 3 comprises a camera, an image processor and a display, the camera shoots the current cutter head and the skirt to be repaired, the image processor receives the image data shot by the camera and feeds back the distance H1, H2 between the current cutter head and the skirt to be repaired, and the image and the distance H1, H2 are displayed in real time through the display; H1 is the distance between the cutter head and the skirt to be repaired in the z direction, and H2 is the distance between the cutter head and the skirt to be repaired in the y direction;

[0060] H1 is a set distance value, the cutter head keeps a distance H1 in the z direction, H2 is a set value, H2 is related to the initial point coordinates of the long skirt and the short skirt, and the initial point coordinates of the long skirt and the short skirt are set values; after one trimming, the cutter head is reset, the cutter head reset refers to that the second direction driving mechanism 12 drives the cutter head device to move in the reverse direction of the second direction by H3, H3 is the reset distance of the cutter head in the second direction, the length difference of the set long and short skirts is H0, H3 is greater than H0, when the long skirt is switched to the short skirt for trimming, H2 = H3 + H0, and when the short skirt is switched to the long skirt for trimming, H2 = H3 - H0; the third direction driving mechanism 13 drives the cutter head device to move in the reverse direction of the third direction by H1.

[0061] Further, the visual positioning device 3 further comprises a sensor (not shown in the figure), the sensor is fixed to the cutter head, when the cutter head contacts the skirt to be repaired, the sensor sends a contact signal, and the cutter head stops moving.

[0062] In summary, the present application has the following advantages:

[0063] 1) The present application adopts a double-blade cutter head, and adds a rotating structure to enable the cutter head to realize a turning function, so that bidirectional cutting of the cutter head is realized, compared with the traditional scheme of unidirectional cutting, the double-blade cutter head saves a large part of the time of retreating the cutter, thereby greatly optimizing the process time.

[0064] 2) The present application designs a material guiding structure, in the trimming process, the side plate first contacts the flash to be trimmed and turns the flash to be trimmed in the horizontal upward direction, so as to facilitate subsequent trimming of the cutter head and improve trimming efficiency.

[0065] 3) The present application designs a blanking auxiliary structure, the blanking auxiliary structure is arranged below the blade in an inverted V shape, the cleaned flash falls on the auxiliary side plate, under the action of gravity, the flash falls along the auxiliary side plate to the cleaning box, so that the flash is prevented from hanging on the cutter head device and affecting the subsequent trimming process.

[0066] 4) The present application realizes real-time monitoring of the position of the cutter head through the visual positioning device, so as to ensure accurate positioning of the cutter head and the skirt to be repaired during skirt switching, in addition, the visual positioning device also realizes real-time detection of the trimming position during trimming, adjusts the position of the cutter head in real time according to the detection result, controls the distance between the cutter head and the skirt to be repaired within H', and improves trimming efficiency.

[0067] 5) The present application designs a first buffer module and a second buffer module, the first buffer module is used for buffering during the operation of the discharging mechanism, preventing the discharging mechanical arm from being too heavy to cause excessive buffering load; the second buffer module gives enough buffering to the rotating shaft, avoiding the vibration of the rotating disc of the rotating shaft due to inertia. BRIEF DESCRIPTION OF DRAWINGS

[0068] Figure 1 The figure is an assembly diagram of the tool head driving device, the tool head device, the visual positioning device and the storage box of the present application.

[0069] Figure 2 The figure is a schematic diagram of the tool head device of the present application.

[0070] Figure 3 The figure is a schematic diagram of the tool edge inclination of the present application. Figure 1 .

[0071] Figure 4 The figure is a schematic diagram of the tool edge inclination of the present application. Figure 2 .

[0072] Figure 5 The figure is an image simplification schematic diagram of the visual positioning device of the present application.

[0073] Figure 6 The figure is a schematic diagram of the edge trimming and wheel mounting device of the storage box of the present application.

[0074] Figure 7 The figure is a flowchart of the edge trimming method of the storage box of the present application.

[0075] Figure 8 The figure is a flowchart of the equipment initialization and self-checking of the present application.

[0076] Figure 9 The figure is a full-automatic flowchart of the present application.

[0077] Figure 10 The figure is a manual flowchart of the present application.

[0078] Figure 11 The figure is a long edge trimming flowchart of the present application.

[0079] Figure 12 The figure is a short edge trimming flowchart of the present application.

[0080] Figure 13 The figure is a long edge trimming operation trajectory diagram of the present application.

[0081] Figure 14 The figure is a short edge trimming operation trajectory diagram of the present application. DETAILED DESCRIPTION

[0082] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0083] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0084] All directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, horizontal, vertical...) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0085] Due to installation errors and other reasons, the parallel relationship referred to in the embodiments of the present invention may actually be an approximately parallel relationship, and the perpendicular relationship may actually be an approximately perpendicular relationship.

[0086] Example 1:

[0087] like Figures 1-6 As shown, an automatic pressing wheel and trimming device for a storage box includes a pressing wheel device, a trimming device and a feeding mechanism 96. The pressing wheel device includes a feeding mechanism 91, a picking mechanism 92, a pressing wheel mechanism 93, a storage box fixing mechanism 94 and a storage box steering mechanism 95. The trimming device includes a cutter head driving device 1, a cutter head device 2 and a visual positioning device 3. The feeding mechanism 91, the picking mechanism 92, the pressing wheel mechanism 93, the storage box fixing mechanism 94, the storage box steering mechanism 95, the cutting mechanism 96, the cutter head driving device 1, the cutter head device 2 and the visual positioning device 3 are installed on a cabinet body 97. The cutter head device 2 includes a cutter head 21, a material guide structure 22, a cutting auxiliary structure 23 and a rotating structure 24. The material guide structure 22 is fixed above the cutter head 21, the cutting auxiliary structure 23 is fixed below the cutter head 21, and the rotating structure 24 drives the cutter head 21 to rotate. The cutter head 21 is a double-edged structure.

[0088] The cutter head driving device includes a first direction driving mechanism 11, a second direction driving mechanism 12 and a third direction driving mechanism 13. The first direction driving mechanism 11 drives the cutter head device to move in the first direction, the second direction driving mechanism 12 drives the cutter head device to move in the second direction, and the third direction driving mechanism 13 drives the cutter head device to move in the third direction, thereby realizing the movement of the cutter head device in the first direction, the second direction and the third direction.

[0089] like Figure 1 As shown, the first direction is the x-direction, which is the trimming movement direction of the cutter head device. The cutter head device trims the skirt of the storage box 43 along the first direction. The second direction is the y-direction, which is the horizontal movement direction of the cutter head device toward the skirt to be trimmed of the storage box 43. The cutter head device moves along the second direction to control the cutter head device and the skirt to be trimmed at a set distance, which is convenient for subsequent trimming operations. The third direction is the z-direction, which is the height movement direction of the cutter head device toward the skirt to be trimmed of the storage box 43. The cutter head device moves along the third direction to control the cutter head device and the skirt to be trimmed at a set distance, so as to adapt to actual engineering needs. According to the actual edge height of the storage box, the cutter head device is adjusted to a height suitable for trimming through the third direction drive mechanism 13 to achieve better trimming effect.

[0090] In this embodiment, the first direction drive mechanism 11 and the second direction drive mechanism 12 are set as ball screw transmission mechanisms, the third direction drive mechanism 13 is set as a stepping motor, the cutter head device is set in the third direction drive mechanism 13, the third direction drive mechanism 13 is set in the second direction drive mechanism 12, and the second direction drive mechanism 12 is set in the first direction drive mechanism 11.

[0091] The cutter head device includes a cutter head 21, a material guide structure 22, a material discharge auxiliary structure 23 and a rotating structure 24. The material guide structure 22 is fixed above the cutter head 21, the material discharge auxiliary structure 23 is fixed below the cutter head 21, and the rotating structure 24 drives the cutter head 21 to rotate.

[0092] The blade of the cutter head 21 is set to be double-edged, and the cutter head 21 is inclined toward the side to be trimmed to improve the trimming efficiency. Specifically, the intersection points of the four skirts of the storage box 4 are set to a, b, c, and d, respectively, and the four skirts are ab, bc, cd, and ad, respectively. As shown in the figure, when the cutter head 21 trims from a to b, the angle between the blade and the skirt on the b side is A, and A is set according to actual needs. When the trimming of ab is completed, the storage box 4 rotates to trim bc, and the rotating structure 24 drives the cutter head 21 to rotate. The angle between the blade and the skirt on the c side is B, and B is the same as the angle A. The cutter head 21 realizes bidirectional cutting through the double-edged blade. Compared with the existing single-edged structure that needs to be reset before trimming, the present application optimizes the overall process time.

[0093] The cutting power of the tool bit 21 in this embodiment is ultrasonic waves generated by an ultrasonic wave generator.

[0094] The material guiding structure 22 is provided in the form of a V-shaped structure composed of two groups of side plates 221, and is arranged above the blade in the form of an inverted V. The two groups of side plates are arranged on the two sides of the blade, and are horizontally upwardly distributed at this time. When the flash to be trimmed contacts the material guiding structure 22, the flash has a tendency to flip over horizontally upwardly.

[0095] The width of the material guiding structure 22 is greater than the width of the blade. During trimming, the side plates 221 first contact the flash to be trimmed, and flip the flash to be trimmed horizontally upwardly, so as to facilitate subsequent trimming of the tool bit 21 and improve trimming efficiency.

[0096] The end surface of the side plate 221 is provided with a bevel, and the direction of the bevel is upward, so as to facilitate the upward flipping of the flash.

[0097] The blanking auxiliary structure 23 is provided in the form of a V-shaped structure composed of two groups of auxiliary side plates 231, and is arranged below the blade in the form of an inverted V. The cleaned flash falls on the auxiliary side plates 231. Since the auxiliary side plates 231 are inclined, under the action of gravity, the flash falls along the auxiliary side plates 231 to the cleaning box, so as to prevent the flash from hanging on the tool bit device and affecting the subsequent trimming process.

[0098] The visual positioning device 3 includes a camera, an image processor and a display. The camera captures the current tool bit and the skirt to be trimmed. The image processor receives image data captured by the camera and feeds back distances H1 and H2 between the current tool bit and the skirt to be trimmed. The image and the distances H1 and H2 are displayed in real time through the display. H1 is the distance between the tool bit and the skirt to be trimmed in the z direction, and H2 is the distance between the tool bit and the skirt to be trimmed in the y direction.

[0099] During trimming, the cutter head keeps in contact with the skirt to be trimmed. In order to locate the contact position between the cutter head and the skirt to be trimmed, the visual positioning device 3 also includes a sensor (not shown in the figure). The sensor is fixed to the cutter head. When the cutter head contacts the skirt to be trimmed, the sensor sends a contact signal, and the cutter head stops moving to complete the adjustment. That is, the second direction driving mechanism 12 drives the cutter head device to move H2 along the second direction, and the third direction driving mechanism 13 drives the cutter head device to move H1 along the third direction to achieve contact between the cutter head and the skirt to be trimmed. Preferably, H1 is a set distance value. When the storage box 4 rotates to switch the skirt to be trimmed, the cutter head keeps a distance H1 in the z direction, so that the subsequent feed operation can be kept consistent when the rotation is completed and the trimming operation of the next edge is started. H2 H2 changes according to the length of the skirt to be trimmed, H2 is the set value, H2 is related to the initial point coordinates of the long side and the short side, and the initial point coordinates of the long side and the short side are the set values; the cutter head is reset after one trimming, and the cutter head reset refers to the second direction drive mechanism 12 driving the cutter head device to move H3 in the opposite direction of the second direction, H3 is the reset distance of the cutter head in the second direction, and the length difference between the long and short skirts is set to H0, H3 is greater than H0, when the long skirt is switched to the short skirt for trimming, H2=H3+H0; when the short skirt is switched to the long skirt for trimming, H2=H3-H0; the third direction drive mechanism 13 drives the cutter head device to move H1 in the opposite direction of the third direction.

[0100] In the actual trimming process, due to some mechanical errors, the distance between the cutter head and the skirt to be trimmed is not constant during the trimming process. Based on this, a deviation value H′ is set. If the distance between the cutter head and the skirt to be trimmed is within H′ during the trimming process, it is considered to be a normal trimming state. Otherwise, it is an abnormal trimming state and requires manual correction.

[0101] This application uses the visual positioning device 3 to monitor the position of the cutter head in real time to ensure the accurate positioning of the cutter head and the skirt to be trimmed during the skirt switching process. In addition, the visual positioning device 3 also performs real-time detection of the trimming position during the trimming process, and adjusts the cutter head position in real time according to the detection results, and controls the distance between the cutter head and the skirt to be trimmed within H′, thereby improving the trimming efficiency.

[0102] The device also includes a controller, which is respectively connected to the tool head driving device 1, the tool head device 2 and the visual positioning device 3 for communicating and controlling the operation of the tool head driving device 1, the tool head device 2 and the visual positioning device 3.

[0103] In the trimming process of the embodiment, first, the cutter head is positioned with the skirt to be trimmed, according to H1 and H2 obtained by the visual positioning device 3, the second direction driving mechanism 12 drives the cutter head device to move H2 along the second direction, the third direction driving mechanism 13 drives the cutter head device to move H1 along the third direction, the sensor sends a contact signal, the cutter head stops moving, the cutter head 21 is tilted to one side of the skirt to be trimmed, the first direction driving mechanism 11 drives the cutter head device to move along the first direction for trimming, in this process, the side plate 221 flips the fly edge to be trimmed to the horizontal upward direction in advance, and then the fly edge is cleaned by the cutter head, and the cleaned fly edge falls to the cleaning box along the auxiliary side plate 231, after trimming of a skirt, the cutter head is reset, the rotating structure 24 starts to switch the trimming cutter edge, the storage box rotates to switch the skirt to be trimmed, the cutter head contacts the skirt to be trimmed according to the visual positioning device 3, obtains H1 and H2, and the first direction driving mechanism 11 drives the cutter head device to move in the reverse direction along the first direction for trimming, the above-mentioned actions are repeated until trimming is completed.

[0104] The feeding mechanism 91 includes a vibrating disc that delivers the caster to the taking mechanism 92, the storage box fixing mechanism 94 includes a negative pressure assembly, the storage box 4 is fixed on the turntable by vacuum adsorption of the negative pressure assembly, the taking mechanism 92 clamps the caster and presses the caster into the storage box 4 fixed on the turntable by the pressure wheel mechanism 93, the cutter head device 2 trims the storage box 4, the storage box turning mechanism 95 drives the turntable to rotate, thereby driving the storage box 4 to rotate synchronously, realizing trimming of different skirts and installation of casters at different positions, and after completion of the installation and trimming of the casters, the unloading mechanism 96 removes the storage box from the turntable.

[0105] The controller is in communication connection with the feeding mechanism 91, the taking mechanism 92, the pressure wheel mechanism 93, the storage box fixing mechanism 94, the storage box turning mechanism 95 and the unloading mechanism 96 respectively, and controls the operation of the feeding mechanism 91, the taking mechanism 92, the pressure wheel mechanism 93, the storage box fixing mechanism 94, the storage box turning mechanism 95 and the unloading mechanism 96 respectively.

[0106] The device further includes a first buffering module and a second buffering module, the first buffering module is arranged on the unloading mechanism 96 and is used for buffering during operation of the unloading mechanism 96 to prevent the unloading mechanical arm from being too heavy to cause excessive buffering load.

[0107] The second buffering module is arranged on the rotating shaft of the storage box turning mechanism 95, the second buffering module divides the 90-degree rotation of the rotating shaft into two rotations composed of different speeds, the rotation angle of the first rotation is greater than that of the second rotation, and the rotation speed of the first rotation is greater than that of the second rotation, so as to optimize the overall time and give enough buffering to the rotation of the rotating shaft to avoid vibration of the turntable of the rotating shaft due to inertia.

[0108] The device also comprises a light sensor (not shown in the figure) fixed at the end of the taking structure 92, which is used to detect whether the taking structure 92 has grabbed the caster, and the light sensor triggers when the feeding of the caster is completed, so that the vibration disc stops vibrating to ensure that the mechanical arm of the taking structure 92 stably grabs the caster. When the caster is clamped by the pressing wheel structure 93, the light sensor does not detect the caster, and the vibration disc starts to move to transmit a new caster to the caster limiting position, waiting for the next operation.

[0109] The feeding mechanism 91, the taking mechanism 92, the pressing wheel mechanism 93, the storage box fixing mechanism 94, the storage box turning mechanism 95 and the discharging mechanism 96 are arranged in the same horizontal direction in sequence, the feeding mechanism 91 is connected with the taking mechanism 92, the taking mechanism 92 is connected with the pressing wheel mechanism 93, the pressing wheel mechanism 93 is connected with the storage box, the storage box fixing mechanism 94 is fixed on the turntable, the storage box is adsorbed and fixed on the turntable, the turntable is connected with the storage box turning mechanism 95, the rotating shaft drives the turntable to rotate synchronously, and the discharging mechanism 96 is connected with the storage box.

[0110] In this embodiment, the rotating shaft of the storage box turning mechanism 95 is located in the z direction of the Figure 1 , that is, the axis of the rotating shaft is parallel to the z direction.

[0111] As shown in Figures 1-14 , the application also provides an automatic pressing wheel and trimming method for the storage box, which comprises the following steps:

[0112] Step S1: device initialization and self-checking;

[0113] The device is initialized before initial operation, and after the initialization is completed, the initialized device is self-checked to determine whether there is a fault; if yes, the fault is eliminated, and if no, step S2 is performed;

[0114] Step S2: setting the number N1 of storage boxes to be processed;

[0115] Step S3: determining whether to perform full-automatic mode or manual mode according to the signal sent by the controller, if the full-automatic mode is performed, the full-automatic process is performed, and if the manual mode is performed, the manual process is performed;

[0116] The full-automatic mode and the manual mode respectively perform the vibration disc discharging, the caster feeding, the storage box feeding, the trimming, the caster installation and the storage box discharging operations;

[0117] Step S4: accumulating the number N2 of processed storage boxes, and determining whether the number N2 of processed storage boxes reaches the set value N1, if yes, step S5 is performed, and if no, step S3 is performed;

[0118] Step S5: exiting the device and ending the step.

[0119] Step S1 device initialization and self-checking includes the following steps:

[0120] Step S1.0: Controller IO port setting and device initialization;

[0121] The zero position and limit position of the x, y, z axes are equipped with input port settings, the positive limit position of x corresponds to input IO port 1, the negative limit position of x corresponds to input IO port 3, and the zero position of x corresponds to input IO port 2; the positive limit position of y corresponds to input IO port 4, the negative limit position of y corresponds to input IO port 6, and the zero position of y corresponds to input IO port 5; the z axis only has a zero position input IO port, which corresponds to input port 7. Whether the port is on or off is an important indicator of whether the motor has run to the zero position or the limit position.

[0122] The on-off control foot wheel installation process of the 1st and 2nd ports in the output port, the communication signal of the 1st port is to extend the mechanical arm of the material taking mechanism 92 carrying the foot wheel above the storage box, so that the mechanical arm reaches the positive above the pressure wheel position, and the off signal of the 1st port is to retract the mechanical arm to the position before extension; the communication signal of the 2nd port is that the mechanical claw clamping the foot wheel is pressed down by the pressure wheel mechanism 93, and the foot wheel is installed in the foot wheel groove of the storage box, and the off signal of the 2nd port is to reset the mechanical claw, the 3rd, 5th and 6th ports control the unloading process of the storage box, the 5th port controls the movement of the unloading mechanical arm of the unloading mechanism 96, and in the communication signal state, the unloading mechanical arm moves to both sides of the storage box, and in the off signal state, the unloading mechanical arm is reset. In the communication signal state, the 3rd port tightens the unloading mechanical arm on both sides of the storage box inward to achieve the effect of clamping the box body, and in the off signal state, the unloading mechanical arm is reset to the state of not tightening the storage box, i.e. extending outward. The 6th port controls the suction cup on the unloading mechanical arm, and in the communication signal state, the suction cup is sucked tightly, and in the off signal state, the suction cup is released.

[0123] Step S1.1: The vibration disc is powered on, the first direction driving mechanism 11 is reset to zero on the x axis, the second direction driving mechanism 12 is reset to zero on the y axis, and the storage box steering mechanism 95 is reset to zero on the z axis.

[0124] Step S1.2: Determine whether the x axis has reached zero, if yes, execute step S1.3, if no, record the x axis zero reset fault and eliminate the fault;

[0125] Step S1.3: Determine whether the y axis has reached zero, if yes, execute step S1.4, if no, record the y axis zero reset fault and eliminate the fault;

[0126] Step S1.4: Determine whether the z axis has reached zero, if yes, execute step S1.5, if no, record the z axis zero reset fault and eliminate the fault;

[0127] Step S1.5: Determine whether the vibrating disc is normally discharged, if yes, execute step S1.6, if no, record the vibrating disc discharge failure and troubleshoot;

[0128] Step S1.6: Start the edge trimming test of the tool head device, determine whether the tool head device and the process are normally running, if yes, end the step, if no, record the tool head device and process failure and troubleshoot.

[0129] The edge trimming test is performed before the operation starts. The test includes empty running and test cutting operation. The empty running process is performed by adjusting the height of the tool head so that the tool head does not contact the test box. The empty running confirms whether the process is correct. The test cutting is performed by attempting to cut the test box with the tool head to determine whether the tool head is securely fixed, whether the cutting is misaligned, etc.

[0130] In other embodiments, the edge trimming test can also be performed before the edge trimming. The edge trimming process is performed after the edge trimming test.

[0131] The self-checking zero operation ensures that the initial test position of the x, y and z axes is constant. The controller first performs an arbitrary direction zero operation on the three axes, then moves to a coordinate position where the x, y and z axes are all positive numbers, and then performs a positive mechanical zero operation, so that the three axes are all clamped at the positive limit point, thereby ensuring that the position is consistent each time. Avoiding the situation where the initial position is not constant, the controller controls the point position of all relative movements to change, resulting in a large error.

[0132] Step S3: When executing the full automatic process or manual process, if an emergency situation occurs, click pause on the controller to terminate the program to achieve emergency pause. After terminating the program, switch to manual mode for mechanical zero operation. After retreating to a safe position, select the mode again.

[0133] The full automatic mode in step S3 refers to running according to the set program, and the device runs according to the specified relative amount and absolute value. The full automatic process specifically includes the following steps:

[0134] Step 1.1: Loading the storage box and determining the position;

[0135] The controller places the storage box 4 on the turntable. If the storage box 4 is located at the set position, the photoelectric switch is triggered, and the storage box fixing mechanism 94 is started to adsorb and fix the storage box 4. If the photoelectric switch does not detect the storage box 4, manually correct the position of the storage box 4 until the photoelectric switch is triggered, or the controller reloads.

[0136] Step 1.2: Mechanical zero of x, y and z axes;

[0137] Mechanical zero operation is performed on the x, y and z axes respectively to ensure that the starting position is consistent when the subsequent operation starts.

[0138] Step 1.3: The controller starts the vibration plate, transports the caster, and the ultrasonic generator starts preheating;

[0139] Step 1.4: Edging and caster installation;

[0140] The relationship between the z-axis rotation angle and the edging is set as follows: when the z-axis rotation angle is 0 degrees or 180 degrees, the long edge is edged, and when the z-axis rotation angle is 90 degrees or 270 degrees, the short edge is edged. The z-axis is the rotation shaft of the storage box turning mechanism 95. When the rotation angle of the rotation shaft is 0 degrees or 180 degrees, the longer hem is opposite to the tool head device, and when the rotation angle of the rotation shaft is 90 degrees or 270 degrees, the shorter hem is opposite to the tool head device. Therefore, the current long edge or short edge is determined by the z-axis rotation angle.

[0141] The caster installation is inserted in the long edge edging process. When it is confirmed that the edge to be edged is a long edge, the material taking mechanism 92 clamps the caster and the pressure wheel mechanism 93 presses the caster into the caster slot of the storage box 4. After installation is completed, the material taking mechanism and the pressure wheel mechanism 93 are reset;

[0142] When the caster feeding is completed, the light sensor triggers, the vibration plate stops vibrating and feeding, and the mechanical arm of the material taking mechanism 92 stably grabs the caster. When the caster is clamped by the pressure wheel mechanism 93, the light sensor does not detect the caster, the vibration plate starts to move to transport the new caster to the caster limiting position, and waits for the next operation.

[0143] After the short edge is executed twice, the storage box edging and caster installation are completed;

[0144] Step 1.5: The storage box after step 1.4 is discharged;

[0145] The controller starts the discharging mechanism 96 to run, and the discharging mechanical arm runs to both sides of the storage box. To prevent the discharging mechanical arm from being too heavy and causing the buffer load to be too large, a communication signal is inserted once during the movement of the discharging mechanical arm to slow down the movement speed of the discharging mechanical arm, thereby reducing the buffer load. The specific steps are as follows: a communication signal is first transmitted to the discharging mechanical arm, at which time the discharging mechanical arm makes a circular motion. When it moves to 3 / 4 of a circle, a communication signal is inserted once, a force in the opposite direction is given to the discharging mechanical arm to slow down the speed caused by inertia, and then a communication signal is inserted again to smoothly move the discharging mechanical arm to both sides of the storage box. Then, a communication signal is transmitted to port No. 3 to clamp the storage box, and a communication signal is transmitted to port No. 6 to clamp the storage box with the suction cup. A communication signal is transmitted to port No. 5 again to make the discharging mechanical arm clamp the storage box and move it to the outside of the device. After the storage box is moved to the outside of the device, a communication signal is transmitted to ports No. 3 and No. 6 to release the suction cup, and the discharging is completed. A communication signal is also inserted once during the removal of the storage box by the discharging mechanical arm to reduce the buffer pressure.

[0146] Step 1.6: x, y, z axis mechanical return to zero, complete the edge trimming and caster installation of a set of storage boxes.

[0147] The manual mode in step S3 is to manually control a certain axis to perform single-axis movement or to control a certain module to complete some simple multi-axis movement, which specifically includes the following steps:

[0148] Step 2.1: Storage box loading and position determination;

[0149] The controller places the storage box 4 on the turntable. If the storage box 4 is located at the set position, the photoelectric switch is triggered, and at this time the storage box fixing mechanism 94 is started to adsorb and fix the storage box 4. If the photoelectric switch does not detect the storage box 4, manually correct the position of the storage box 4 until the photoelectric switch is triggered, or the controller reloads.

[0150] Step 2.2: x, y, z axis mechanical return to zero;

[0151] The x, y, z axis mechanical return to zero is respectively operated to ensure the consistency of the starting position at the beginning of the subsequent operation.

[0152] Step 2.3: The controller starts the vibrating disc to perform caster feeding, and after feeding is completed, the caster installation is performed;

[0153] The feeding mechanism 92 clamps the caster and presses the caster into the caster groove of the storage box 4 through the pressure wheel mechanism 93;

[0154] Step 2.4: Edge trimming;

[0155] The edge trimming step is performed according to the z-axis rotation angle, and the edge trimming adopts the method of trimming the long edge first and then trimming the short edge or full edge trimming.

[0156] Step 2.5: Storage box unloading;

[0157] Step 2.6: x, y, z axis mechanical return to zero, complete the edge trimming and caster installation of a set of storage boxes.

[0158] The specific steps of trimming the long edge are as follows:

[0159] Step 3.1: x, y, z axis mechanical return to zero, to ensure that each time the program is run from zero to the next step;

[0160] Step 3.2: Trim the long edge;

[0161] As shown in Figure 13 , the tool bit quickly moves to the long edge entry point c, the coordinates of the long edge entry point c are (x c , y c ), and the initial point coordinates of the long edge trimming are (x l , y l ), (x l,y l ) is the set value; x c With the initial point coordinate x l Same, y c =y l +α; α is the distance the cutter head moves toward the storage box, which can be set according to actual needs. In this embodiment, α=10; then the speed is slowed down and the cutter head moves along the long side. Figure 13 Move in a straight line in the direction of arrow E; the moving distance is set according to the length of the long side.

[0162] Step 3.3: Corner trimming;

[0163] The controller controls the cutter head to make oblique cutting motion along the corner arc, and the oblique cutting range is 1 / 4 of the circumference;

[0164] Step 3.4: The tool head retracts along the positive direction of the y-axis until it reaches the limit point, and then retracts along the x-axis until it reaches the limit point. This completes the step.

[0165] The specific steps for trimming the shorter edges are as follows:

[0166] Step 4.1: Feed, move the tool head to the short side feed point d of the short side;

[0167] The coordinates of the short side feed point d are (x d ,y d ), the initial point coordinates of the shortened edge are (x s ,y s ), (x s ,y s ) According to the initial point coordinates of the slender edge, β is the distance of the cutting head moving toward the storage box, which can be set according to actual needs. In this embodiment, β=α; L is the length of the long side of the storage box; W is the width of the short side of the storage box;

[0168] Step 4.2: Trim the short edges;

[0169] like Figure 14 As shown, the storage box is provided with two sets of reinforcing ribs 41 on the short side, which are respectively marked as points e and f. Points e and f are closely spaced from the short side, and the short side forms bends at points e and f, which are the first bend at point e and the second bend at point f.

[0170] The tool head moves from the short side entry point d in the direction of arrow H for trimming. Before moving to point e, it first performs an oblique retraction. After avoiding point e, the oblique entry will directly trim the first bend, and then trim the short side portion between points e and f. At this time, the oblique retraction will trim the second bend and avoid point f, and then the oblique entry will trim the straight portion of the short side.

[0171] Step 4.3: corner trimming;

[0172] The controller controls the cutter head to make a beveling movement along the corner arc to the corner, and the beveling range is 1 / 4 of a circle.

[0173] Step 4.4: the cutter head retreats along the positive direction of the y-axis to a limit point, and then retreats along the x-axis to a limit point, and the step ends.

[0174] The above full edge trimming combines the long edge trimming and the short edge trimming, and there is no need to determine whether the current trimming is the long edge trimming or the short edge trimming through the rotation angle of the z-axis. When the storage box is adsorbed and fixed, the long edge is opposite to the cutter head device, and the process of the full edge trimming is trimming the long edge, trimming the short edge, trimming the long edge, and trimming the short edge in sequence. The specific operation steps of the long edge trimming and the short edge trimming are the same as above, and are not described here.

[0175] The single-blade cutter head and the double-blade cutter head in the embodiment have different operation modes for trimming the long edge and the short edge. Specifically:

[0176] When the single-blade cutter head trims the edge, the preheated cutter head retreats to the starting point of the short edge after completing the cutting of the long edge, and then cuts the short edge. After completing the cutting of the short edge, the cutter head retreats to the starting point of the other long edge, and then cuts the other long edge. After completing the cutting of the long edge, the cutter head retreats to the starting point of the other short edge, and then cuts the other short edge. After completing the edge trimming, the cutter head retreats to the starting position, the mechanical zero of the rotating shaft is reset to eliminate errors, and the edge trimming of a group of storage boxes is completed. Then, the above process is recycled to complete the edge trimming of subsequent storage boxes.

[0177] When the double-blade cutter head trims the edge, the preheated cutter head trims the long edge from right to left, rotates the inclination direction of the cutter head, moves to the starting point of the short edge, and then cuts the short edge from left to right. The double-blade cutter head saves a large part of the retreat time, thereby greatly optimizing the process time.

[0178] The present scheme does not limit the use of single-blade cutter heads or double-blade cutter heads. In consideration of saving process time, the double-blade cutter head is preferably used.

[0179] The device referred to in the embodiment refers to a total assembly of all machine structures related to the edge trimming of the storage box, including the edge trimming device of the storage box.

[0180] Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

Claims

1. An automatic pressing wheel and trimming device for a storage box, characterized by: The controller is in communication connection with the compression wheel device, the trimming device and the discharging mechanism respectively, the compression wheel device comprises a feeding mechanism, a material taking mechanism, a compression wheel mechanism, a storage box fixing mechanism and a storage box turning mechanism, the trimming device comprises a cutter head driving device, a cutter head device and a visual positioning device, the feeding mechanism, the material taking mechanism, the compression wheel mechanism, the storage box fixing mechanism, the storage box turning mechanism, the discharging mechanism, the cutter head driving device, the cutter head device and the visual positioning device are installed on the cabinet body, the cutter head device comprises a cutter head, a material guiding structure, a discharging auxiliary structure and a rotating structure, the material guiding structure is provided in a V-shaped structure formed by two groups of side plates, the material guiding structure is arranged above the cutter head in an inverted V shape, the flash to be trimmed has a tendency to flip horizontally upward when contacting the material guiding structure, the discharging auxiliary structure is provided in a V-shaped structure formed by two groups of auxiliary side plates, the discharging auxiliary structure is arranged below the cutter head in an inverted V shape, and the second buffer module is arranged on the rotating shaft of the storage box turning mechanism, the second buffer module divides the rotation of the rotating shaft into two rotations composed of different speeds, the rotation angle of the first rotation is greater than that of the second rotation, and the rotation speed of the first rotation is greater than that of the second rotation.

2. An automatic wheel and trimmer device for a storage case according to claim 1, characterized in that: The feeding mechanism, the material taking mechanism, the compression wheel mechanism, the storage box fixing mechanism, the storage box turning mechanism and the discharging mechanism are arranged in sequence and located in the same horizontal direction, the feeding mechanism is in butt joint with the material taking mechanism, the material taking mechanism is in butt joint with the compression wheel mechanism, the compression wheel mechanism is in butt joint with the storage box, the storage box fixing mechanism is fixed on the turntable, the storage box is adsorptively fixed on the turntable, the turntable is connected with the storage box turning mechanism, the rotating shaft drives the turntable to rotate synchronously, and the discharging mechanism is in butt joint with the storage box.

3. An automatic wheel and trimmer device for a storage case according to claim 1, characterized in that: The first buffer module is arranged on the discharging mechanism and used for buffering during the operation of the discharging mechanism to prevent the buffering load from being too large due to the overloading of the discharging mechanical arm.

4. An automatic wheel and trimmer device for a storage case according to claim 1, characterized in that: The light sensor is fixed at the tail end of the material taking structure, the light sensor is used for detecting whether the caster is grabbed, when the caster feeding is completed, the light sensor is triggered, the vibration disc stops vibrating and feeding, when the caster is clamped by the compression wheel structure, the light sensor does not detect the caster, and the vibration disc starts to move to transmit a new caster to the caster limiting position.

5. A method of operating the automatic case presser and trimmer of any one of claims 1-4, comprising: The method comprises the following steps: Step S1: device initialization and self-checking; Before initial operation, the device is initialized, and after the initialization, the initialized device is self-checked to determine whether the device has a fault; if yes, the fault is eliminated, and if no, step S2 is executed; Step S2: setting the number N1 of storage boxes to be processed; Step S3: according to the signal sent by the controller, it is determined whether to perform a full-automatic mode or a manual mode, if the full-automatic mode is performed, a full-automatic process is executed, and if the manual mode is performed, a manual process is executed; The full-automatic mode and the manual mode respectively perform the vibration disc discharging, the caster feeding, the storage box feeding, the trimming, the caster installation and the storage box discharging operations. When an emergency accident occurs during the execution of the full-automatic process or the manual process, the controller is clicked to pause, the program is terminated to pause, the mechanical zero-reset operation is performed in the manual mode after the termination of the program, and after the return to the safe position, the mode selection is performed again; Step S4: The number N2 of the processed storage boxes is accumulated, and it is determined whether the number N2 of the processed storage boxes reaches the set value N1. If yes, step S5 is executed, and if no, step S3 is executed. Step S5: The device is exited, and the step is ended.

6. The method of claim 5, wherein: The device initialization and self-checking of the step S1 include the following steps: Step S1.0: Controller IO port setting and device initialization; Step S1.1: The vibration disc is powered on, the first direction driving mechanism is reset to zero in the x-axis, the second direction driving mechanism is reset to zero in the y-axis, and the storage box turning mechanism is reset to zero in the z-axis; Step S1.2: It is determined whether the x-axis reaches zero. If yes, step S1.3 is executed, and if no, the x-axis zero-reset fault is recorded and eliminated; Step S1.3: It is determined whether the y-axis reaches zero. If yes, step S1.4 is executed, and if no, the y-axis zero-reset fault is recorded and eliminated; Step S1.4: It is determined whether the z-axis reaches zero. If yes, step S1.5 is executed, and if no, the z-axis zero-reset fault is recorded and eliminated; Step S1.5: It is determined whether the vibration disc normally discharges. If yes, step S1.6 is executed, and if no, the vibration disc discharging fault is recorded and eliminated; Step S1.6: The edge trimming test cutter of the cutter device is started, it is determined whether the cutter device and the process normally operate, if yes, the step is ended, and if no, the cutter device and the process fault are recorded and eliminated.

7. The method of claim 6, wherein: The controller IO port setting of the step S1.0 is specifically as follows: The zero position and limit position of the x, y and z axes are equipped with input port settings. The positive limit position of the x corresponds to the input IO port 1, the negative limit position of the x corresponds to the input IO port 3, and the zero position of the x corresponds to the input IO port 2. The positive limit position of the y corresponds to the input IO port 4, the negative limit position of the y corresponds to the input IO port 6, and the zero position of the y corresponds to the input IO port 5. The z axis only has a zero position input IO port corresponding to the input port 7. Whether the port is on or off is an important indicator for judging whether the motor has run to the zero position or the limit position. The on-off control foot wheel installation process of the output ports 1 and 2, the communication signal of the 1st port is to extend the mechanical arm of the material taking mechanism carrying the foot wheel above the storage box, so that the mechanical arm reaches the positive side of the pressing wheel position, and the off signal of the 1st port is to retract the mechanical arm to the position before extension. The communication signal of the 2nd port is that the pressing wheel mechanism presses the mechanical claw clamping the foot wheel downward, and installs the foot wheel in the foot wheel groove of the storage box. The off signal of the 2nd port resets the mechanical claw. The 3rd, 5th and 6th ports control the unloading process of the storage box. The 5th port controls the movement of the unloading mechanical arm of the unloading mechanism. In the communication signal state, the unloading mechanical arm moves to both sides of the storage box. In the off signal state, the unloading mechanical arm is reset. In the communication signal state of the 3rd port, the unloading mechanical arm on both sides of the storage box is tightened inward to achieve the effect of clamping the box body. In the off signal state, the unloading mechanical arm is reset to the state of not tightening the storage box, that is, it is extended outward. The 6th port controls the suction cup on the unloading mechanical arm. In the communication signal state, the suction cup is sucked tightly. In the off signal state, the suction cup is released.

8. The method of claim 5, wherein: The full-automatic process in the step S3 specifically includes the following steps: Step 1.1: Storage box loading and position judgment; The controller places the storage box on the turntable. If the storage box is located at the set position, the photoelectric switch is triggered, and the storage box fixing mechanism is started to adsorb and fix the storage box. If the photoelectric switch does not detect the storage box, manually correct the position of the storage box until the photoelectric switch is triggered, or the controller reloads; Step 1.2: x, y, z axis mechanical zero return; Step 1.3: The controller starts the vibrating disc to convey the foot wheel, and the ultrasonic generator starts preheating; Step 1.4: Edging and foot wheel installation; The relationship between the rotation angle of the z axis and the edging is set as follows: the z axis rotation angle is 0 degree or 180 degree for long edge trimming, and 90 degree or 270 degree for short edge trimming. The z axis is the rotation shaft of the storage box turning mechanism. The foot wheel installation is inserted in the long edge trimming process. When it is confirmed that the edge to be trimmed is a long edge, the material taking mechanism clamps the foot wheel and presses it into the foot wheel groove of the storage box through the pressing wheel mechanism. After the installation is completed, the material taking mechanism and the pressing wheel mechanism are reset; When the foot wheel loading is completed, the light sensor is triggered, the vibrating disc stops vibrating and feeding to ensure that the mechanical arm of the material taking structure stably grabs the foot wheel. When the foot wheel is clamped by the pressing wheel structure, the light sensor does not detect the foot wheel, the vibrating disc starts to move to convey the new foot wheel to the foot wheel limit position, and waits for the next operation, After the short edge trimming is executed twice, the storage box edging and foot wheel installation are completed; Step 1.5: Unload the storage box after step 1.4 is executed; Step 1.6: x, y, z axis mechanical return to zero, complete a set of storage box trimming and wheel installation.

9. The method of claim 8, wherein: During the step 1.6 storage box blanking process, the controller starts the blanking mechanism to run, and the blanking mechanical arm runs to both sides of the storage box. A communication signal is inserted during the movement of the blanking mechanical arm to slow down the movement speed of the blanking mechanical arm, thereby reducing the buffer load. The specific steps are as follows: first, a communication signal is transmitted to the blanking mechanical arm, the blanking mechanical arm makes a circular motion, and when it moves to 3 / 4 of a circle, a communication signal is inserted. A force in the opposite direction is given to the blanking mechanical arm to slow down the speed caused by inertia. Then, a communication signal is inserted to make the blanking mechanical arm run smoothly to both sides of the storage box. Then, a communication signal is sent to port No. 3 to clamp the storage box, and a communication signal is sent to port No. 6 to clamp the storage box with the suction cup. A communication signal is sent to port No. 5 again to make the blanking mechanical arm clamp the storage box and move it to the outside of the device. After the storage box is moved to the outside of the device, a communication signal is sent to ports No. 3 and No. 6 to release the suction cup, and the blanking is completed. During the removal of the storage box by the blanking mechanical arm, a communication signal is also inserted to reduce the buffer pressure.

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