A counter-grab device and method for a tool preparation system

Abstract

The present application relates to the technical field of drill bit preparation, and particularly relates to a reverse grabbing device and method for a drill bit preparation system, which comprises a drill bit preparation device and a stacking and discharging device, and further comprises: a full box conveying device, which is arranged on one side of the drill bit preparation device, and is used for conveying full drill bit boxes; the drill bit preparation device is used for reverse grabbing of drill bits; an output end of the full box conveying device is connected with the stacking and discharging device; the stacking and discharging device is used for discharging the full drill bit boxes after the reverse grabbing of the drill bits; and a full drill bit box grabbing device is arranged between the drill bit preparation device and the stacking and discharging device, and is used for clamping the full drill bit boxes output by the full box conveying device to the stacking and discharging device for discharging, or clamping the full drill bit boxes of the full box conveying device to the drill bit preparation device. The present application solves the problem of low efficiency of the drill bit preparation process in the prior art.

Description

[0001] This application is a divisional application of the invention patent with application number "202610916005.1", application date June 24, 2026, and invention title "A three-section three-operation line preparation structure and device". Technical Field

[0002] This invention relates to the field of drill bit preparation technology, and in particular to a reverse gripping device and method for a drill bit preparation system. Background Technology

[0003] In PCB (Printed Circuit Board) drilling, there are often multiple drilling requirements for different diameters on the same PCB, and some processes also involve different types of cutting tools such as milling cutters and grooving cutters. To meet this need, the industry has developed a tool preparation machine that can rearrange and output cutting tools. Its basic working method is as follows: by connecting with manual labor, AGV (automated guided vehicle) carts or large warehouses, full tool boxes of uniform specifications are sent to the tool preparation machine's temporary tool magazine. Then, according to the on-site work order requirements, the diameter specifications of the cutting tools are rearranged, and the rearranged tool boxes are output to the next workstation.

[0004] Currently used tool holders (or Japanese-style tool holders) have high storage density. Within a limited volume of approximately 118×54×23.5mm, they can accommodate 50 tool stations through array arrangement. Tools are inserted vertically for storage, and the overall height with tools is approximately 39mm, with a single box weighing approximately 300g. The matching tools each weigh approximately 2-5g and consist of a shank, collar, blade, and tip; the shank diameter is 3.175mm. In PCB six-axis drilling scenarios, six-axis drilling machines, through a multi-spindle parallel structure, simultaneously drill multiple holes in a single processing cycle, placing high demands on the efficiency of tool preparation at the front end of the production line. In traditional automated tool production and warehousing scenarios, tool preparation and retraction processes rely heavily on manual labor, resulting in low efficiency and difficulty in guaranteeing accuracy. With the rapid development of downstream fields such as 5G communication, artificial intelligence, and semiconductor packaging, the demand for PCB manufacturing has increased significantly, placing more stringent requirements on the capacity and stability of tool preparation machines.

[0005] Currently, most automated tool preparation processes employ a step-by-step model: "full box warehousing → line conveying → full box transfer → tool preparation." Full tool boxes from the main warehouse or manually are first stored in the tool magazine. When a tool preparation requirement arises, it is retrieved from the magazine and transported to the tool preparation station via a transport mechanism, where the required tool is taken out. However, this approach still has some shortcomings in practical applications.

[0006] First, the process involves numerous handling and waiting steps, resulting in a long tool preparation cycle, which makes it difficult to fully meet capacity requirements when high-speed production is needed. Second, empty tool boxes generated during tool preparation cannot usually be effectively recycled within the equipment, requiring frequent manual replenishment to maintain equipment operation, resulting in a high degree of manual intervention. Third, the existing tool preparation mode is relatively simple, mostly preparing tools sequentially according to the work order. When encountering a situation where most tools in the same tool box are of the same specification, and only a small number of tools of other specifications need to be mixed in, the conventional practice is often to remove the tools in batches and reload them according to the new specifications, which is redundant and the tool preparation cycle is relatively long. Fourth, when the box is full or when some tools need to be removed (reverse gripping), there is a lack of effective coordination between the storage location, tool preparation station, and buffer station, which restricts the overall capacity. Fifth, the existing solutions mainly deliver tools in units of individual tool boxes, with limited buffer capacity, high frequency of manual or AGV back-and-forth travel, and a cumbersome docking process.

[0007] In summary, how to simplify processes, reduce manual intervention, improve multi-station collaboration efficiency, reduce the frequency of external docking, and enhance the flexibility of equipment in full-box discharge and reverse gripping scenarios while ensuring the accuracy of tool preparation have become the technical problems that urgently need to be solved in this field. Summary of the Invention

[0008] This invention provides a three-stage, three-line tool preparation method to solve the problem of low efficiency in the existing tool preparation process.

[0009] This invention is achieved through the following technical solution: providing a reverse gripping device for a knife preparation system. The knife preparation system includes a knife preparation operation device, which includes a knife preparation unit and a stacking and discharging device. It further includes: a full-box conveying device, which is disposed on one side of the knife preparation operation device and is used to transport full-knife boxes. The knife preparation unit is used for reverse gripping for knife preparation. The output end of the full-box conveying device is connected to the stacking and discharging device, which is used to discharge the box after reverse gripping for knife preparation; and a full-knife box gripping device, which is disposed between the knife preparation unit and the stacking and discharging device, and is used to grip the full-knife boxes output by the full-box conveying device and discharge them to the stacking and discharging device, or to grip the full-knife boxes from the full-box conveying device and discharge them to the knife preparation unit.

[0010] Specifically, the input end of the full-box conveying device is connected to the output end of an external warehouse, which is used to convey full-knife boxes to the full-box conveying device.

[0011] Specifically, it also includes: a storage storage device, which stores storage boxes, including multi-specification full tool boxes, remaining tool boxes after tool preparation, and empty boxes. The storage storage device is equipped with a tool preparation platform and a robotic arm that slide along the storage storage device. The storage storage device is used to provide the tool preparation device with the required tool preparation drill bits.

[0012] The input end of the full box conveying device is connected to the output end of the full knife box of the storage device, and is used as the source of the full knife box of the full box conveying device. The bottom of the knife preparation platform is connected to the platform travel track, which extends to the knife preparation device. The robot arm is used to place the storage knife box in the storage device onto the knife preparation platform, and replenish the required knife needles when the knife preparation device performs reverse gripping.

[0013] Specifically, the stacking discharge device includes a full-box traying device, and the lower feeding device of the full-box traying device includes a full-box traying first guide rail, a full-box traying second guide rail, a full-box traying third guide rail, and a full-box traying fourth guide rail arranged along the opposite material conveying direction. The full-box third guide rail is connected to the output end of the full-box conveying device, and the full-box gripping device is arranged above the full-box third guide rail and the output end of the full-box conveying device.

[0014] The first guide rail for full-box loading is used to receive stacked empty pallets and split them into individual empty pallets. The second guide rail for full-box loading is used to receive empty pallets conveyed by the first guide rail for full-box loading. The third guide rail for full-box loading is used to receive empty pallets conveyed by the second guide rail for full-box loading. The empty pallets placed on the third guide rail are used to receive full-knife boxes conveyed by the full-knife box gripping device of the full-box loading device to form a full-knife box pallet. The transmission direction of the fourth guide rail for full-box loading can be changed. It is used to receive full-knife box pallets conveyed by the third guide rail for full-box loading. The fourth guide rail for full-box loading is equipped with a lifting device for lifting the fourth guide rail for full-box loading and interacting with the upper discharge device of the full-box loading device.

[0015] The upper discharge device of the full-box traying device includes a fifth full-box traying guide rail, a sixth full-box traying guide rail, and a seventh full-box traying guide rail arranged sequentially along its conveying flow line. The fifth full-box traying guide rail is used to receive and place full-knife box trays conveyed by the fourth full-box traying guide rail. The sixth full-box traying guide rail is used to receive trays conveyed by the fifth full-box traying guide rail and to place full-discharge box trays or full-knife box trays. The seventh full-box traying guide rail is used to receive stacks of full-discharge box trays. The seventh full-box traying guide rail is equipped with a dismantling mechanism for dismantling stacked multi-layer trays or stacking multiple trays into multi-layer trays.

[0016] Specifically, the knife preparation device and the stacking discharge device are equipped with gantry discharge grippers, which are used to pick up the full knife box from the sixth guide rail of the full box loading tray and transfer it to the knife preparation device, and to transfer the discharge box after the reverse gripping is completed from the knife preparation device back to the original tray.

[0017] Specifically, the knife preparation device includes an exchange platform and a gantry knife preparation assembly. The exchange platform includes a lifting knife preparation plate and a horizontally moving knife preparation plate, which are arranged vertically parallel to each other. The lifting and horizontally moving knife preparation plates can alternately move to the knife preparation station and the receiving station along the material conveying direction. The knife preparation station is located below the gantry knife preparation assembly, and the receiving station is located on the side close to the full-box loading device. The output end of the knife preparation platform is connected to the knife preparation station. The storage box conveyed by the knife preparation platform is used to provide knife needles for the reverse gripping operation or to store knife needles removed by the reverse gripping operation. The gantry knife preparation assembly is used at the knife preparation station to reverse grip the knife needles in the full-box conveyed by the gantry discharge gripper.

[0018] A reverse gripping method for a tool preparation system, applied to the aforementioned reverse gripping device, includes the following steps:

[0019] When a work order requires a half-full knife box, the knife box gripping device transports the full knife box from the full box conveying device to the knife preparation device for reverse gripping and knife preparation.

[0020] Specifically, it includes the following steps:

[0021] S101, Full box conveying device receives full knife boxes from storage conveying device or large warehouse conveying;

[0022] S102, the lower layer of the full box palletizing device of the stacking discharge device receives the stack of empty pallets, which are then split into individual empty pallets by the unpacking mechanism and conveyed to the third guide rail of the full box palletizing device in the opposite direction of material transportation.

[0023] S103, the full box conveying device transports the full knife box to the full box tray third guide rail of the full box traying device;

[0024] S104, the full knife box gripping device places the full knife boxes one by one into the empty tray of the third guide rail of the full box loading tray to form a full knife box tray;

[0025] S105, the full-knife box pallet is conveyed to the fourth guide rail for full-box loading in the opposite direction of material conveying.

[0026] Specifically, it also includes the following steps:

[0027] S106: The full knife box tray is lifted to the upper layer of the full box loading device by the lifting device set on the fourth guide rail of the full box loading. The exchange device includes a storage device and a knife preparation device. The gantry discharge gripper picks up the full knife box from the full knife box tray and transfers the full knife box to the exchange platform.

[0028] S107: The robotic arm places the storage boxes or empty boxes in the storage device onto the tool preparation platform, and then the tool preparation platform transports them to the exchange platform for reverse gripping and tool preparation.

[0029] S108: After the reverse gripping is completed, the gantry discharge gripper sends the discharge box back to the upper layer of the full box loading device and puts it back into the original tray to form the discharge box tray. The discharge box tray is transported along the flow line to the seventh guide rail of the full box loading device for tray stacking and discharge.

[0030] Specifically, the S107 reverse gripping tool preparation includes the following steps: According to the work order requirements, when the work order requires a half-full tool box of the same specification, the gantry tool preparation component extracts excess tool needles from the full tool box of the exchange platform to form a half-full tool box of the same specification as the output box. The extracted excess tool needles can be placed in the empty box of the tool preparation platform, or added to the empty space formed after tool preparation in the storage box of the tool preparation platform. When the work order requires a half-full tool box of different specifications, the gantry tool preparation component extracts excess tool needles from the full tool box of the exchange platform to form a half-full tool box. Tool needles are extracted from the storage box conveyed from the tool preparation platform, and tool needles that meet the work order specifications are added to the half-full tool box to form the output box, thus completing the reverse gripping process.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] (1) This knife preparation structure sets up parallel knife preparation lines, full box conveying lines, and empty box conveying lines, so that the three material paths of direct discharge of full knife boxes, recycling of empty boxes, and normal knife preparation operations are independent and do not interfere with each other. Full knife boxes can be directly sent to the stacking discharge section for discharge via the full box conveying line, and empty boxes can be recycled from the exchange section to the stacking discharge section for reuse via the empty box conveying line. The knife preparation line focuses on the rearrangement of knife needles, realizing parallel operation of multiple working modes, which greatly improves the overall capacity and material flow efficiency of the knife preparation system.

[0033] (2) The blade preparation structure adopts a two-layer and two-zone layout in the stacked discharge section. The left and right zones are the full box loading zone and the discharge loading zone, respectively, which handle full box discharge and blade preparation discharge. The upper and lower layers realize the lower layer feeding and upper layer discharge, respectively. The material flow direction is clear and does not interfere with each other. By using the gantry discharge gripper to dispatch the tray and blade box between the full box loading zone and the discharge loading zone, the flexible switching of multiple working modes such as full box direct delivery, normal blade preparation discharge, reverse gripping discharge and empty box circulation is realized.

[0034] (3) This tool preparation structure, through the dual-station design of the tool preparation platform in the exchange section and the four-platform alternating cooperation mechanism, enables the tool preparation platform to move synchronously with the robot arm, forming a dynamic mobile buffer. This eliminates the capacity limitation of the traditional fixed buffer area and the problem of excessively long tool preparation stroke. The tool preparation device can work continuously without interruption, significantly improving the efficiency of single tool preparation.

[0035] (4) This knife preparation structure adopts a lower feeding guide rail in the opposite direction of material conveying and an upper discharging guide rail in the same direction of material conveying in both the full box loading area and the discharge loading area. It is combined with a disassembly mechanism, a lifting device and a cross-channel handling device to realize the automatic scheduling of empty pallets between the full box loading area and the discharge loading area and the automatic transfer between the upper and lower layers, reducing manual intervention and improving the degree of automation. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the operation process of the tool preparation device in Embodiment 1 of the present invention;

[0037] Figure 2 This is a schematic diagram of the outer shell structure of the tool preparation device in Embodiment 1 of the present invention;

[0038] Figure 3 This is a schematic diagram of the outer shell structure of the tool preparation device according to Embodiment 1 of the present invention from another perspective;

[0039] Figure 4 This is a first top view of the tool preparation device according to Embodiment 1 of the present invention;

[0040] Figure 5 This is a second top view of the tool preparation device according to Embodiment 1 of the present invention;

[0041] Figure 6 This is a top view of the discharge section of the blade preparation device in Embodiment 1 of the present invention;

[0042] Figure 7 This is a schematic diagram of the three-dimensional structure of the tool preparation device in Embodiment 1 of the present invention;

[0043] Figure 8 This is a three-dimensional structural diagram of the tool preparation device from another perspective in Embodiment 1 of the present invention;

[0044] Figure 9 This is a three-dimensional structural diagram of the storage and transportation device for the tool preparation equipment in Embodiment 1 of the present invention;

[0045] Figure 10 This is a schematic diagram of the direct feed channel structure of the first full-blade box conveying guide rail of the tool preparation device in Embodiment 1 of the present invention;

[0046] Figure 11This is a top view of the first and second full-tool box conveying guide rails of the tool preparation device in Embodiment 1 of the present invention.

[0047] Figure 12 This is a schematic diagram of the camera detection device structure of the tool preparation equipment in Embodiment 1 of the present invention;

[0048] Figure 13 This is a schematic diagram of the clamping component structure of the camera detection device of the tool preparation equipment in Embodiment 1 of the present invention;

[0049] Figure 14 This is a schematic diagram of the position and structure of the second transfer module of the tool preparation device in Embodiment 1 of the present invention;

[0050] Figure 15 This is a schematic diagram of the second transfer module structure of the tool preparation device in Embodiment 1 of the present invention;

[0051] Figure 16 This is a schematic diagram of the position and structure of the first transfer module of the tool preparation device in Embodiment 1 of the present invention;

[0052] Figure 17 This is a schematic diagram of the first and second intermediate channels of the storage device of the tool preparation equipment in Embodiment 1 of the present invention;

[0053] Figure 18 This is a schematic diagram of the tool storage device tool preparation platform structure of the tool preparation equipment in Embodiment 1 of the present invention;

[0054] Figure 19 This is a schematic diagram of the input end structure of the empty box conveying device of the tool preparation equipment in Embodiment 1 of the present invention;

[0055] Figure 20 This is a schematic diagram of the empty box transfer module position structure of the tool preparation device in Embodiment 1 of the present invention;

[0056] Figure 21 This is a schematic diagram of the usage scenario of the knife preparation device of the knife preparation equipment in Embodiment 1 of the present invention;

[0057] Figure 22 This is a schematic diagram of the tool preparation device structure of the tool preparation equipment in Embodiment 1 of the present invention;

[0058] Figure 23 This is a schematic diagram of the tool preparation device of the tool preparation equipment in Embodiment 1 of the present invention from another perspective;

[0059] Figure 24 This is a schematic diagram of the tool preparation device exchange platform structure of the tool preparation equipment in Embodiment 1 of the present invention;

[0060] Figure 25 This is a schematic diagram of the tool preparation device exchange platform of the tool preparation equipment in Embodiment 1 of the present invention from another perspective.

[0061] Figure 26 This is a schematic diagram of the lifting plate and the fixed plate of the tool preparation device exchange platform of the tool preparation equipment in Embodiment 1 of the present invention;

[0062] Figure 27 This is a schematic diagram showing the positions of the lifting plate and the fixed plate of the tool box positioning mechanism of the tool preparation device exchange platform in Embodiment 1 of the present invention.

[0063] Figure 28 This is a partial schematic diagram of the lifting plate and the fixed plate of the tool box positioning mechanism of the tool preparation device exchange platform in Embodiment 1 of the present invention.

[0064] Figure 29 This is a schematic diagram of the lifting plate and the fixed plate of the tool box positioning mechanism of the tool preparation device exchange platform of the tool preparation equipment in Embodiment 1 of the present invention;

[0065] Figure 30 This is a schematic diagram from another perspective of the lifting plate and the fixed plate of the knife box positioning mechanism of the knife preparation device exchange platform of the knife preparation equipment in Embodiment 1 of the present invention.

[0066] Figure 31 This is a schematic diagram of the lifting plate and the fixed plate of the tool box forward positioning mechanism of the tool preparation device exchange platform of the tool preparation equipment in Embodiment 1 of the present invention;

[0067] Figure 32 This is a schematic diagram of the gantry-type knife preparation assembly of the knife preparation device in Embodiment 1 of the present invention;

[0068] Figure 33 This is a schematic diagram of the variable pitch module of the tool preparation device in Embodiment 1 of the present invention;

[0069] Figure 34 This is a schematic diagram of the lifting unit of the tool preparation device in Embodiment 1 of the present invention;

[0070] Figure 35 This is a schematic diagram of the stacking and discharging device position of the knife preparation equipment in Embodiment 1 of the present invention;

[0071] Figure 36 This is a schematic diagram of the stacking and discharging device of the blade preparation equipment in Embodiment 1 of the present invention from another perspective.

[0072] Figure 37 This is a schematic diagram of the disassembly mechanism of the blade preparation device in Embodiment 1 of the present invention;

[0073] Figure 38 This is a schematic diagram of the disassembly and clamping assembly of the tool preparation device in Embodiment 1 of the present invention;

[0074] Figure 39 This is a schematic diagram of the position and structure of the cross-channel transport device of the tool preparation equipment in Embodiment 1 of the present invention;

[0075] Figure 40 This is a schematic diagram of the cross-channel transport device of the tool preparation equipment in Embodiment 1 of the present invention;

[0076] Figure 41 This is a schematic diagram of the lifting device position structure of the tool preparation equipment in Embodiment 1 of the present invention;

[0077] Figure 42 This is a schematic diagram of the gantry discharge gripper of the tool preparation device in Embodiment 1 of the present invention;

[0078] Figure 43 This is a schematic diagram showing the position and structure of the full knife box gripping device and the empty knife box gripping device of the knife preparation equipment in Embodiment 1 of the present invention;

[0079] Figure 44 This is a schematic diagram of the material handling module of the tool preparation equipment in Embodiment 1 of the present invention;

[0080] Figure 45 This is a schematic diagram of the loading and handling module of the tool preparation equipment in Embodiment 1 of the present invention from another perspective;

[0081] Figure 46 This is a schematic diagram of the positional structure of the tray layering mechanism of the knife preparation device in Embodiment 1 of the present invention;

[0082] Figure 47 This is a partial schematic diagram of the gantry discharge gripper of the tool preparation device in Embodiment 1 of the present invention;

[0083] Figure 48 This is a top view of the retraction device according to Embodiment 6 of the present invention;

[0084] Figure 49 This is a three-dimensional structural diagram of the tool retraction device according to Embodiment 6 of the present invention;

[0085] Figure 50 This is a three-dimensional structural diagram of the tool retraction device according to Embodiment 6 of the present invention from another perspective;

[0086] Figure 51 This is a schematic diagram of the stacking feeding device of the knife retraction device in Embodiment 6 of the present invention;

[0087] Figure 52 This is a partial structural schematic diagram of the stacking feeding device of the knife retraction device in Embodiment 6 of the present invention;

[0088] Figure 53 This is a partial structural diagram of the docking between the stacking feeding device and the full-box unloading conveying device of the unloading equipment in Embodiment 6 of the present invention;

[0089] Figure 54 This is a partial structural diagram of the tool retraction device of the tool retraction equipment in Embodiment 6 of the present invention;

[0090] Figure 55 A partial structural diagram of the docking between the stacking feeding device and the empty box unloading conveying device of the unloading equipment in Embodiment 6 of the present invention;

[0091] Figure 56 A partial structural diagram of the empty box retraction conveying device of the retraction equipment in Embodiment 6 of the present invention.

[0092] Figure Descriptions: 1. Outer shell; 11. Lower side door; 12. Upper side door; 13. Cylinder; 15. Electrical control unit; 2. Storage and conveying device; 21. First full-box conveying guide rail; 211. First barcode scanner; 212. Full-box blocking sheet metal; 213. First positioning photoelectric detection device; 214. Second positioning photoelectric detection device; 215. Third positioning photoelectric detection device; 216. First partition side blocking device; 2161. Side clamping cylinder; 2162. Clamping block; 217. First positioning side blocking device; 218. First positioning blocking device; 2181. Blocking cylinder; 2182. Side block; 22. Second full-box conveying guide rail; 221. Second barcode scanner; 222. Diversion blocking device; 223. Fourth positioning photoelectric detection device. 224. Electrical detection device; 225. Fifth positioning photoelectric detection device; 226. Sixth positioning photoelectric detection device; 227. Second partition side barrier device; 228. Second positioning side barrier device; 23. Second positioning blocking device; 23. Camera detection device; 231. Sampling module; 2311. Dual-drive synchronous belt module; 233. Light source assembly; 234. Reflector; 235. Clamping assembly; 2351. Cylinder fixing plate; 2352. Slide table cylinder; 2353. Finger cylinder; 2354. Cylinder mounting plate; 2355. Sampling gripper; 24. NG streamline; 25. First transfer module; 251. Lateral gripper; 252. Sliding connecting plate; 253. Lifting cylinder; 254. Clamping cylinder; 255. Clamping gripper 26. Second transfer module; 261. Transverse conveyor belt module; 2611. Transverse servo motor; 262. Mounting plate; 263. Lifting screw module; 2631. Slide table; 264. Lifting servo motor; 265. Rotary cylinder; 2651. Rotary connecting plate; 266. Tool box clamping cylinder; 267. Tool box gripper; 268. First tool box positioning photoelectric detection device; 3. Storage unit; 31. First storage unit; 311. Second intermediate channel; 312. First storage unit platform travel track; 3121. Fourth platform travel track; 3122. Third platform travel track; 32. Second storage unit; 321. First intermediate channel; 322. Second storage unit platform travel track; 3221. Second platform travel track 3222. First platform travel track; 33. First robot arm; 331. First robot arm travel track; 34. Second robot arm; 341. Second robot arm travel track; 35. Third robot arm; 36. Fourth robot arm; 37. Empty box transfer flow line; 38. Tool preparation platform; 381. Platform connecting plate; 382. Avoidance cylinder; 383. Platform placement plate; 384. Platform side clamping cylinder; 385. Platform clamping block; 386. Platform forward push cylinder; 387. Platform push plate; 4. Tool preparation device; 41. Exchange platform; 411. Exchange left support frame; 412. Exchange right support frame; 413. Upper exchange linear module; 414. Lower exchange linear module; 415. Upper exchange motor; 416. Lower exchange motor;417. Upper exchange screw; 418. Lower exchange screw; 42. Gantry tool reserve assembly; 421. Gantry column; 422. Gantry transverse guide rail; 423. Gantry track; 43. Horizontally moving tool reserve disc; 431. Tool reserve disc body; 432. Tool reserve disc tool box slot; 433. Tool reserve disc support plate; 4331. Tool reserve disc head support plate; 4332. Tool reserve disc tail support plate; 436. Tool reserve disc side clamping cylinder; 4361. Tool reserve disc transverse linear guide; 4362. Tool reserve disc longitudinal linear guide; 4363. Tool reserve disc transverse push plate; 4364. Tool reserve disc longitudinal push plate; 4365. Tool reserve disc side push plate; 4366. Tool reserve disc slot plate; 4367. Tool reserve disc stepped screw; 437. Tool reserve disc forward push cylinder; 4371. Tool reserve disc forward push plate. ; 4372, Spare tool disc positioning pin; 4373, Spare tool disc positioning clip; 4374, Spare tool disc round pin spring; 44, Lifting spare tool disc; 441, Exchange lifting cylinder; 442, Exchange connecting plate; 47, Pitch-changing module; 471, Pitch-changing transverse guide rail; 4711, Pitch-changing drive motor; 472, Pitch-changing pen-shaped cylinder; 4721, Pitch-changing floating joint; 4722, Pitch-changing floating joint connector; 4723, Pitch-changing cylinder regulating valve; 473, Pitch-changing miniature guide rail; 4731, Pitch-changing limit block; 474, Pitch-changing slider; 4741, Pitch-changing lifting slide; 4742, Pitch-changing fixing block; 475, Pitch-changing pneumatic gripper; 476, Pitch-changing linear guide fixing plate; 477, Pitch-changing cable fixing component; 478, Pitch-changing optical fiber fixing... Fixed components; 4781, Variable pitch fiber optic sensor probe; 479, Variable pitch mounting assembly; 4791, Variable pitch side plate; 4792, Variable pitch housing; 5, Stacking and unloading device; 51, Full box loading device; 511, Full box loading first guide rail; 512, Full box loading second guide rail; 513, Full box loading third guide rail; 514, Full box loading fourth guide rail; 515, Full box loading fifth guide rail; 516, Full box loading sixth guide rail; 517, Full box loading seventh guide rail; 52, Unloading and loading device; 521, Unloading and loading first guide rail; 522, Unloading and loading second guide rail; 523, Unloading and loading third guide rail; 524, Unloading and loading fourth guide rail; 525, Unloading and loading fifth guide rail; 526, Unloading and loading sixth guide rail; 527 53. Seventh guide rail for material unloading and loading; 53. Gantry unloading gripper; 531. Gantry longitudinal moving beam; 532. Gantry transverse moving module; 533. Gantry lifting module; 534. Gantry gripping assembly; 5341. Gripping slide plate; 5342. Gripping fixing plate; 5343. Pallet avoidance cylinder; 5344. Pallet side clamping cylinder; 5345. Pallet follower clamping arm; 5346. Knife box clamping cylinder; 5347. Knife box clamping arm; 54. Cross-channel transport device; 541. Transverse moving mounting base; 542. Follower clamping arm; 543. Translation slide; 544. Lifting drive cylinder; 545. Lifting connecting plate; 546. Guide rod; 547. Linear bearing seat; 548. Clamping main frame plate; 549. Side clamping drive cylinder; 55. Lifting device;551. Lifting module; 552. Lifting support plate; 553. Lifting connecting plate; 56. Dismantling mechanism; 561. First lifting module; 5611. Lifting rail; 562. Second lifting module; 563. Third lifting module; 564. Clamping assembly; 5641. Sliding connecting plate; 5642. Destacking cylinder; 5643. Lateral slide rail; 5644. Pallet clamp; 5645. Drive plate; 57. Pallet layering mechanism; 571. Layering vertical guide rail; 572. Layering slide table; 573. Layering horizontal push cylinder; 574. Layering linear guide rail; 575. Layering clamping plate; 576. Layering connecting plate; 6. Full box transport Devices; 61. Full-box gripping device; 62. Feeding and handling module; 621. Handling and traversing assembly; 6211. Traversing track; 6212. Handling slide; 6213. Traversing drive motor; 622. Handling and conveying assembly; 6221. Conveying rodless cylinder; 6222. Auxiliary guide rail; 6223. Lifting mounting plate; 623. Handling and lifting assembly; 6231. Handling and lifting cylinder; 624. Handling and clamping assembly; 6241. Handling and clamping cylinder; 6242. Handling gripper; 7. Empty box channel flow line; 71. Empty box transfer module; 711. Empty box lifting module; 712. Empty box gripper; 713. Empty box lifting connecting plate 714. Empty box transverse movement drive cylinder; 715. Empty box transverse movement connecting plate; 716. Empty box rotation cylinder; 717. Empty box clamping cylinder; 72. Partition plate; 73. Empty knife box gripping device; 8. Knife box; 81. Full knife box; 82. Snap-fit ​​groove end; 83. Longitudinal groove end; 9. Knife retraction device; 91. Stacking feeding device; 911. Knife retraction box receiving device; 9111. Knife retraction box receiving guide rail; 9112. First knife retraction interactive guide rail; 9113. Second knife retraction interactive guide rail; 9114. Knife retraction lifting guide rail; 9115. Empty box loading and unloading guide rail; 9116. Transverse movement guide rail; 9117. Empty box pallet discharge guide rail; 912. Empty pallet Tray collection device; 9121, Full-box buffer placement platform; 9122, Empty pallet storage guide rail; 9123, Empty pallet discharge guide rail; 9124, Gantry handling gripper; 92, Knife retraction device; 921, Barcode scanning area; 93, Knife retraction storage device; 94, Docking and cleaning device; 941, First cleaning flow line; 942, Second cleaning flow line; 943, Third cleaning flow line; 95, Full-box knife retraction conveyor device; 951, Full-box transfer flow line; 952, Full-box transport flow line; 96, Empty-box knife retraction conveyor device; 961, Empty-box circulation line; 962, Empty-box knife retraction transfer flow line; 963, Empty-box transfer device; 97, Abnormal knife box flow line. Detailed Implementation

[0093] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0094] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of this application, unless otherwise stated, "multiple" means two or more.

[0095] Regarding the description of the tool box, in the embodiments of this application, the tool box used to hold the cutting needles is a Japanese-style PCB tool box, arranged in a 5-row × 10-column configuration, with dimensions of 118 × 54 × 23.5 mm (length × width × height). The height with the needles is approximately 39 mm. The tool box can hold 50 cutting needles. During transport, the wider side of the tool box faces forward for information exchange. The cutting needle includes a handle, a collar, a blade, and a tip. The handle serves as a carrier for manual or mechanical placement of the cutting tool. The collar is fitted onto the blade for positioning the tool box and identifying the cutting tool. The blade is the upper carrier of the tip, which is used for drilling holes in the PCB board, and includes various types such as drills, milling cutters, and grooving cutters. The tool boxes can be placed in a tray, with 12 tool boxes per tray, arranged in 2 rows horizontally and 6 columns vertically, with the tool boxes arranged vertically. The tool holder 8 has QR codes for information interaction at both ends of its wide side. One end is a snap-fit ​​slot 82 with a rectangular snap-fit ​​slot on its side wall, and the other end is a longitudinal groove 83 with a longitudinal groove on its side wall. The structure of the tray and tool holder 8 can be specifically described in Chinese patent application number 2025225548396, entitled "A Tool Assembly for Transporting Drill Bits." Furthermore, the streamlined transport described in this embodiment can be a conveyor belt or a conveyor rail.

[0096] Example 1:

[0097] This embodiment provides a three-line, three-section tool preparation structure and a three-line, three-section tool preparation device. This tool preparation device is used for automated tool preparation, inspection, and unloading operations.

[0098] Figure 4 and Figure 5 A top view of the tool preparation control device in this embodiment is shown.

[0099] This embodiment provides a three-section, three-line tool preparation structure, which is considered... Figure 4 and Figure 5It includes three operating lines set along the material conveying direction and three sections divided sequentially along the material conveying direction.

[0100] The three production lines include a knife preparation line, a full-box conveying line, and an empty-box conveying line. The knife preparation line has a full-box conveying line on one side and an empty-box conveying line on the other. The full-box conveying line transports full boxes from the storage and conveying section to the stacking and unloading section, while the empty-box conveying line transports empty boxes from the storage and conveying section to the stacking and unloading section.

[0101] The three sections include a storage and conveying section, an exchange section, and a stacking and unloading section. The exchange section includes an exchange platform 41 and a gantry tool preparation assembly 42.

[0102] A knife box gripping device is provided in the stacking discharge section. The knife box gripping device is used to grip full boxes and put them into the knife disc, or to grip full boxes and put them into the knife box temporary storage platform, or to grip full boxes and put them into the exchange platform 41 in the exchange section.

[0103] The stacked discharge section is configured with a two-layer structure (upper and lower) and a two-zone structure (left and right). The two-zone structure includes a full-box loading zone and a discharge loading zone, with a lower feeding layer and an upper discharge layer respectively.

[0104] The large storage unit is located in front of the storage and transport section and is used to transport full tool boxes 81 to the storage and transport section. A full tool box is a tool box filled with tool needles of the same specification.

[0105] This embodiment provides a three-line, three-section knife preparation device, which adopts the aforementioned three-line, three-section knife preparation structure. The knife preparation device includes three production lines arranged along the material conveying direction: a knife preparation device, a full-box conveying device 6, and an empty-box conveying device, corresponding to the three production lines in the structure. A full-box conveying device 6 is located on one side of the knife preparation device, and an empty-box conveying device is located on the other side. The knife preparation device is sequentially divided into three sections: a storage and conveying device 2, an exchange device, and a stacking and unloading device 5, corresponding to the three sections in the structure. The exchange device includes a storage storage device 3 and a knife preparation device 4. The knife preparation device 4 includes an exchange platform 41 and a gantry knife preparation assembly 42.

[0106] The large storage unit is located in front of the storage and transport device 2 and is used to transport full tool boxes to the storage and transport device 2. Specifically, the large storage unit stores drill bits of various specifications through a large number of tool boxes, and the drill bits in each tool box are of the same specification; a full tool box is a tool box filled with drill bits of the same specification.

[0107] Figure 2 and Figure 3 This diagram shows a schematic of the housing structure of the tool preparation control device provided in this embodiment. Figure 7 A three-dimensional structural schematic diagram of the tool preparation control device in this embodiment is shown.

[0108] refer to Figure 2 , Figure 3 and Figure 7 The equipment is covered by an outer shell 1. The outer shell 1 is divided into upper and lower layers. The lower layer has several lower side doors 11 and the main device is installed inside, which facilitates manual operation, maintenance and inspection. The upper layer has an upper side door 12 and the cylinder 13 that drives the main device is installed inside.

[0109] The equipment also includes a control unit. The control unit is electrically connected to the drive components of the storage and conveying device 2, the full-box conveying device 6, and the stacking and unloading device 5, for coordinating the timing of the actions of the conveying and transfer modules between the units, and for interfacing with an external drilling system. The external drilling system transmits work orders for the on-site drilling machine to the control unit of this equipment. The control unit also includes a human-machine interface control panel and an electrical control unit 15, which, along with the cylinder 13, is positioned above the tool preparation device.

[0110] This knife preparation device can be used in normal discharging mode, full box discharging mode, reverse gripping discharging mode, and empty box operation mode.

[0111] The normal material output mode operates through the tool preparation device, which prepares and issues tools as needed. Specifically, during tool preparation, the tool boxes of tools with the same diameter are rearranged according to the work order requirements of the drilling machine on site before being issued. The tool boxes involved are explained as follows: The material box is the one prepared by the tool preparation device 4. Specifically, it is an empty box containing the number of tool needles required by the work order in the drilling system.

[0112] The full box unloading operation mode is operated by the full box conveying device 6. The full box conveying device 6 can transport full boxes from the storage and conveying section to the stacking unloading section. Specifically, when the work order requires full boxes, the full knife box situation is directly output according to the work order requirements. That is, all knife boxes have placed the same specification knife needles, and the material is directly loaded onto the tray and unloaded without the need for knife preparation.

[0113] The reverse gripping discharge mode can also be operated through the full box conveying device 6. After the full box is transported to the stacking discharge section, it is gripped and placed into the exchange platform 41 in the exchange section for reverse gripping, or placed into the cutter disc or cutter box temporary storage platform for subsequent processing. When the work order requires a large proportion of cutter needles of the same specification, this embodiment requires that the number of cutter needles of the same specification be ≥50%. In other embodiments, it can be set according to the specific situation. According to the work order, reverse gripping is performed directly when preparing the cutter and then the material is loaded onto the tray for discharge. The material box involved is explained as follows: half full cutter box: the number of cutter needles placed in the cutter box is greater than or equal to 25 and less than 50.

[0114] The empty box operation mode is operated by an empty box conveying device, which can transport empty boxes from the storage and conveying section to the stacking and unloading section for recycling empty knife boxes after knife preparation.

[0115] Figure 8 and Figure 9 A three-dimensional structural diagram of the device and a three-dimensional structural diagram of the storage and transportation device of this embodiment are shown respectively.

[0116] The storage and transport device 2 is configured as follows:

[0117] refer to Figure 8 and Figure 9 The storage and transport device 2 includes a first full-box transport guide rail 21, a second full-box transport guide rail 22, a camera detection device 23, an NG flow line 24, a first transfer module 25, and a second transfer module 26. The full-box transport device 6 is a single conveyor belt flow line. The empty-box transport device includes an empty-box channel flow line 7.

[0118] The NG streamline 24 is located on one side of the second full-blade box conveying guide rail 22, specifically behind the camera detection device 23 and the second transfer module 26. Its input end is connected to the second full-blade box conveying guide rail 22. When the full-blade box is delivered, the snap-fit ​​groove end 82 of the full-blade box faces the conveying direction to discharge unqualified full-blade boxes.

[0119] The first full-blade box conveyor rail 21 and the second full-blade box conveyor rail 22 are at the same height. Their input ends are connected to the outside of the housing to receive full-blade boxes required by work orders from the large warehouse. During delivery, the longitudinal groove end 83 of the full-blade box faces the conveying direction. In other embodiments, AGV carts or manual delivery can also be used. The output end is set towards the storage device 3. Both streamlines include a conveyor belt and guide rails set on both sides of the conveyor belt. The upper edge of the guide rails is higher than the bearing surface of the conveyor belt to limit the lateral displacement of the blade box during the conveying process.

[0120] Figure 10 A schematic diagram of the direct feed channel structure of the first full-blade box conveyor rail is shown. Figure 11 A top view of the first full-blade box transport guide rail 21 and the second full-blade box transport guide rail 22 is shown.

[0121] refer to Figure 11Along the material conveying direction, the first full-box conveying guide rail 21 is sequentially equipped with a first partition side baffle 216, a first positioning side baffle 217, a first positioning blocking device 218, a first barcode scanner 211, and a full-box blocking sheet metal 212. The first partition side baffle 216, the first positioning side baffle 217, and the first positioning blocking device 218 are located on one side guide baffle of the first full-box conveying guide rail. The first full-box conveying guide rail is equipped with three positioning photoelectric detection devices, sequentially arranged along the material conveying direction: a first positioning photoelectric detection device 213, a second positioning photoelectric detection device 214, and a third positioning photoelectric detection device 215. The first positioning photoelectric detection device 213 is positioned opposite the first positioning side baffle 217; the second positioning photoelectric detection device 214 is located on the blocking side of the full-box blocking sheet metal 212, i.e., the streamlined output side; and the third positioning photoelectric detection device 215 is located at the output end of the first full-box conveying guide rail 21.

[0122] The first partition side stop device 216 extends to hold the next knife box when there is one at the photoelectric detection device, preventing the knife boxes from sticking and affecting subsequent workstations. The first positioning side stop device 217 and the first positioning blocking device 218 work together. The first positioning blocking device 218 restricts the front-to-back direction of the knife box, and the first positioning side stop device 217 pushes the knife box from one side of the flow line, so that the other side of the knife box abuts against the opposite guide edge, realizing the lateral clamping and positioning of the knife box for sampling inspection by the camera detection device 23. The first barcode scanner 211 reads the QR code information on the full knife box, confirms the diameter information of the knife box, and compares it with the camera detection result to determine whether the diameter information of the knife box and the internal knife is consistent. The first positioning photoelectric detection device 213 detects whether the full knife box has reached the sampling positioning position, the second positioning photoelectric detection device 214 detects whether the direct delivery channel has a full knife box being transported, and the third positioning photoelectric detection device 215 detects whether there is a knife box at the end of the replenishment channel and provides a picking signal to the robot arm of the storage device 3.

[0123] Along the material conveying direction, the second full-blade box conveying guide rail 22 is sequentially equipped with a second partition side baffle device 226, a second positioning side baffle device 227, a second positioning blocking device 228, a second barcode scanner 221, and a diversion blocking device 222. The second partition side baffle device 226, the second positioning side baffle device 227, and the second positioning blocking device 228 are located on one side guide baffle of the second full-blade box conveying guide rail. The second full-blade box conveying guide rail is also equipped with three positioning photoelectric detection devices, which are sequentially located along the material conveying direction as a fourth positioning photoelectric detection device 223, a fifth positioning photoelectric detection device 224, and a sixth positioning photoelectric detection device 225. The fourth positioning photoelectric detection device 223 is located opposite to the second positioning side baffle device 227, the fifth positioning photoelectric detection device 224 is located between the input end of the NG flow line 24 and the second barcode scanner 221, and the sixth positioning photoelectric detection device 225 is located at the output end of the second full-blade box conveying guide rail 22.

[0124] The second partition side barrier device 226 is used to prevent the knife boxes from sticking together. The second positioning side barrier device 227 and the second positioning blocking device 228 work together to position the knife boxes in the front-back and lateral directions for sampling inspection by the camera detection device 23. The second barcode scanner 221 is used to read the QR code information on the full knife box. The diversion blocking device 222 is used to block the full knife box from continuing to move forward when it is determined to be unqualified or needs to be transported to the first full knife box conveyor rail, waiting for the first transfer module 25 to transport it. The fourth positioning photoelectric detection device 223 is used to detect whether the full knife box has reached the sampling positioning position, the fifth positioning photoelectric detection device 224 is used to detect whether the full knife box after scanning has reached the diversion position, and the sixth positioning photoelectric detection device 225 is used to detect whether there is a knife box at the end of the flow line and provide a material picking signal to the robot arm of the storage device 3.

[0125] refer to Figure 10 The first partition side stop device 216, the first positioning side stop device 217, the second partition side stop device 226, and the second positioning side stop device 227 are side clamping assemblies. The side clamping assemblies are fixedly installed on one side of the streamline. The side clamping assemblies include a side clamping cylinder 2161 and a clamping block 2162 disposed at the output end of the side clamping cylinder 2161. Specifically, the clamping block 2162 is adapted to the shape of the longitudinal outer shell side wall of the knife box. It includes an integrally formed side push plate and a top limiting plate disposed on the top of the side push plate. The length of the top limiting plate does not exceed the position of the nearest first row of knife needles. The top limiting plate is used to restrict the vertical movement of the knife box from above during side push to prevent the knife box from tilting under force. The clamping block is made of POM (Polyoxymethylene) material to avoid scratching the surface of the knife box. The side clamping cylinder 2161 drives the clamping block 2162 to extend from one side of the streamline and push against the side of the tool box, so that the other side of the tool box abuts against the streamlined guide edge, thereby achieving lateral positioning or isolation of the tool box.

[0126] The first positioning blocking device 218, the second positioning blocking device 228, and the diversion blocking device 222 constitute a blocking assembly. The blocking assembly includes a blocking cylinder 2181 fixed to one side of the flow path and a side block 2182 disposed at the output end of the blocking cylinder 2181. Specifically, the side block 2182 is L-shaped, comprising a side plate and a cross plate. The side plate is connected to the output end of the blocking cylinder 2181. The inner wall shape of the cross plate is adapted to the outer wall shape of the wide side shell of the knife box. When the blocking cylinder 2181 drives the side block 2182 to extend from one side of the flow path, it restricts the movement of the knife box along the conveying direction from the front of the knife box, thereby achieving diversion blocking of the knife box.

[0127] A full-box blocking sheet metal 212 is positioned above the first full-box conveyor rail, its height lower than the box itself, dividing the first full-box conveyor rail into a direct delivery channel and a replenishment channel along the conveying direction. The direct delivery channel receives qualified full-boxes for the second transfer module to pick up and transport to the input end of the full-box conveying device 6. The replenishment channel receives full-boxes transported by the first transfer module 25 from the second full-box conveyor rail and replenishes them in the first storage warehouse 31 of the storage warehouse device 3. Full-boxes deemed unqualified by the camera detection device 23 are manually removed in the direct delivery channel.

[0128] Figure 12 A schematic diagram of the camera detection device is shown.

[0129] refer to Figure 12 The camera inspection device 23 is positioned above the first full-blade box conveyor rail 21 and the second full-blade box conveyor rail 22, and works in conjunction with the side blocking devices and obstruction devices. The camera inspection device 23 includes a sampling module 231, an industrial camera, a light source assembly 233, and a reflector 234. The industrial camera and reflector 234 are positioned opposite each other in the area between the first and second full-blade box conveyor rails. The reflector 234 is located below the sampling module 231, and the light source assembly 233 is positioned on both sides of the industrial camera to provide illumination for image recognition.

[0130] The sampling module 231 includes a dual-drive synchronous belt module 2311 and two gripping components 235 slidably disposed on the dual-drive synchronous belt module 2311. Both ends of the dual-drive synchronous belt module 2311 are driven by servo motors, and the module spans above the first and second full-blade box conveying guide rails. The two gripping components 235 are respectively disposed above the first and second full-blade box conveying guide rails, and are used to grip the cutting needles in the full-blade boxes on the first or second full-blade box conveying guide rail.

[0131] Figure 13 A schematic diagram of the clamping component structure is shown.

[0132] refer to Figure 13 The gripping assembly 235 includes a cylinder fixing plate 2351, a slide cylinder 2352, a finger cylinder 2353, a cylinder mounting plate 2354, and a sampling gripper 2355. The cylinder fixing plate 2351 is slidably connected to the dual-drive synchronous belt module 2311, and the slide cylinder 2352 is mounted on the cylinder fixing plate 2351. The cylinder mounting plate 2354 is connected to the output end of the slide cylinder 2352, and the finger cylinder 2353 is located on the lower side of the cylinder mounting plate 2354. The two gripping plates of the sampling gripper 2355 are respectively mounted on the two output ends of the finger cylinder. The two gripping plates are opened and closed by driving the finger cylinder 2353 to grip or release the cutting needle.

[0133] During sampling inspection, the dual-drive synchronous belt module 2311 drives the corresponding gripping component to move above the positioned full-blade box. The slide cylinder drives the finger cylinder to descend, and the sampling gripper picks up the cutting needles from the full-blade box. After the slide cylinder rises, the dual-drive synchronous belt module 2311 moves the gripped cutting needles between the industrial camera and the reflector 234 for image recognition, determining whether the diameter and quality of the cutting needles are up to standard. The servo drives at both ends of the dual-drive synchronous belt module 2311 cooperate with the two gripping components to realize single-sided sampling and single-sided needle picking actions on the first and second full-blade box conveyor rails. The two gripping components work alternately; while one gripping component performs cutting needle sampling, the other performs image recognition detection, reducing the camera's idle waiting time. When the photoelectric detection device detects that there is no cutting box at the corresponding workstation, the control unit controls the corresponding conveyor line to stop conveying and puts the camera detection device 23 into standby mode.

[0134] refer to Figure 4 and Figure 9 The first transfer module 25 is positioned above the first end of the replenishment channel of the first full-blade box conveying guide, above the second full-blade box conveying guide, and above the NG flow line 24. Its movement direction is perpendicular to the conveying direction of the first and second full-blade box conveying guides. The first transfer module 25 is used to transfer qualified full-blade boxes from the second full-blade box conveying guide to the replenishment channel of the first full-blade box conveying guide, and to transfer unqualified full-blade boxes to the NG flow line 24.

[0135] Figure 14 and Figure 15 A schematic diagram of the second transfer module is shown.

[0136] refer to Figure 14 and Figure 15The second transfer module is positioned across the end of the first full-box conveying guide rail direct delivery channel and above the input end of the full-box conveying device 6, with its movement direction perpendicular to the conveying direction of the first full-box conveying guide rail and the full-box conveying device 6. The second transfer module is used to clamp and transport the full-boxes at the end of the first full-box conveying guide rail direct delivery channel to the full-box conveying device 6 in either the full-box discharge working mode or the reverse gripping discharge working mode.

[0137] The second transfer module 26 includes a transverse belt module 261, a mounting plate 262, a lifting screw module 263, a lifting servo motor 264, a rotary cylinder 265, a tool box clamping cylinder 266, and a tool box gripper 267.

[0138] A transverse servo motor 2611 is mounted at one end of a transverse belt module 261, and its output shaft is connected to the drive pulley of the transverse belt module 261. A mounting plate 262 is slidably connected to the transverse belt module 261 and can move horizontally in a direction perpendicular to the material conveying direction. A lifting screw module 263 is fixedly mounted on the mounting plate 262 via a slide table 2631, and the body of the lifting screw module 263 is slidably engaged with the slide table 2631, allowing it to move vertically relative to the slide table 2631. A lifting servo motor 264 is mounted on the top of the lifting screw module 263, and its output shaft is connected to the screw of the lifting screw module, used to drive the body to move vertically. Since the slide 2631 of the lifting screw module 263 is fixed and the main body moves, the main body extends upward when rising and downward when falling, so that the knife box clamped below will not interfere with the side structure of the first full knife box conveying guide rail 21 or the full box conveying device 6 during the lifting process, thereby adapting to the height difference between the two streamlines.

[0139] A rotary cylinder 265 is fixed to the lower end of the lifting screw module 263 via a rotary connecting plate 2651, and is used to drive the knife box to rotate 180° to change the direction of the knife box. A knife box clamping cylinder 266 is connected to the output end of the rotary cylinder 265 via a clamping connecting plate, and a knife box gripper 267 is installed on the output end of the knife box clamping cylinder 266, used to clamp the full knife box located at the end of the direct delivery channel of the first full knife box conveying guide rail 21. A first knife box positioning photoelectric detection device 268 is also fixed on the knife box clamping cylinder 266, used to detect the clamping status of the knife box gripper 267 and provide feedback to the control unit. The second transfer module is used to clamp and transport the full knife box at the end of the direct delivery channel of the first full knife box conveying guide rail to the full box conveying device 6 in either the full box discharge working mode or the reverse gripping discharge working mode.

[0140] During transport, the transverse belt module 261 moves the knife box gripper 267 to above the end of the direct conveying channel, the lifting screw module 263 drives the main body to descend, and the knife box clamping cylinder 266 drives the knife box gripper 267 to clamp the full knife box; after the lifting screw module 263 rises, the rotary cylinder 265 drives the full knife box to rotate 180° to change the direction of the knife box so that the longitudinal groove end 83 of the full knife box faces the conveying direction, and the transverse belt module 261 then moves the full knife box to the input end of the full box conveying device 6 for release.

[0141] Figure 16 A schematic diagram of the location structure of the first transfer module is shown.

[0142] refer to Figure 16 The first transfer module 25 includes a transverse gripper 251, a sliding connecting plate 252, a lifting cylinder 253, a gripping cylinder 254, and a gripping gripper 255.

[0143] A transverse gripper 251 is positioned above the replenishment channel of the first full-blade box conveyor rail 21, and above the second full-blade box conveyor rail 22 and the NG flow line 24, and is driven by a motor. A sliding connecting plate 252 is slidably connected to the transverse gripper 251. A lifting cylinder 253 is located at the bottom of the sliding connecting plate 252, with its output end extending downwards. A gripping cylinder 254 is connected to the output end of the lifting cylinder 253, and a gripping gripper 255 is installed at the output end of the gripping cylinder 254 for gripping blade boxes. The first transfer module 25 is used to transport qualified full-blade boxes from the second full-blade box conveyor rail 22 across the line to the replenishment channel of the first full-blade box conveyor rail 21, and to transport unqualified full-blade boxes to the NG flow line 24. Both the input and output ends of the NG flow line 24 are equipped with photoelectric detection devices for blade box positioning.

[0144] The storage device 3 of the equipment in this embodiment is configured as follows:

[0145] Figure 17 and Figure 18 The diagram shows the location and structure of the storage unit and the tool preparation platform in the tool preparation operation device.

[0146] In this embodiment, the storage storage device 3 receives the full knife box conveyed by the storage and transport device 2, and is used to store the full knife box and transport it to the knife preparation device 4.

[0147] The storage device 3 includes a first storage unit 31, a second storage unit 32, a first robotic arm 33, a second robotic arm 34, a third robotic arm 35, a fourth robotic arm 36, four tool preparation platforms 38, and platform travel rails.

[0148] refer to Figure 4The first storage compartment 31 and the second storage compartment 32 are respectively located behind the first full tool box conveying guide rail 21 and the second full tool box conveying guide rail 22. They are used to hold storage boxes, which include full tool boxes, remaining tool boxes after tool preparation, and empty boxes. Both the first storage compartment 31 and the second storage compartment 32 are fixed three-dimensional racks with multiple storage positions arranged vertically. Each storage position has multiple independent compartments arranged horizontally, and each compartment has a storage platform for holding full tool boxes. The storage platform is a flat plate structure with positioning grooves on its surface that match the positioning protrusions on the bottom of the tool box, used to hold the full tool box and maintain the positional accuracy of the tool box within the storage position. For a detailed description, please refer to the description in Chinese Patent Application No. 2025225547162, entitled "A Tool Magazine for Storing Drill Bits".

[0149] Figure 16 A schematic diagram of the first and second intermediate channels of the storage device is shown.

[0150] refer to Figure 4 and Figure 16 The second storage unit 32 includes two parallel rows of storage racks, with a first intermediate aisle 321 formed between the two rows of racks. The first storage unit 31 includes two parallel rows of storage racks, with a second intermediate aisle 311 formed between the two rows of racks.

[0151] Along the material conveying direction, a second storage platform passageway 322 is provided on the left side of the first intermediate channel 321, and a first robotic arm passageway 331 is provided on the right side of the first intermediate channel 321. A first storage platform passageway 312 is provided on the right side of the second intermediate channel 311, and a second robotic arm passageway 341 is provided on the left side of the second intermediate channel 311.

[0152] The platform travel tracks include a first storage unit platform travel track 312 and a second storage unit platform travel track 322. The first storage unit platform travel track 312 includes a fourth platform travel track 3121 and a third platform travel track 3122 arranged side-by-side along the flow line. The second storage unit platform travel track 322 includes a second platform travel track 3221 and a first platform travel track 3222 arranged side-by-side along the flow line. Each platform travel track extends along the material conveying direction to the input end of the tool preparation device 4. Each platform travel track is a synchronous belt module with a maximum speed of 1500 mm / s, used to drive the tool preparation platform 38 to move rapidly along the material conveying direction.

[0153] A first robotic arm 33 and a third robotic arm 35 are slidably mounted on a first robotic arm passageway 331. A second robotic arm 34 and a fourth robotic arm 36 are slidably mounted on a second robotic arm passageway 341.

[0154] The first robotic arm 33 is slidably mounted on the first robotic arm passageway 331, with its picking position covering the front half of the second storage bin 32 up to near the output end of the second full-blade box conveying guide rail 22. The second robotic arm 34 is slidably mounted on the second robotic arm passageway 341, with its picking position covering the front half of the first storage bin 31 up to near the output end of the first full-blade box conveying guide rail 21. The first robotic arm 33 is used to grab full-blade boxes from the output end of the second full-blade box conveying guide rail and place them into the second storage bin 32, and the second robotic arm 34 is used to grab full-blade boxes from the output end of the first full-blade box conveying guide rail 21 and place them into the first storage bin 31. When the first robotic arm 33 and the second robotic arm 34 grab full-blade boxes, the locking slot end 82 faces the robotic arm grabbing side, so that when placing them into the bin, the locking slot end 82 faces outward. Both the first robotic arm 33 and the second robotic arm 34 can grab the empty boxes generated after tool preparation and put them into the empty box transfer flow line 37 or store them in the first storage warehouse 31 and the second storage warehouse 32, and take out the full tool box from the warehouse and put it on the tool preparation platform 38.

[0155] The third robotic arm 35 is slidably mounted on the first robotic arm travel track 331, and its picking position covers the rear half of the second storage bin 32 to the side near the tool preparation device 4. The fourth robotic arm 36 is slidably mounted on the second robotic arm travel track 341, and its picking position covers the rear half of the first storage bin 31 to the side near the tool preparation device 4. The third robotic arm 35 is used to remove the full tool box from the second storage bin 32 and transport it to the tool preparation platform 38 on the first platform travel track 3222 or the second platform travel track 3221. The fourth robotic arm 36 is used to remove the full tool box from the first storage bin 31 and transport it to the tool preparation platform 38 on the third platform travel track 3122 or the fourth platform travel track 3121.

[0156] Four tool preparation platforms 38 are slidably mounted on corresponding platform travel tracks. In this embodiment, the four tool preparation platforms 38 are designated Z1, Z2, Z3, and Z4, and are slidably mounted on the fourth platform travel track 3121 (Z1), the third platform travel track 3122 (Z2), the second platform travel track 3221 (Z3), and the first platform travel track 3222 (Z4), respectively. Each tool preparation platform 38 has two independent workstations, designated as workstation A and workstation B. Under the control of the control unit, the tool preparation platform 38 can move synchronously with the corresponding robotic arm and provide an empty workstation when the robotic arm performs pick-up and put-down actions, realizing a dual-workstation parallel operation of "one put-down and one pick-up" between the robotic arm and the tool preparation platform 38.

[0157] The structure of the robotic arm can be referenced in the transfer mechanism structure of the Chinese invention patent application entitled "Automatic Feeding Method for Tool Preparation and Automatic Feeding Method for Tool Retraction", application number 2025103251048.

[0158] Specifically, in this embodiment, the robotic arm is provided with at least one robotic arm unit on the robotic arm travel track. The robotic arm unit includes a movable base, a lifting component, a vertical lifting track, and a material picking module.

[0159] The movable base is slidably set on the robot arm's travel track, which is used to drive the robot arm unit to move or position along the robot arm's travel track;

[0160] The vertical lifting track is set on a movable base. The material picking module is slidably connected to the vertical lifting track through a lifting component. The lifting component is used to drive the material picking module to move up and down along the vertical lifting track.

[0161] The material handling module includes a first positioning part, a second positioning part, and a mechanical gripper. The first positioning part is used to perform positioning in a first horizontal direction, the second positioning part is used to perform positioning in a second horizontal direction, and the mechanical gripper is located at the end of the second positioning part for picking up and placing the knife box from the shelf.

[0162] Figure 18 A schematic diagram of the tool preparation platform structure is shown.

[0163] refer to Figure 18 The tool preparation platform 38 includes a platform base, a lifting drive assembly, and a platform body. The platform base includes a platform connecting plate 381, the lifting drive assembly is an obstacle avoidance cylinder 382, ​​and the platform body is a platform placement plate 383. The platform connecting plate 381 is slidably connected to the platform travel track, and the obstacle avoidance cylinder 382 is fixed to the platform connecting plate 381. The output end of the obstacle avoidance cylinder 382 is connected to the platform placement plate 383. The obstacle avoidance cylinder 382 is used to drive the platform placement plate 383 to move up and down vertically, providing height avoidance when the robot arm picks up and places the tool box, thus preventing interference between the tool preparation platform 38 and the robot arm at specific positions.

[0164] The platform placement plate 383 has two platform workstation slots, corresponding to the first workstation and the second workstation. In this embodiment, they correspond to workstation A and workstation B, respectively. Photoelectric detection devices are installed at each of the two workstations. Each platform workstation slot is equipped with a platform side clamping mechanism and a platform forward pushing mechanism.

[0165] The platform side clamping mechanism includes a platform side clamping cylinder 384 and a platform clamping block 385. The platform side clamping cylinder 384 is located below the platform placement plate. The platform placement plate has side push slots at two platform workstation slots. The platform clamping block 385 is located in the side push slots and connected to the output end of the platform side clamping cylinder 384. The platform side clamping cylinder 384 drives the platform clamping block 385 to extend along the side push slots and push against the side of the tool box to achieve lateral clamping and positioning of the tool box.

[0166] The platform forward pushing mechanism is located on the side of the platform placement plate perpendicular to the platform side clamping mechanism. The platform forward pushing mechanism includes a platform forward pushing cylinder 386, a platform push plate 387, and a platform positioning pin. The platform forward pushing cylinder 386 is located below the platform placement plate, and its output end is connected to the platform push plate 387. The platform push plate 387 is equipped with a platform positioning pin. The platform forward pushing cylinder 386 drives the platform push plate 387 to move towards the tool box. The platform positioning pin engages with the positioning groove on the tool box to achieve precise positioning of the tool box, preventing the tool box from shifting during tool preparation and affecting the tool preparation accuracy.

[0167] The following uses the first robotic arm 33 and its corresponding tool preparation tables Z3 and Z4 as examples to illustrate a complete dual-station cyclic material preparation process:

[0168] Initially, the full toolbox in the target storage location within the second storage unit 32 is ready. The control unit, according to the work order instruction, controls the first robotic arm 33 to move along the first robotic arm travel track 331 to the target storage location. Simultaneously, the tool preparation platforms Z3 and Z4 follow the first robotic arm 33 to their corresponding positions based on proximity. The first robotic arm 33 retrieves the first full toolbox from the storage location and places it on one of the empty positions of the following tool preparation platform Z3, such as position Z3A. At this time, position Z3B is empty. Subsequently, the tool preparation platform Z3 moves along the platform travel track to the tool preparation device 4, where the device inside the tool preparation device 4 performs the tool removal operation from the full toolbox at position Z3A.

[0169] While the tool preparation platform Z3 is performing tool preparation, the first robotic arm 33 continues to retrieve the second full tool box from the storage location and places it on an empty station on the tool preparation platform Z4, such as station Z4A, where station Z4B is empty. Subsequently, the tool preparation platform Z4 moves to the tool preparation device 4 to perform tool preparation.

[0170] Once the full-blade box at station Z3A on the tool preparation platform Z3 is empty after tool preparation, the tool preparation platform Z3 exits the tool preparation device 4 and moves to the vicinity of the idle first robot arm 33. After retrieving the next full-blade box from the storage location, the first robot arm 33 first removes the empty box from station Z3A and places it in the empty box transfer flow line 37 or the empty box placement position in the storage location. Then, it places the newly retrieved full-blade box at station Z3B. Subsequently, the tool preparation platform Z3 moves back to the tool preparation device 4 for tool preparation. The cyclic operation of the tool preparation platform Z4 is the same, with both alternating to form a continuous and uninterrupted material preparation cycle.

[0171] The aforementioned dual-station structure and four-platform alternating cooperation mechanism enable the robot to simultaneously complete two actions: empty box retrieval and full box placement during a single movement. Furthermore, the tool preparation device 4 is always in operation, significantly improving the material exchange efficiency between the storage warehouse and the tool preparation device 4, and reducing the space required for the robot's passageway within the storage area.

[0172] The four tool preparation platforms always move alternately and in coordination to ensure that at least one set of tool preparation platforms is in the tool preparation device 4 for tool preparation operations. During the tool box interaction between a robot and one of the tool preparation platforms, the exchange platform 41 of the tool preparation device 4 never stops working, and each tool preparation platform alternately enters the tool preparation device 4, thereby eliminating the idle waiting time of the tool preparation device 4 and improving the overall tool changing efficiency and productivity.

[0173] refer to Figure 4 The full-box conveying device 6 is located outside the first storage unit 31 and does not interfere with the other mechanisms of the storage unit 3. The full-box conveying device is used to transport full-cut boxes to the stacking discharge device 5 for full-box discharge or reverse gripping discharge.

[0174] This embodiment provides an empty box transport device for a knife preparation system. The empty box transport device and the storage unit 3 are positioned as follows:

[0175] Figure 19 A schematic diagram of the input end structure of the empty box conveying device is shown. Figure 20 A schematic diagram of the empty box transfer module location structure is shown.

[0176] The empty box transport device includes an empty box channel flow line 7, an empty box transfer flow line 37, and an empty box transfer module 71.

[0177] refer to Figure 19 The empty box channel flow line 7 is located on the outside of the second storage container 32 and does not interfere with the various mechanisms of the storage container device 3.

[0178] The empty box transfer flow line 37 is positioned perpendicular to the material conveying direction, spanning between the first storage bin 31, the second storage bin 32, and the storage and conveying device 2. Its flow line length covers the front end areas of the second intermediate channel 311 and the first intermediate channel 321, allowing both the first robotic arm 33 and the second robotic arm 34 to place empty boxes onto the empty box transfer flow line 37. The input end of the empty box transfer flow line 37 is located at the front end of the second intermediate channel 311, near the output end of the first full-load box conveying guide rail 21. The output end of the empty box transfer flow line 37 connects to the input end of the empty box channel flow line 7. The vertical height of the empty box transfer flow line 37 is lower than that of the first full-load box conveying guide rail 21 and the second full-load box conveying guide rail 22. Positioning photoelectric detection devices are installed in the middle, at the input end, and at the output end of the empty box transfer flow line 37.

[0179] The empty box transfer module 71 is located between the output end of the empty box transfer flow line 37 and the input end of the empty box channel flow line 7.

[0180] The empty box transfer module 71 includes an empty box lifting module 711, an empty box lifting track, an empty box lifting connecting plate 713, an empty box lateral movement drive cylinder 714, an empty box lateral movement connecting plate 715, an empty box rotation cylinder 716, an empty box clamping cylinder 717, and an empty box gripper 712.

[0181] The empty box lifting module 711 is located between the output end of the empty box transfer flow line 37 and the input end of the empty box channel flow line 7. It is driven by a servo motor located on its top, and the internal transmission component is a synchronous belt. The empty box lifting track is set on the empty box lifting module 711, and the empty box lifting connecting plate 713 is slidably connected to the empty box lifting track. It is driven by a servo motor to lift vertically via a synchronous belt.

[0182] The empty box transverse movement drive cylinder 714 is mounted on the empty box lifting connecting plate 713, and its output end is connected to the empty box transverse movement connecting plate 715, which is used to drive the empty box transverse movement connecting plate 715 to move horizontally in a direction perpendicular to the material conveying direction.

[0183] An empty box rotary cylinder 716 is fixed below the empty box transverse connecting plate 715 via a rotary connecting plate, and is used to drive the empty box to rotate 180° to change direction. An empty box clamping cylinder 717 is connected to the output end of the empty box rotary cylinder 716, and an empty box gripper 712 is installed on the output end of the empty box clamping cylinder 717, used to grip the empty box on the output end of the empty box transfer flow line 37. An empty box positioning photoelectric detection device is also fixed on the empty box clamping cylinder 717, used to detect the gripping status of the empty box gripper 712 and feed it back to the control unit.

[0184] The empty box transfer flow line 37 is used to receive empty boxes taken and stored from the tool preparation device 4 by the storage unit. The empty box transfer module 71 is used to clamp and transfer the empty boxes on the output end of the empty box transfer flow line 37 to the input end of the empty box channel flow line 7. The empty box channel flow line 7 is used to transport the empty boxes to the stacking and unloading device 5 for recycling by the tool preparation device 4.

[0185] During transport, the empty box lifting module 711 drives the empty box lifting connecting plate 713 to descend, and the empty box clamping cylinder 717 drives the empty box gripper 712 to clamp the empty box on the output end of the empty box transfer flow line 37. After the empty box lifting module 711 rises, the empty box lateral movement driving cylinder 714 drives the empty box lateral movement connecting plate 715 to move horizontally, moving the empty box above the input end of the empty box channel flow line 7. The empty box rotation cylinder 716 drives the empty box to rotate 180° to change direction, so that the longitudinal groove end of the empty box faces the conveying direction. The empty box lifting module 711 descends, and the empty box gripper 712 releases the empty box to the input end of the empty box channel flow line 7. The empty box is conveyed forward along the empty box channel flow line 7. After the partition 72 detects and confirms the identity of the empty box, it continues to be conveyed to the stacking discharge device 5.

[0186] Figure 21A schematic diagram of the tool preparation device in this embodiment is shown.

[0187] refer to Figure 21 The knife preparation device 4 is located between the storage device 3 and the stacking discharge device 5. The storage device 3 feeds the knife needles for knife preparation to the knife preparation device 4 through the knife preparation platform 38. The stacking discharge device 5 feeds the empty box to the knife preparation device 4 through the gantry discharge gripper 53. After the knife preparation device 4 completes the knife preparation, it forms a discharge box and feeds the discharge box to the stacking discharge device 5 through the gantry discharge gripper 53.

[0188] The tool preparation device 4 is configured as follows:

[0189] Figure 22 and Figure 23 A schematic diagram of the tool preparation device provided in this embodiment is shown.

[0190] refer to Figure 22 and Figure 23 This embodiment provides a knife preparation device, including an exchange platform 41, a gantry knife preparation assembly 42, and an exchange left support frame 411 and an exchange right support frame 412 respectively arranged on the left and right sides of the material transport direction.

[0191] Figure 24 and Figure 25 A schematic diagram of the exchange platform is shown.

[0192] refer to Figure 24 The exchange platform 41 includes a horizontally moving spare tool disc 43, a lifting spare tool disc 44, an exchange transport module, and an exchange drive mechanism. The exchange transport module includes two upper exchange linear modules 413 and two lower exchange linear modules 414. The two upper exchange linear modules 413 are respectively fixed to the upper side of the left exchange support frame 411 and the right exchange support frame 412, and the two lower exchange linear modules 414 are respectively fixed to the lower side of the left exchange support frame 411 and the right exchange support frame 412.

[0193] refer to Figure 25 The switching drive mechanism includes an upper switching motor 415, a lower switching motor 416, an upper switching lead screw 417, and a lower switching lead screw 418. The ends of the two upper switching linear modules 413 are connected to the upper switching lead screw 417, which is connected to the upper switching motor 415 via a drive shaft; the ends of the two lower switching linear modules 414 are connected to the lower switching lead screw 418, which is connected to the lower switching motor 416 via a drive shaft.

[0194] Specifically, the lifting spare cutter disc 44 is located below the horizontally moving spare cutter disc 43, and is arranged vertically parallel to the horizontally moving spare cutter disc 43. The horizontally moving spare cutter disc 43 is driven by two upper exchange linear modules 413, and the lifting spare cutter disc 44 is driven by two lower exchange linear modules 414. The upper exchange motor 415 drives the upper exchange screw 417 to rotate, causing the horizontally moving spare cutter disc 43 to move horizontally back and forth along the material conveying direction, maintaining the same height while moving horizontally along the material conveying direction; the lower exchange motor 416 drives the lower exchange screw 418 to rotate, causing the lifting spare cutter disc 44 to move horizontally back and forth along the material conveying direction.

[0195] The horizontally moving tool preparation plate 43 and the lifting tool preparation plate 44 each carry the same number of tool boxes. In this embodiment, each plate can carry 12 tool boxes, and the two plates have a total of 24 tool box stations, which can meet the tool box circulation requirements under high production capacity.

[0196] The lifting preparation plate 44 is equipped with exchange lifting cylinders 441 at both ends. One end of the cylinder body of the exchange lifting cylinder 441 is connected to the lifting preparation plate 44, and the other end is fixedly connected to the exchange connecting plate 442. The other side of the exchange connecting plate 442 is connected to the lower exchange linear module 414. When the exchange lifting cylinder 441 extends or retracts, it drives the lifting preparation plate 44 to move vertically relative to the exchange connecting plate 442, while the position of the exchange connecting plate 442 remains unchanged in the vertical direction. The lower exchange linear module 414 drives the lifting preparation plate 44 and the exchange lifting cylinder 441 to move horizontally along the material conveying direction through the exchange connecting plate 442. When the lifting preparation plate 44 is raised to its highest position, the height of the bearing surface of its upper surface is consistent with the height of the bearing surface of the horizontally moving preparation plate 43.

[0197] Figure 26 A schematic diagram of the lifting tool preparation disc and the horizontally moving tool preparation disc is shown.

[0198] refer to Figure 26The horizontally moving tool tray 43 and the lifting tool tray 44 both have the same tool tray body 431. The tool tray body is provided with tool tray slots 432 and tool tray support plates 433. Tool tray slots 432 are formed on the upper surface of the tool tray body 431, and tool boxes are placed within these slots. The number of tool tray slots 432 is the same as the number of tool boxes carried by the tool tray body 431. The tool tray slots 432 on the upper surface of each tool tray body 431 are arranged in a 12-column × 1-row configuration, with each group of 6 tool boxes being positioned and managed. Each group corresponds to one tool tray positioning mechanism. The cutter box slot 432 extends along the material conveying direction. The end near the stacking discharge device 5 is the rear end of the cutter box slot 432, which is used to place the longitudinal slot end of the cutter box. The end near the cutter stand 38 is the front end of the cutter box slot 432, which is used to place the snap-fit ​​slot end of the cutter box.

[0199] The spare cutter disc support plate 433 is located below the spare cutter disc body 431, with a gap between it and the bottom surface of the spare cutter disc body 431. The spare cutter disc support plate 433 includes a front support plate 4331 and a rear support plate 4332. The front support plate 4331 is located below the front end (cutter box engaging groove end) of the spare cutter disc cutter box groove 432, and the rear support plate 4332 is located below the rear end (longitudinal groove end) of the spare cutter disc cutter box groove 432. The front support plate 4331 and the rear support plate 4332 can move towards or away from each other along the material conveying direction.

[0200] Figure 27 , Figure 28 , Figure 29 and Figure 30 A schematic diagram of the tool holder positioning mechanism for the lifting tool holder and the horizontally moving tool holder is shown.

[0201] refer to Figure 27 The horizontally moving tool preparation disc 43 and the lifting tool preparation disc 44 are respectively equipped with tool preparation disc and tool box positioning mechanisms. These mechanisms are used to achieve precise positioning and clamping of the tool boxes on the disc body. The tool preparation disc and tool box positioning mechanisms include a side-clamping positioning mechanism and a forward positioning mechanism. The side-clamping positioning mechanism is used to achieve lateral positioning and clamping of the tool boxes, while the forward positioning mechanism is used to achieve forward positioning and limiting of the tool boxes.

[0202] The tool preparation disc side clamping positioning mechanism includes a tool preparation disc side clamping drive assembly and a tool preparation disc side pushing execution assembly.

[0203] refer to Figure 27 Specifically, the tool preparation disc side clamping drive assembly includes a tool preparation disc side clamping cylinder 436, a tool preparation disc transverse linear guide 4361, a tool preparation disc longitudinal linear guide 4362, a tool preparation disc transverse push plate 4363, and a tool preparation disc longitudinal push plate 4364. The tool preparation disc side clamping drive assembly is mounted on the tool preparation disc support plate 433.

[0204] The toolboxes are arranged in groups of six, with each group of toolboxes equipped with two transverse linear guides 4361 and two longitudinal linear guides 4362. The transverse linear guides 4361 and longitudinal linear guides 4362 are used to constrain and bear the movement in the lateral thrust direction and the longitudinal limiting direction, respectively. Both guides can withstand radial and lateral bending moments and have extremely low coefficients of friction.

[0205] Two transverse guide rails 4361 are respectively set on the tail support plate 4332 of the cutter head at positions corresponding to the cutter box slots on both sides. A transverse push plate 4363 is set on the transverse guide rails 4361 of the cutter head and can move along the material conveying direction with the tail support plate 4332 of the cutter head. A longitudinal push plate 4364 of the cutter head remains stationary during the side clamping positioning stage and moves with the head support plate 4331 of the cutter head during the forward positioning stage.

[0206] The tool preparation disc side clamping cylinder 436 is fixed to the bottom of the tool preparation disc body 431 by a side clamping cylinder fixing component. The piston rod of the tool preparation disc side clamping cylinder 436 is connected to the tool preparation disc tail support plate 4332 for driving the tool preparation disc tail support plate 4332 to move towards the tool preparation disc head support plate 4331.

[0207] refer to Figure 28 The tool holder side-push actuator includes a tool holder side-push plate 4365, a tool holder groove plate 4366, a tool holder spring, and a tool holder step screw 4367. The tool holder side-push actuator is disposed in the tool holder slot 432 and in the interval area between the tool holder body 431 and the tool holder tail support plate 4332.

[0208] refer to Figure 29 and Figure 30 Each tool box has a spare tool disc side push plate 4365 on the same side within the tool box slot. The spare tool disc side push plate 4365 faces the side of the tool box. A spare tool disc slot plate 4366 is correspondingly connected to the spare tool disc side push plate 4365. The spare tool disc slot plate 4366 and the spare tool disc side push plate 4365 are connected by a spare tool disc spring and a spare tool disc stepped screw 4367 to achieve flexible transmission. The spare tool disc slot plate 4366 passes through the spare tool disc body 431 and is fixedly connected downward to the spare tool disc tail support plate 4332. One side of the slot plate contacts the longitudinal push plate 4364 of the spare tool disc, and the other side contacts the transverse push plate 4363 of the spare tool disc.

[0209] refer to Figure 28The tool holder slot 432 of the tool holder is provided with a running slot for the tool holder side push plate 4365 to be clamped along the side push direction. Each tool holder slot plate 4366 and the tool holder side push plate 4365 are connected by a tool holder spring. The tool holder spring generates elastic compression during the clamping process to compensate for the difference in the width and size of the Japanese tool holder, and at the same time to make up for the positional error that may occur during the machining of the tool holder slot of the tool holder body, so as to ensure that all 6 tool holders are reliably clamped in the side and realize flexible synchronous positioning of multiple stations.

[0210] refer to Figure 27 and Figure 29 Specifically, the tool preparation disc forward positioning mechanism consists of six tool boxes as a group, which works in conjunction with the tool preparation disc side clamping positioning mechanism to achieve precise positioning of the tool boxes in all directions.

[0211] Figure 31 A schematic diagram of the forward positioning mechanism of the tool preparation disc is shown.

[0212] refer to Figure 27 and Figure 31 The tool preparation disc forward positioning mechanism includes a tool preparation disc forward push cylinder 437, a tool preparation disc forward push plate 4371, a tool preparation disc positioning pin 4372, a tool preparation disc positioning clip 4373, and a tool preparation disc round pin spring 4374.

[0213] The tool preparation disc forward thrust cylinder 437 is fixed below the tool preparation disc body 431 via a forward thrust cylinder fixing bracket. The piston rod of the tool preparation disc forward thrust cylinder 437 is connected to the tool preparation disc head support plate 4331 for transmission, and is used to drive the tool preparation disc head support plate 4331 to move towards the tool preparation disc tail support plate 4332.

[0214] The tool preparation disc push plate 4371 is disposed within the tool preparation disc tool box groove 432, located at the snap-fit ​​groove end of the tool box. The lower end of the tool preparation disc push plate 4371 passes through the front limiting groove of the tool preparation disc body 431 and is fixedly connected to the tool preparation disc head support plate 4331.

[0215] During forward positioning, the tool holder forward push cylinder 437 drives the tool holder head support plate 4331 to move towards the tool holder tail support plate 4332, thereby driving the tool holder forward push plate 4371 to perform forward positioning of the tool box from the snap-fit ​​groove end to the longitudinal groove end. At the same time, it drives the tool holder longitudinal push plate 4364, which is set on the tool holder head support plate 4331, to move along the tool holder longitudinal rail 4362. The tool holder longitudinal push plate 4364 abuts against the side of the tool holder groove plate 4366, and clamps the tool holder groove plate 4366 from the longitudinal direction.

[0216] Each tool holder push plate 4371 is equipped with a tool holder positioning pin 4372. After the side clamping mechanism completes the lateral positioning, the tool holder push cylinder 437 drives the tool holder push plate 4371 to move towards the tool box within the tool holder slot 432. The tool holder positioning pin 4372 engages with the rectangular locking slot at the end of the tool box locking slot to achieve the forward limiting of the tool box.

[0217] The tool preparation disc round pin spring 4374 is located between the tool preparation disc push plate 4371 and the tool preparation disc body 431. When the tool preparation disc push cylinder 437 retracts, the tool preparation disc round pin spring 4374 pushes the tool preparation disc push plate 4371 and the tool box outward, preventing the tool preparation disc positioning pin 4372 from causing the tool box to jam during the retraction process, thus facilitating the loading and unloading of the tool box.

[0218] In this embodiment, the tool preparation disc positioning retainer 4373 is disposed at the rear end of the tool preparation disc tool box groove 432 (corresponding to the longitudinal groove end of the tool box). When the tool preparation disc push cylinder 437 drives the tool preparation disc push plate 4371 to push into the tool box from the engaging groove end direction, the tool box is forced to move towards the longitudinal groove end direction. The longitudinal groove at the longitudinal groove end engages with the tool preparation disc positioning retainer 4373 to prevent the longitudinal groove end of the tool box from tilting up and to ensure the stability of the tool box's posture during the tool preparation process.

[0219] The overall workflow of the tool holder positioning mechanism is as follows: First, the tool holder side clamping cylinder 436 drives the tool holder tail support plate 4332 to move towards the tool holder head support plate 4331, causing the tool holder transverse push plate 4363 to laterally push the tool holder slot plate 4366, achieving lateral positioning and clamping of the tool holder; then, the tool holder forward push cylinder 437 drives the tool holder head support plate 4331 to move towards the tool holder tail support plate 4332, causing the tool holder longitudinal push plate 4364 to longitudinally limit the tool holder slot plate 4366, while simultaneously driving the tool holder forward push plate 4371 and the tool holder positioning pin 4372 to perform forward positioning of the tool holder. The tool holder side clamping cylinder 436 and the tool holder forward push cylinder 437 operate in sequence, achieving precise omnidirectional positioning of the tool holder in the lateral, longitudinal, and forward directions. When it is necessary to release the tool box, the tool preparation disc forward push cylinder 437 first retracts, and the tool preparation disc round pin spring 4374 pops the tool box out; then the tool preparation disc side clamp cylinder 436 retracts, and all components return to their initial positions.

[0220] The sequence of actions for switching between two workstations is as follows:

[0221] In the exchange platform 41, the end closer to the tool preparation platform is the tool preparation station, and the end closer to the stacking and unloading device 5 is the unloading station.

[0222] In the initial state, the horizontally moving tool preparation plate 43 is located at the unloading station (high position), and the lifting tool preparation plate 44 is located at the tool preparation station (high position).

[0223] After the lifting preparation plate 44 completes preparation at the preparation station, it enters the station switching process: the lifting preparation plate 44 first descends to a low position via the exchange lifting cylinder 441 to avoid the horizontal moving preparation plate 43 in the vertical direction; then, the horizontal moving preparation plate 43 is driven by the upper exchange linear module 413 to move horizontally from the unloading station to the preparation station, while the lifting preparation plate 44 is driven by the lower exchange linear module 414 to move horizontally out of the preparation station and towards the unloading station; after the horizontal moving preparation plate 43 reaches the preparation station, the new empty box it carries enters the preparation state; after the lifting preparation plate 44 reaches below the unloading station, the stacking discharge device 5 removes the discharge box from the lifting preparation plate 44 and places a new empty box. The horizontally moving tool preparation disc 43 always remains on the high edge to exchange the linear module 413 for horizontal movement, while the lifting tool preparation disc 44 exchanges the linear module 414 for horizontal movement on the low edge. The two discs are offset in the vertical direction and will not interfere with each other.

[0224] In each cycle, while one tray is performing the tool preparation task at the tool preparation station, another tray is simultaneously completing the unloading and loading of new empty boxes at the unloading station. The two trays alternately enter and exit the tool preparation area. The station switching between trays only requires a single continuous movement of descending, horizontally moving, and ascending. The loading and unloading actions and the tool preparation actions are executed completely in parallel. The gantry tool preparation component 42 does not need to wait for loading and unloading between two consecutive tool preparation operations, achieving seamless connection of the tool preparation station.

[0225] The moving Z-axis switching station structure used in this embodiment differs from the commonly used circular or rotary disc methods in similar tool preparation machines on the market. Circular disc structures occupy a large amount of space and are costly, with a switching time of approximately 1 second; rotary disc structures also occupy a large amount of space and are costly, with a switching time of approximately 2 seconds. The moving Z-axis switching station structure in this embodiment has a moderate space ratio, and switching between discs requires only one horizontal movement. Furthermore, the loading / unloading actions and tool preparation actions are executed completely in parallel, reducing the switching time to approximately 0.5 seconds, significantly improving tool preparation efficiency.

[0226] Through multi-station linkage of the tool holder side clamping and positioning mechanism and the tool holder forward positioning mechanism, the tool box achieves precise positioning in all three directions: lateral, longitudinal, and forward. The side clamping mechanism uses a flexible spring connection for the tool holder, which can adaptively compensate for differences in tool box size and machining errors. The longitudinal push plate 4364 of the tool holder is synchronously limited during clamping to ensure consistent action. The forward positioning mechanism, through the cooperation of the tool holder positioning pin 4372 and the limiting groove, combined with the anti-tilting design of the tool holder positioning strip 4373, ensures the stability of the tool box posture during tool preparation.

[0227] To meet the high production capacity of 10,000 needles per hour, each needle cartridge is equipped with 50 needles, requiring 200 needle cartridges per hour. Considering the extreme case of insufficient work orders, a safety factor is doubled, resulting in a maximum requirement of 400 needle cartridges per hour. The device adopts a dual-standby needle tray circulation structure, with 12 needle cartridge stations on each tray. The needle cartridge circulation is approximately 34 times per hour, with an average cycle time of approximately 106 seconds, meeting the production cycle requirements.

[0228] Based on the module's travel of approximately 650mm and a 2-second lifting time to reach its final position, the module needs to complete its full travel within 2 seconds, requiring a maximum speed of 375mm / s. A single module can carry a load of approximately 18kg; the BC6H series module is sufficient to meet both speed and load requirements.

[0229] The cylinder selection fully considers the extreme working conditions of needle pulling and wire winding. The side clamping cylinder 436 of the tool preparation disc has a cylinder diameter of 20mm, and the forward pushing cylinder 437 of the tool preparation disc has a cylinder diameter of 25mm. This ensures that the tool box can still be stably clamped under the superposition of wire winding resistance, thus ensuring the accuracy of tool preparation and the reliability of equipment operation.

[0230] Figure 32 A schematic diagram of the gantry tool preparation assembly in this embodiment is shown.

[0231] refer to Figure 32 The gantry preparation assembly 42 includes a gantry column 421, a variable pitch module 47, a gantry transverse guide rail 422, and two gantry tracks 423 arranged along the material conveying direction. The two gantry tracks 423 are respectively arranged on the left exchange support frame 411 and the right exchange support frame 412. Specifically, they are respectively arranged on the outside of the exchange transport module. The first end of the gantry track 423 extends to the side of the discharge end of the preparation platform 38, and the end extends to the upper sides of the preparation station of the exchange platform 41.

[0232] Two gantry rails 423 are slidably connected to gantry columns 421 respectively. The two ends of the gantry transverse guide rail 422 are connected to the two gantry columns 421 respectively. The combination forms a gantry structure. The gantry transverse guide rail 422 spans above the horizontally moving spare tool plate 43 and the lifting spare tool plate 44.

[0233] Figure 33 A schematic diagram of the variable pitch module in this embodiment is shown.

[0234] refer to Figure 33 A variable pitch module 47 is slidably connected to the gantry transverse guide rail 422. The variable pitch module 47 is positioned facing the tool preparation table and is used to retrieve needles from the full tool box on the tool preparation table. The variable pitch module 47 includes a variable pitch mounting assembly 479, a variable pitch transverse guide rail 471, six sets of variable pitch lifting units, and a variable pitch drive motor 4711.

[0235] The variable pitch mounting assembly 479 includes a variable pitch side plate 4791 and a variable pitch housing 4792; the variable pitch side plate 4791 is connected to the top of one side of the variable pitch housing 4792, and is slidably connected to the bottom of the gantry transverse guide rail 422, and the other side is used to fix the variable pitch transverse guide rail 471.

[0236] Six sets of variable pitch lifting units are slidably connected side by side on the variable pitch transverse guide rail 471. Each set of variable pitch lifting units can move independently along the variable pitch transverse guide rail 471. The automatic adjustment of the distance between adjacent variable pitch lifting units is achieved through the variable pitch drive motor 4711.

[0237] Figure 34 A schematic diagram of the variable pitch lifting unit in this embodiment is shown.

[0238] refer to Figure 34 The variable pitch lifting unit includes a variable pitch linear guide fixing plate 476, a variable pitch pen-shaped cylinder 472, a variable pitch miniature guide rail 473, a variable pitch slider 474, a variable pitch lifting slide 4741, and a variable pitch pneumatic gripper 475. A drive control module is installed inside the variable pitch housing 4792 and is electrically connected to the variable pitch drive motor 4711 and the variable pitch pen-shaped cylinder 472 to control their start and stop.

[0239] A variable pitch micro guide rail 473 is vertically mounted on one side of the variable pitch linear guide plate 476, and is slidably connected to a variable pitch transverse guide rail 471 on the other side. A variable pitch slider 474 is slidably mounted on the variable pitch micro guide rail 473. A variable pitch lifting slide 4741 is fixed on the variable pitch slider 474. The variable pitch lifting slide 4741 is connected to the variable pitch pneumatic gripper 475 through a variable pitch fixing block 4742. A variable pitch pen-shaped cylinder 472 is vertically mounted on the top of the variable pitch linear guide plate 476. The variable pitch pen-shaped cylinder 472 is used to drive the variable pitch slider 474 to slide along the variable pitch micro guide rail 473, and serves as the driving element for the lifting and lowering movement of the variable pitch pneumatic gripper 475. A variable pitch limiting block 4731 is provided at the lower end of the variable pitch micro guide rail 473, corresponding to the extreme position of the lifting stroke, for hard limiting of the variable pitch lifting unit and limiting the maximum stroke of the variable pitch pen-shaped cylinder 472.

[0240] Specifically, the top of the variable pitch lifting slide 4741 is also equipped with a variable pitch cable fixing component 477, which is used to organize the routing of the follower air pipe and fiber optic cable of this device.

[0241] Specifically, the variable-pitch pen-shaped cylinder 472 is equipped with a variable-pitch cylinder regulating valve 4723 on its top, and a variable-pitch floating joint 4721 installed at the front end of the piston rod. The lower end of the variable-pitch floating joint 4721 is connected to the variable-pitch lifting slide 4741 through a variable-pitch floating joint connector 4722, eliminating the coaxiality error between the cylinder installation and the guide rail guidance, and preventing the piston rod from bearing radial force. A buffer pad is provided on the variable-pitch floating joint 4721 as the cylinder's upward limit position, and a polyurethane pad is provided on the top of the variable-pitch limit block 4731 corresponding to the cylinder's downward limit position. The pads are used to buffer and absorb energy when the lifting movement reaches the position, reducing operational impact.

[0242] Specifically, the variable-pitch pneumatic gripper 475, as an end effector, is used to grasp and release the cutting needle, and its gripping range is adapted to the diameter of the cutting needle shank. Below the variable-pitch linear guide fixing plate 476, a variable-pitch fiber optic fixing component 478 is also provided. A fiber optic sensor is mounted on the variable-pitch fiber optic fixing component 478, and a variable-pitch fiber optic sensor probe 4781 is installed on the fiber optic sensor. The variable-pitch fiber optic sensor probe 4781 and the material-grabbing position of the variable-pitch pneumatic gripper 475 are horizontally coaxial, enabling accurate detection of the presence or absence of material.

[0243] Six sets of variable-pitch lifting units are independently controlled. Each variable-pitch pen-shaped cylinder 472 adjusts the lifting speed through a variable-pitch cylinder regulating valve 4723 located on its top, achieving smooth lifting. Under the command of the drive control module, all six sets of variable-pitch lifting units can lift and lower simultaneously, or one or more sets can be controlled to lift and lower independently as needed. In conjunction with the spacing adjustment of the variable-pitch module 47, selective clamping of cutting needles at specific positions in the full-blade box and precise placement of target holes in the empty box can be achieved.

[0244] When retrieving needles, the gantry preparation assembly 42 moves along the gantry track 423 to above the preparation platform. The variable pitch module 47 adjusts the spacing of the six sets of variable pitch lifting units, and the variable pitch pneumatic gripper 475 descends to grip the needles in the full needle box. When releasing needles, the gantry preparation assembly 42 moves to above the preparation station of the exchange platform 41. The variable pitch module 47 automatically adjusts the gripper spacing to adapt to the dense arrangement spacing of the full needle box and the target hole spacing of the empty box, so that the same mechanism can adapt to the pick-and-place requirements of different spacings and reduce changeover time.

[0245] During the knife preparation operation, one of the trays of the exchange platform 41 carries an empty box at the knife preparation station. The gantry knife preparation assembly 42 picks up the knife needles required by the work order from the knife preparation platform and puts them into the empty box. At the same time, another tray is discharged and a new empty box is added at the unloading station through the gantry discharge claw 53 of the stacking discharge device 5.

[0246] The working process of the tool preparation device in this embodiment is as follows:

[0247] The tool preparation device 4 provided in this embodiment, under the unified scheduling of the control unit, completes the layout transfer of tool needles from a full tool box to an empty box through the coordinated cooperation of the exchange platform 41 and the gantry tool preparation assembly 42. The following describes the operation process of the device in detail using a complete tool preparation cycle as an example.

[0248] 1. Initial State

[0249] The horizontally moving reserve tool tray 43 is in the unloading position (high position), with an empty box placed in the tool holder slot on the tray. The reserve tool tray tool holder positioning mechanism has completed the lateral clamping and forward positioning of the empty box. The lifting reserve tool tray 44 is in the tool preparation position (high position), and the empty box on the tray is receiving the tool. The gantry discharge gripper 53 of the stacking discharge device 5 has placed the new empty box into the tool holder slot 432 of the horizontally moving reserve tool tray 43. The gantry tool preparation assembly 42 is located above the tool preparation platform, which has transported the full tool box to the predetermined interaction position at the front end of the exchange platform 41.

[0250] 2. Needle Removal Stage

[0251] According to the work order instructions, the control unit controls the operation of the pitch drive motor 4711 of the pitch module 47, drives the six sets of pitch lifting units to move along the pitch transverse guide rail 471, and automatically adjusts the spacing between adjacent pitch lifting units so that the spacing of the end pitch pneumatic gripper 475 is adapted to the spacing of the cutter needles in the full cutter box.

[0252] During needle removal, the variable-pitch pen-shaped cylinder 472 drives the variable-pitch lifting slide 4741 to descend along the variable-pitch micro guide rail 473, and the variable-pitch pneumatic gripper 475 extends into the target hole of the full tool box. The variable-pitch fiber optic sensor probe 4781 detects the presence of the needle and sends feedback to the control unit. The variable-pitch pneumatic gripper 475 closes to hold the needle handle, and the variable-pitch pen-shaped cylinder 472 drives the variable-pitch lifting slide 4741 to rise, removing the needle from the full tool box. The six variable-pitch lifting units can remove needles simultaneously according to the work order requirements, or only some of them can perform the needle removal action.

[0253] 3. Transportation Stage

[0254] After the needle is removed, the gantry column 421 of the gantry tool preparation assembly 42 moves horizontally along the gantry track 423, driving the entire gantry frame to move from above the tool preparation platform to above the tool preparation station of the exchange platform 41.

[0255] 4. Needle release stage

[0256] After the gantry tool preparation assembly 42 reaches the tool preparation station, the pitch-changing module 47 adjusts the spacing of the six sets of pitch-changing lifting units according to the target hole spacing of the empty box on the lifting tool preparation plate 44, so that the pitch-changing pneumatic grippers 475 holding the tool needle are aligned with the corresponding holes of the empty box. The pitch-changing pen-shaped cylinder 472 drives the corresponding pitch-changing lifting slide 4741 to descend, and the pitch-changing pneumatic grippers 475 accurately insert the tool needle into the designated hole of the empty box. Then, the pitch-changing pneumatic grippers 475 release, and the pitch-changing lifting slide 4741 rises, completing one needle placement action.

[0257] The above-mentioned needle picking, handling, and needle placement processes are repeated until all the needles required by the work order are placed into the empty box, and the empty box on the lifting preparation plate 44 becomes the discharge box.

[0258] 5. Workstation switchover phase

[0259] After the lifting tool preparation plate 44 completes tool preparation, the control unit issues a workstation switching command and executes the following sequence of actions:

[0260] Step 1: The positioning mechanism of the cutter box on the lifting cutter disc 44 loosens its clamping on the discharge box. The lifting cylinder 441 drives the lifting cutter disc 44 to descend from the high position to the low position, achieving vertical position avoidance with the horizontally moving cutter disc 43.

[0261] Step 2: The upper exchange linear module 413 drives the horizontally moving spare tool disc 43 to move horizontally from the unloading station into the spare tool station; simultaneously, the lower exchange linear module 414 drives the lifting spare tool disc 44 to move horizontally out of the spare tool station and towards the unloading station. The horizontally moving spare tool disc 43 always remains at a high position, while the lifting spare tool disc 44 moves horizontally at a low position. The two discs are vertically offset and do not interfere with each other.

[0262] Step 3: After the horizontally moving preparation plate 43 reaches the preparation station, the new empty box it carries enters the preparation state. After the lifting preparation plate 44 reaches below the unloading station, the gantry unloading claw 53 of the stacking unloading device 5 removes the unloading box from the lifting preparation plate 44 and transports it to the unloading flow line; then the new empty box is placed in the empty tool box slot on the lifting preparation plate 44.

[0263] Step 4: The tool holder positioning mechanism on the lifting tool holder 44 performs lateral clamping and forward positioning of the newly placed empty box, putting the empty box on the lifting tool holder 44 into a ready-to-use state. During the next switchover, the lifting tool holder 44 is driven by the exchange lifting cylinder 441 to rise to a high position to await switchover.

[0264] 6. Execute in a loop

[0265] The above steps are repeated cyclically. While one tray is receiving the cutting tool from the gantry cutting tool assembly 42 at the cutting tool preparation station, the other tray is simultaneously completing the unloading of the discharge box and the loading and positioning of the new empty box at the unloading station. The two trays alternately enter and exit the cutting tool preparation area, and the gantry cutting tool assembly 42 does not need to wait for loading and unloading operations during continuous cutting tool preparation, thus achieving continuous and uninterrupted operation of the cutting tool preparation.

[0266] The stacking and discharging device 5 is configured with a two-layer structure (upper and lower) and a two-zone structure (left and right). The two-zone structure includes a full-box tray loading device 51 and a discharging tray loading device 52. The full-box tray loading device 51 and the discharging tray loading device 52 are respectively equipped with a lower-layer feeding device and an upper-layer discharging device.

[0267] Figure 35 and Figure 36 A schematic diagram of the location and structure of the stacked discharge device is shown.

[0268] refer to Figure 35 and Figure 36 The stacking and unloading device 5 is located after the knife preparation device 4. It is used to receive the unloading boxes completed by the knife preparation device 4 for tray unloading and to provide empty boxes to the knife preparation device 4.

[0269] The stacking and unloading device 5 includes a full-box traying device 51 and an unloading traying device 52, which are arranged side by side with a stacking channel in the middle. The full-box traying device 51 is located near the full-box conveying device 6, and the unloading traying device 52 is located near the empty box channel flow line 7.

[0270] The lower feeding device of the full-carton palletizing device 51 is equipped with a lower-level inbound guide rail for the full-carton area, whose transport flow line is opposite to the material conveying direction. Along the transport flow line of this lower feeding device, a first full-carton palletizing guide rail 511, a second full-carton palletizing guide rail 512, a third full-carton palletizing guide rail 513, and a fourth full-carton palletizing guide rail 514 are sequentially arranged. These rails are interconnected. The first full-carton palletizing guide rail 511 serves as the input end of the lower feeding device and communicates with the outside of the housing. It is used to receive stacked multi-layer empty pallets input manually or by an AGV (Automated Guided Vehicle), and to break them down into individual empty pallets for forward transport. The second full-carton palletizing guide rail 512 is used to temporarily store the broken-down individual empty pallets, either for transfer to the third full-carton palletizing guide rail 513 or to await lateral transport to the lower feeding device of the discharge palletizing device 52. The third guide rail 513 for full-box traying is connected to the output end of the full-box conveying device 6. The third guide rail for full-box traying is used to receive a single empty pallet conveyed by the second guide rail for full-box traying. The empty pallet placed on it is used to receive full-cut boxes conveyed by the full-box traying device 51 to form a full-cut box pallet. The transmission direction of the fourth guide rail for full-box traying can be changed. It is used to receive full-cut box pallets conveyed by the third guide rail for full-box traying. The fourth guide rail for full-box traying is equipped with a lifting device 55, which is used to lift the fourth guide rail for full-box traying and interact with the upper discharge device of the full-box traying device 51. The fourth guide rail for full-box traying stops conveying after the pallet is in place and lifts the pallet from the lower layer to the upper layer to connect with the upper station.

[0271] The upper discharge device of the full-box traying device 51 is equipped with an upper discharge guide rail for the full-box area, and its transmission flow line is in the same direction as the material conveying. Along the transmission flow line of this upper discharge device, the fifth full-box traying guide rail 515, the sixth full-box traying guide rail 516, and the seventh full-box traying guide rail 517 are sequentially arranged. Each station is connected by a conveyor belt. The fifth full-box traying guide rail 515 is located at the starting end of the upper discharge device, corresponding to the upper position of the full-box lifting station 514. The fifth full-box traying guide rail is used to receive and place full-knife box trays conveyed by the fourth full-box traying guide rail. The sixth full-box traying guide rail is used to receive trays conveyed by the fifth full-box traying guide rail and is used to park full-discharge box trays or full-knife box trays. The seventh full-box traying guide rail is used to receive and buffer full-discharge box trays and is connected to the outside of the housing.

[0272] The lower feeding device of the unloading and palletizing device 52 is equipped with a lower-level inlet guide rail for the unloading area, and its transmission flow line is opposite to the material conveying direction. Along the transmission flow line of the lower feeding device, the first unloading and palletizing guide rail 521, the second unloading and palletizing guide rail 522, the third unloading and palletizing guide rail 523, and the fourth unloading and palletizing guide rail 524 are arranged sequentially. The stations are connected by conveyor belts. The first unloading and palletizing guide rail 521, as the input end of the lower feeding device, is connected to the outside of the housing and is used to receive stacked multi-layer empty box pallets input manually or by AGV carts, and to break them down into individual empty box pallets for forward transport. The second unloading and palletizing guide rail 522 corresponds to the position of the second full box palletizing guide rail 512 of the full box palletizing device 51. It is used to receive individual empty box pallets transmitted from the first unloading and palletizing guide rail 521, and also to receive empty pallets that are laterally moved from the second full box palletizing guide rail 512. The third guide rail 523 receives empty box trays from the second guide rail, or receives empty trays from the second guide rail. The third guide rail 523 connects to the output end of the empty box channel flow line 7 to receive empty knife boxes from the flow line 7, forming an empty knife box tray. The fourth guide rail 524 is located behind the third guide rail 523 along its conveying direction. The conveying direction of the fourth guide rail can be changed. It receives empty box trays from the third guide rail. The fourth guide rail is equipped with a lifting device 55 to lift the fourth guide rail and interact with the upper discharge device of the discharge device 52. After the empty box tray arrives, the conveying stops, and the tray is lifted from the lower to the upper layer.

[0273] The upper discharge device of the material discharge and palletizing device 52 is equipped with an upper discharge guide rail in the discharge area, whose transmission flow line is in the same direction as the material conveying. Along the transmission flow line of this upper discharge device, the fifth discharge and palletizing guide rail 525, the sixth discharge and palletizing guide rail 526, and the seventh discharge and palletizing guide rail 527 are sequentially arranged. Each station is connected by a conveyor belt. The fifth discharge and palletizing guide rail 525 is located at the starting end of the upper discharge device, corresponding to the upper position of the fourth discharge and palletizing guide rail, and is used to receive the lifted pallets. The fifth discharge and palletizing guide rail is used to receive empty box pallets conveyed by the fourth discharge and palletizing guide rail. The sixth discharge and palletizing guide rail is used to receive the discharge box pallets conveyed by the fifth discharge and palletizing guide rail. The seventh discharge and palletizing guide rail 527 is located at the rear end of the upper discharge device, communicating with the outside of the housing, and receives the discharge boxes from the sixth discharge and palletizing guide rail for pallet closing operations and outputting full discharge box pallets.

[0274] A dismantling mechanism 56 is provided at the first guide rail 511 for full box loading, the first guide rail 521 for unloading, the seventh guide rail 517 for full box loading, and the seventh guide rail 527 for unloading, for dismantling stacked multi-layer pallets or stacking multiple pallets into multi-layer pallets.

[0275] Figure 37 A schematic diagram of the location and structure of the disassembly mechanism is shown.

[0276] refer to Figure 37 The destacking mechanism 56 is used to destacking stacked multi-layer pallets or to stack multiple pallets into multi-layer pallets.

[0277] The disassembly mechanism 56 is located at the first and seventh guide rails of the discharging and loading device 52 (discharging and loading first guide rail 521 and discharging and loading seventh guide rail 527), and at the first and seventh guide rails of the full-box loading device 51 (full-box loading first guide rail 511 and full-box loading seventh guide rail 517). At the first guide rail 521 and the first guide rail 511, the disassembly mechanism 56 is used to separate stacked multi-layer pallets into individual pallets; at the seventh guide rail 527 and the seventh guide rail 517, the disassembly mechanism 56 is used to stack multiple full-discharge box pallets into multi-layer pallets for discharging or buffering.

[0278] The tray disassembly mechanism 56 includes a tray lifting module and a clamping assembly 564.

[0279] There are three pallet lifting modules: a first lifting module 561, a second lifting module 562, and a third lifting module 563. The first lifting module 561 is located outside the first and seventh guide rails 521 and 527 of the unloading and palletizing device 52. The third lifting module 563 is located outside the first and seventh guide rails 511 and 517 of the full-box palletizing device 51. The second lifting module 562 is located in the middle of the full-box palletizing device 51 and the unloading and palletizing device 52. Each pallet lifting module extends through the upper and lower layers of the full-box palletizing device 51 and the unloading and palletizing device 52.

[0280] Each pallet lifting module is equipped with a vertical lifting rail 5611, and a clamping assembly 564 is slidably connected to the lifting rail 5611. The pallet lifting module drives the clamping assembly 564 to move up and down along the lifting rail 5611 via a lifting drive motor located at its top.

[0281] Figure 38 A schematic diagram of the clamping assembly structure is shown.

[0282] refer to Figure 38The clamping assembly 564 includes a sliding connecting plate 5641, a destacking cylinder 5642, a transverse slide rail 5643, a pallet clamping plate 5644, and a drive plate 5645. One side of the sliding connecting plate 5641 is slidably connected to the lifting rail 5611, and the other side is equipped with the destacking cylinder 5642. A fixing plate is connected to the top of the sliding connecting plate 5641, and a transverse slide rail 5643 is arranged on the fixing plate facing the corresponding workstation direction. One end of the pallet clamping plate 5644 is slidably connected to the transverse slide rail 5643 via a slider, and the other end is equipped with a clamping slot adapted to the shape of the pallet's outer wall for clamping against the pallet's side wall. The pallet clamping plate 5644 is vertically connected to the drive plate 5645, which is located at the output end of the destacking cylinder 5642.

[0283] Each pallet lifting module is equipped with clamping components 564 in its bottom and top areas. The clamping components 564 in the bottom area are used for destacking or stacking operations at the corresponding lower-level unpacking station, while the clamping components 564 in the top area are used for stacking or destacking operations at the corresponding upper-level material discharge / packing seventh guide rail or full-box packing seventh guide rail.

[0284] The first lifting module 561 and the second lifting module 562 cooperate to serve the unloading and palletizing device 52. The clamping components 564 in the bottom and top areas of the first lifting module 561 correspond to the first guide rail 521 and the seventh guide rail 527 of the unloading and palletizing device, respectively. The clamping components 564 in the bottom and top areas of the second lifting module 562 facing the first lifting module 561 cooperate with the clamping components 564 in the bottom and top areas of the first lifting module 561, respectively, to clamp both ends of the same pallet.

[0285] The third lifting module 563 cooperates with the second lifting module 562 to serve the full-box tray loading device 51. The clamping components 564 in the bottom and top areas of the third lifting module 563 correspond to the first guide rail 511 and the seventh guide rail 517 of the full-box tray loading, respectively. The clamping components 564 in the bottom and top areas of the second lifting module 562 facing the third lifting module 563 cooperate with the clamping components 564 in the bottom and top areas of the third lifting module 563, respectively, to clamp both ends of the same tray.

[0286] During destacking, the destacking cylinders 5642 of each clamping component 564 in the bottom area drive the pallet clamps 5644 to extend along the transverse slide rail 5643. The clamping slots of the pallet clamps 5644 engage with the side wall of the pallet, and the pallet clamps 5644 on both sides clamp the pallet together. The pallet lifting module drives the clamping components 564 in the bottom area to rise along the lifting rail 5611, separating the upper stacked pallets from the bottom pallet, completing the destacking operation. The bottom pallet is then conveyed forward along the flow line.

[0287] During stacking, the destacking cylinders 5642 of each clamping component 564 in the top area drive the pallet clamps 5644 to extend and clamp the pallet to be stacked; the pallet lifting module drives the clamping components 564 in the top area to descend and place the pallet on the pallet below; the destacking cylinders 5642 drive the pallet clamps 5644 to retract, completing the stacking operation.

[0288] A cross-channel transport device 54 is provided between the full-packing tray second guide rail 512 and the unpacking tray second guide rail 522. The cross-channel transport device 54 is used to transport empty pallets laterally across the channel from the full-packing tray second guide rail 512 to the unpacking tray second guide rail 522.

[0289] Figure 39 A schematic diagram of the location and structure of the cross-channel transport device is shown. Figure 40 A schematic diagram of the cross-channel transport device is shown.

[0290] refer to Figure 39 The cross-channel transport device 54 is positioned across the top of the full-box loading second guide rail 512 and the unloading loading second guide rail 522, and is used to transport empty pallets from the full-box loading second guide rail 512 to the unloading loading second guide rail 522.

[0291] refer to Figure 40 The cross-aisle transport device 54 includes a horizontal displacement assembly, a sliding platform, a vertical lifting assembly, a lifting guide assembly, and a pallet clamping assembly.

[0292] The horizontal displacement assembly includes a horizontal moving mounting base 541 and a horizontal moving drive motor 6213. The horizontal moving mounting base 541 is fixed horizontally to the upper bracket of the full-packing tray second guide rail 512 and the unpacking tray second guide rail 522. The horizontal moving mounting base 541 is equipped with a synchronous belt drive mechanism, and the output end of the horizontal moving drive motor 6213 is connected to the synchronous belt drive mechanism.

[0293] The sliding platform includes a translation slide 543. The translation slide 543 is slidably engaged with the transverse mounting base 541, and the translation slide 543 is fixedly connected to the synchronous belt in the synchronous belt drive mechanism, and is driven by the transverse drive motor 6213 to reciprocate in the horizontal direction.

[0294] The vertical lifting assembly includes a lifting drive cylinder 544 and a lifting connecting plate 545. The cylinder body of the lifting drive cylinder 544 is vertically fixed to the translation slide 543, and the piston rod end of the lifting drive cylinder 544 passes through the lifting connecting plate 545 and is fixedly connected to the tray clamping assembly below. The lifting connecting plate 545 provides mounting support for the lifting guide assembly.

[0295] The lifting guide assembly includes at least two guide rods 546 and an equal number of linear bearing seats 547. Each linear bearing seat 547 is fixedly mounted on a translation slide 543. The upper end of each guide rod 546 passes through the corresponding linear bearing seat 547, and the lower end passes through the lifting connecting plate 545 and is fixedly connected to the pallet clamping assembly below. The guide rods 546 and linear bearing seats 547 slide in engagement, providing auxiliary guidance during the lifting and lowering of the pallet clamping assembly and ensuring the smoothness of the lifting movement.

[0296] The pallet clamping assembly includes a main clamping frame plate 548, side clamping drive cylinders 549, and follower clamping arms 542. The main clamping frame plate 548 is horizontally positioned below the lifting connecting plate 545. The piston rod end of the lifting drive cylinder 544 and the lower ends of each guide rod 546 are fixedly connected to the main clamping frame plate 548. Two side clamping drive cylinders 549 are provided, symmetrically installed at both ends of the main clamping frame plate 548. Two follower clamping arms 542 are provided, fixedly connected to the output ends of the two side clamping drive cylinders 549 respectively. Each follower clamping arm 542 has a positioning groove on its inner side that matches the contour of the outer wall of the pallet.

[0297] During transport, the transverse drive motor 6213 drives the translation slide 543 to move along the transverse mounting base 541 to above the second guide rail 512 for full-box loading; the piston rod of the lifting drive cylinder 544 extends, driving the clamping main frame plate 548 to descend, and the guide rod 546 slides in the linear bearing seat 547 to assist in guidance; the two side clamping drive cylinders 549 drive the follower clamping arms 542 to extend towards each other, and the positioning slots engage with the two side walls of the pallet to clamp the pallet; the piston rod of the lifting drive cylinder 544 retracts, driving the clamping main frame plate 548 to rise and lift the pallet; the transverse drive motor 6213 drives the translation slide 543 to move to above the second guide rail 522 for unloading loading; the lifting drive cylinder 544 extends, and the side clamping drive cylinders 549 drive the follower clamping arms 542 to release, placing the pallet on the second guide rail 522 for unloading loading, completing the cross-channel transport.

[0298] The lifting device 55 is installed at the fourth guide rail for full box loading and the fourth guide rail for unloading, and is used to stop the conveying after the pallet is in place and lift the pallet from the lower layer to the upper layer.

[0299] Figure 41 A schematic diagram of the lifting device is shown. The fourth guide rail for full-box loading and the fourth guide rail for unloading are raised and lowered by the lifting device 55.

[0300] refer to Figure 41 The lifting device 55 is used to stop the conveying after the pallet is in place and lift the pallet from the lower layer to the upper layer. The lifting device 55 includes a lifting module 551 and a lifting support plate 552.

[0301] The lifting module 551 is vertically positioned to the side of the fourth guide rail 514 for full-packing and the fourth guide rail 524 for unpacking, and is driven by a motor. The lifting module 551 includes a vertically oriented lifting slide rail, on which a lifting connecting plate 553 is slidably connected. The motor is connected to the lifting connecting plate 553 via a screw drive mechanism, driving the lifting connecting plate 553 to move up and down along the lifting slide rail.

[0302] The lifting support plate 552 is horizontally fixed on the lifting connecting plate 553, and the lifting support plate 552 is located below the fourth guide rail 514 for full box loading or the fourth guide rail 524 for unloading loading. When lifting, the pallet is lifted from below.

[0303] During the lifting process, the pallet is conveyed to the lifting station via a conveyor belt and then stops conveying. The motor drives the lifting module 551 to operate, and through the screw transmission mechanism, it drives the lifting connecting plate 553 to rise along the lifting slide rail. The lifting support plate 552 rises synchronously with the lifting connecting plate 553, lifting the pallet from the lower layer to the upper layer and connecting with the upper layer discharge device. The pallet continues to be conveyed forward along the upper layer discharge device.

[0304] This embodiment provides a gantry discharge gripper, which is disposed above the full box loading device 51 and the discharge loading device 52.

[0305] Figure 42 and Figure 47 A schematic diagram of the structure of the gantry discharge gripper 53 is shown.

[0306] refer to Figure 35 The gantry discharge gripper 53 is located above the output end of the knife preparation device 4, the full box loading device 51, and the discharge loading device 52.

[0307] refer to Figure 42 The gantry discharge gripper 53 is used to grab a single knife box and place it into the spare knife device 4 or remove the knife box from the spare knife device 4, as well as to grab and transport the entire pallet to achieve scheduling between full discharge box pallets and empty box pallets. The gantry discharge gripper 53 includes a gantry frame, a gantry lifting module 533, and a gantry gripping assembly 534.

[0308] The gantry frame includes two parallel gantry longitudinal moving beams 531, and the two ends of the gantry transverse moving module 532 are respectively slidably connected to the two gantry longitudinal moving beams 531.

[0309] A gantry frame is equipped with a gantry traversing module 532 that can slide along the X-axis. A gantry lifting module 533 is slidably mounted on the gantry traversing module 532. The gantry lifting module 533 can reciprocate along the Y-axis, which is perpendicular to the X-axis, and can also rise and fall vertically. The output end of the gantry lifting module 533 is connected to a gantry gripping assembly 534, which includes a pallet gripping unit and a knife box gripping unit. The X-axis is the material conveying direction, and the Y-axis is perpendicular to the X-axis in the same horizontal plane.

[0310] Two gantry longitudinal moving beams 531 are arranged parallel to each other above the full-box loading device 51 and the unloading loading device 52 on both sides. Each gantry longitudinal moving beam 531 is equipped with a gantry longitudinal moving slide rail, and the ends of the two gantry longitudinal moving beams 531 are equipped with gantry longitudinal moving screws, which are driven by a gantry longitudinal moving motor. When the gantry longitudinal moving motor operates, it drives the gantry transverse moving module 532 to move back and forth along the gantry longitudinal moving slide rail through the gantry longitudinal moving screws. Due to the large span, a dual-module gantry driven design is adopted to ensure operational stability.

[0311] The two ends of the gantry horizontal moving module 532 are slidably connected to the gantry longitudinal moving slide rails of the two gantry longitudinal moving beams 531. The gantry horizontal moving module 532 is equipped with gantry horizontal moving slide rails, and the gantry lifting module 533 is driven by the gantry horizontal moving motor to move back and forth along the gantry horizontal moving slide rails.

[0312] The gantry lifting module 533 is equipped with a gantry lifting slide rail, which is driven by the gantry lifting motor and drives the gantry gripping component 534 to move up and down along the gantry lifting slide rail through the screw transmission mechanism.

[0313] The gantry gripping assembly 534 includes a connecting base plate, a pallet gripping unit, and a knife box gripping unit. The pallet gripping unit includes a pallet avoidance cylinder 5343, an avoidance slide plate, a pallet side clamping cylinder 5344, and a pallet follow-up clamping arm 5345; the knife box gripping unit includes a knife box gripping cylinder 5346 and a knife box clamping arm 5347; the connecting base plate includes a gripping slide plate 5341 and a gripping fixing plate 5342.

[0314] The gripping slide plate 5341 is slidably connected to the gantry lifting slide rail. The gripping fixing plate 5342 is horizontally fixed to the bottom of the gripping slide plate 5341.

[0315] Two pallet avoidance cylinders 5343 are provided, fixed to both ends of the gripping and fixing plate 5342 respectively. The output end of the pallet avoidance cylinder 5343 is connected to the avoidance slide plate. The pallet side clamping cylinder 5344 is fixed on the avoidance slide plate, and its output end is connected to the pallet follower clamping arm 5345. The inner side of the pallet follower clamping arm 5345 is provided with a pallet positioning groove that matches the contour of the outer wall of the pallet for clamping the pallet. The pallet avoidance cylinders 5343 drive the avoidance slide plate to rise and fall vertically, thereby driving the pallet side clamping cylinder 5344 and the pallet follower clamping arm 5345 to rise and fall as a whole. When clamping the knife box, it rises to avoid interference with the knife box.

[0316] Multiple blade box gripping cylinders 5346 are arranged at the bottom of the gripping and fixing plate 5342. In this embodiment, there are six blade box gripping cylinders 5346, with the same spacing as the spacing between the blade boxes in the tray and the spacing between the blade box slots on the preparation plate. The output end of each blade box gripping cylinder 5346 is connected to a blade box gripping arm 5347, which grips the blade box from the longitudinal side wall of the blade box. The blade boxes in the tray are arranged in a horizontal arrangement of 2 rows × 6 columns. The blade box gripping cylinders 5346 grip one row of six blade boxes at a time, and the entire blade box in the tray is moved to the preparation plate or removed from the preparation plate and returned to the tray in two steps.

[0317] When moving a pallet, the gantry longitudinal and transverse motors drive the gantry gripping assembly 534 to move above the target pallet; the gantry lifting motor drives the gripping slide plate 5341 to descend; the pallet side clamping cylinder 5344 drives the pallet follower clamping arms 5345 to extend in opposite directions to clamp the pallet; the gantry lifting motor drives the gripping slide plate 5341 to rise and lift the pallet; the gantry longitudinal and transverse motors drive the pallet to move to the target position and release it.

[0318] When moving the knife box, the pallet avoidance cylinder 5343 drives the avoidance slide plate, which in turn drives the pallet side clamping cylinder 5344 and the pallet follow-up clamping arm 5345 to rise and avoid the obstacle; the gantry lifting motor drives the gripping slide plate 5341 to descend above the preparation knife disc; the knife box gripping cylinder 5346 drives the knife box clamping arm 5347 to clamp the knife box from the longitudinal side wall of the knife box; the gantry lifting motor drives the gripping slide plate 5341 to rise; the gantry longitudinal and gantry transverse motors drive the knife box to move above the target pallet; the gantry lifting motor descends, and the knife box gripping cylinder 5346 drives the knife box clamping arm 5347 to release the knife box into the pallet.

[0319] In this embodiment, the full-box conveying device 6 connects the storage and conveying device 2 and the full-box traying device 51. It is used to convey the full-blade boxes output by the storage and conveying device 2 to achieve direct discharge of full-blade boxes, or to transport the full-blade boxes to the exchange device for reverse gripping discharge by the gantry discharge gripper 53 to remove excess blades. The empty-box conveying device includes an empty-box transport flow line, an empty-box transfer flow line 37 and an empty-box transfer module. The empty-box transfer flow line 37 is located at the empty-box output end of the exchange device, and the empty-box transport flow line is arranged parallel to one side of the blade preparation device. The input end is connected to the output end of the empty-box transfer flow line 37, and the output end is connected to the discharge traying device 52. The empty-box conveying device is also equipped with an empty-blade box gripping device 73, which is used to transport the empty boxes to the exchange device for blade preparation.

[0320] The full-box conveying device 6 is also equipped with a full-knife box gripping device 61. This is a reverse gripping device for a knife preparation system provided in this embodiment.

[0321] The output end of the full-box conveying device 6 is connected to the third guide rail 513 of the full-box traying device 51. The output end of the full-box conveying device 6 is equipped with a photoelectric detection device for arrival.

[0322] refer to Figure 35 The full-knife box gripping device 61 is located above the output end of the full-knife box conveying device 6 and the third guide rail 513 for full-knife box loading. The full-knife box gripping device 61 is used to grip the full-knife box on the output end of the full-knife box conveying device 6 and place it in the empty tray on the third guide rail 513 for full-knife box loading.

[0323] The positional relationship between the empty box transport device and the storage transport device 2 is as follows:

[0324] The empty box transport device includes an empty box channel flow line 7 and an empty box gripping device 73.

[0325] The output end of the empty box channel streamline 7 is connected to the third guide rail 523 of the lower layer of the discharge tray device 52. The output end of the empty box channel streamline 7 is equipped with a positioning photoelectric detection device.

[0326] refer to Figure 36 The empty box gripping device 73 is located above the output section of the empty box channel flow line 7 and the third guide rail 523 for discharging and loading. The empty box gripping device 73 is used to grip the empty boxes on the output end of the empty box channel flow line 7 and load them one by one into the empty tray on the third guide rail 523 for discharging and loading.

[0327] In other embodiments, a reverse gripper is provided for a knife preparation system, wherein a full knife box gripping device 61 is positioned across the output end of the full box conveying device 6 and above the exchange platform 41, and an empty knife box gripping device is positioned across the output end of the empty box conveying device and above the exchange platform 41.

[0328] In other embodiments, a reverse gripper is provided for a knife preparation system. Two full-knife box gripping devices 61 are respectively arranged across the output end of the full-knife box conveying device 6 and above the exchange platform 41, and above the output end of the full-knife box conveying device 6 and the third guide rail 513 for full-knife box loading. Two empty-knife box gripping devices are respectively arranged across the output end of the empty-knife box conveying device and above the exchange platform 41, and above the output section of the empty-knife box channel flow line 7 and the third guide rail 523 for empty-knife box loading.

[0329] Figure 43 A schematic diagram showing the positions and structures of the full knife box gripping device 61 and the empty knife box gripping device 73 is shown.

[0330] The full-blade box gripping device 61 and the empty-blade box gripping device 73 have the same structure but are installed in opposite directions. Both use the material handling module 62, and the structure of the material handling module 62 will be described uniformly below.

[0331] Figure 44 and Figure 45 A schematic diagram of the material handling module 62 is shown.

[0332] refer to Figure 42 The material handling module 62 includes a handling lateral movement component 621, a handling conveying component 622, a handling lifting component 623, and a handling clamping component 624. The X-axis direction is the material conveying direction, and the Y-axis direction is perpendicular to the X-axis direction in the same horizontal plane.

[0333] refer to Figure 44 and Figure 45 The transport traverse assembly 621 is horizontally positioned across the output end of the corresponding conveyor line and above the corresponding guide rail. A traverse track 6211 extends along the Y-axis at the bottom of the transport traverse assembly 6211, and a transport slide 6212 is slidably connected to the traverse track 6211. The transport traverse assembly 621 is driven by a traverse drive motor 6213, which, through a synchronous belt transmission mechanism, drives the transport slide 6212 to reciprocate along the traverse track 6211, accommodating multiple placement stations arranged along the X-axis on the pallet and material handling stations on the conveyor line.

[0334] The conveying assembly 622, movable along the X-axis, is located at the bottom of the conveying slide 6212 and includes a rodless conveying cylinder 6221 and an auxiliary guide rail 6222. The rodless conveying cylinder 6221 and the auxiliary guide rail 6222 are arranged in parallel, with a lifting mounting plate 6223 slidably connected to the auxiliary guide rail 6222. The rodless conveying cylinder 6221 drives the lifting mounting plate 6223 to slide along the auxiliary guide rail 6222, accommodating multiple placement stations arranged along the Y-axis on the pallet. The auxiliary guide rail 6222 assists the rodless conveying cylinder 6221 in station switching and withstands load bending moments.

[0335] The conveying assembly 622 also includes limit bolts and hydraulic dampers, which are located at both ends of the stroke of the rodless conveying cylinder 6221. The limit bolts are used to adjust the stroke range of the rodless conveying cylinder 6221, and the hydraulic dampers are used to buffer and absorb energy at the end of the stroke to reduce the impact of movement.

[0336] The handling and lifting assembly 623 includes a handling and lifting cylinder 6231. The handling and lifting cylinder 6231 is fixed on the lifting mounting plate 6223, and its output end extends downward to drive the handling and gripping assembly 624 to move up and down in the vertical direction.

[0337] The transport clamping assembly 624 includes a transport clamping cylinder 6241 and a transport gripper 6242. The transport clamping cylinder 6241 is connected to the output end of the transport lifting cylinder 6231, and the transport gripper 6242 is mounted on the output end of the transport clamping cylinder 6241 for clamping or releasing the tool box. The inner side of the transport gripper is provided with a clamping groove adapted to the shape of the side wall of the full tool box.

[0338] During transport, the transverse drive motor 6213 drives the transport slide 6212 to move above the output end of the conveyor line; the conveying rodless cylinder 6221 drives the lifting mounting plate 6223 to move to the picking position; the transport lifting cylinder 6231 drives the transport clamping cylinder 6241 to descend; the transport clamping cylinder 6241 drives the transport gripper 6242 to clamp the knife box; the transport lifting cylinder 6231 rises to lift the knife box; the transverse drive motor 6213 and the conveying rodless cylinder 6221 work together to drive the knife box to move above the target placement position on the pallet; the transport lifting cylinder 6231 descends, and the transport clamping cylinder 6241 drives the transport gripper 6242 to release the knife box into the pallet.

[0339] A tray layering mechanism 57 is installed at the third guide rail 523 for material discharge and loading.

[0340] Figure 46 A schematic diagram of the location structure of the tray layering mechanism is shown.

[0341] refer to Figure 46 The pallet layering mechanism 57 is located on both sides of the third guide rail 523 for unloading and loading. It is used to temporarily lift the pallet containing empty boxes when the knife preparation device 4 urgently needs empty boxes but the current empty box pallet is not yet full, allowing subsequent full pallets with empty boxes to pass through first, thus preventing process congestion. The pallet layering mechanism 57 includes a layering vertical guide rail 571, a layering slide table 572, a layering horizontal push cylinder 573, a layering linear guide rail 574, a layering clamping plate 575, and a layering connecting plate 576.

[0342] There are two layered vertical guide rails 571, which are respectively vertically set on both sides of the third guide rail 523 for discharging and loading. Each layered vertical guide rail 571 is slidably connected to a layered slide table 572, which is driven by a layered lifting motor set at the top of the layered vertical guide rail 571 and moves up and down along the layered vertical guide rail 571.

[0343] A layered horizontal push cylinder 573 is fixed on a layered slide table 572, with its output end extending horizontally. A layered linear guide 574 is mounted on the layered slide table 572 and is arranged parallel to the layered horizontal push cylinder 573. A layered clamping plate 575 is slidably connected to the layered linear guide 574, and the layered clamping plate 575 is connected to the output end of the layered horizontal push cylinder 573 via a layered connecting plate 576.

[0344] The inner side of the layered clamping plate 575 is provided with layered slots that are adapted to the shape of the pallet side wall for clamping. The layered horizontal push cylinder 573 drives the layered clamping plate 575 to extend or retract along the layered guide rail 574 to realize the layered lifting or release of the pallet.

[0345] During layered lifting, the layered horizontal push cylinders 573 on both sides drive the layered clamping plates 575 to extend towards each other along the layered guide rail 574, and the layered slots engage with the side wall of the pallet; the layered lifting motor drives the layered slide 572 to rise along the layered vertical guide rail 571, lifting the pallet with the empty buffer box and temporarily removing it from the flow line; subsequently, full pallets with empty boxes pass underneath and enter the fourth guide rail for unloading. When it is necessary to restore the buffered pallet, the layered lifting motor drives the layered slide 572 to descend and place the pallet back into the flow line; the layered horizontal push cylinders 573 drive the layered clamping plates 575 to retract and release the pallet.

[0346] The stacking and unloading device 5 operates as follows: Normal knife preparation mode:

[0347] In normal tool preparation mode, the lower-level feeding device below the unloading and palletizing device 52 receives stacked multi-layer pallets with empty boxes input manually or by AGV. After being separated into individual empty box pallets by the unpacking mechanism 56, they are conveyed forward along the lower-level feeding device. The empty box pallets pass sequentially through the first unloading and palletizing guide rail 521, the second unloading and palletizing guide rail 522, and the third unloading and palletizing guide rail 523, and are then conveyed by the conveyor belt to the fourth unloading and palletizing guide rail 524. After the pallet arrives at its position, the lifting device 55 lifts the empty box pallet to the upper level of the unloading and palletizing device 52. After the pallet reaches the fifth unloading and palletizing guide rail 525, it continues to be conveyed forward by the conveyor belt to the sixth unloading and palletizing guide rail 526. The gantry unloading gripper 53 transports the empty boxes from the empty box pallets in the unloading buffer station to the tool preparation device 4 exchange platform 41 one by one for tool preparation. After the cutting tools are prepared, the gantry discharge gripper 53 puts the prepared tool box back into the tray on the original buffer station as the discharge box. Then the tray is transported along the upper discharge device of the discharge area to the seventh guide rail 527 for tray discharge.

[0348] Full box dispensing mode:

[0349] In the full-box dispensing mode, the upper dispensing device below the full-box traying device 51 receives stacked empty trays. After being separated into individual empty trays by the unpacking mechanism 56, the empty trays are sequentially conveyed to the full-box traying first guide rail 511, the full-box traying second guide rail 512, and then to the full-box traying third guide rail 513. The full-knife box gripping device 61 places the full-knife boxes from the output end of the full-box conveying device 6 into the empty trays on the full-box traying third guide rail 513 one by one. Once the empty trays are full, a full-dispensing tray is formed. The full-dispensing tray is conveyed by a conveyor belt to the full-box traying fourth guide rail 514. After the tray arrives at its position, the lifting device 55 lifts the full-dispensing tray to the upper layer of the full-box traying device 51. The full-dispensing tray is then conveyed by a conveyor belt via the full-box traying fifth guide rail 515 to the full-box traying sixth guide rail 516. The gantry discharge gripper 53 transports the full discharge box pallet from the full box loading sixth guide rail 516 to the upper discharge loading sixth guide rail 526 of the discharge loading device 52. The full discharge box pallet is then conveyed along the upper discharge device of the discharge area to the discharge loading seventh guide rail 527 for pallet assembly. When there are many full discharge box pallets, some can be temporarily stored on the full box loading seventh guide rail 517 and stacked and buffered by the unpacking mechanism 56.

[0350] Reverse gripper discharge working mode:

[0351] In the reverse gripping discharge mode, after the full-load box tray reaches the sixth guide rail 516 on the upper layer of the full-load traying device 51, the gantry discharge gripper 53 transfers it to the exchange platform 41 of the preparation device 4 for reverse gripping. After reverse gripping, a full-load box tray is formed. The gantry discharge gripper 53 sends the full-load box tray back to the original sixth guide rail 516, and then moves it to the sixth guide rail 526 on the upper layer of the discharge traying device 52, and then to the seventh guide rail 527 for tray output. Excess full-load box trays can also be buffered on the seventh guide rail 517.

[0352] Empty box usage mode:

[0353] In empty box usage mode, empty trays after being unpacked from the upper discharge device below the full box loading device 51 are sequentially conveyed from the first full box loading guide rail 511 to the second full box loading guide rail 512. The cross-channel transport device 54 then moves the empty trays from the second full box loading guide rail 512 to the second discharge loading guide rail 522 below the discharge loading device 52. The empty trays are then conveyed along the lower feeding device to the third discharge loading guide rail 523. Empty boxes conveyed from the empty box channel 7 are loaded one by one into the empty tray at the third discharge loading guide rail 523 by the empty box gripping device 73. When a preset number of empty boxes are stored, a tray with empty boxes is formed. This tray is lifted to the upper layer via the fourth discharge loading guide rail 524 and continues to be conveyed, then transported by the gantry discharge gripper 53 to the spare knife device 4 for reuse. During the empty knife box circulation, if the knife preparation device 4 urgently needs an empty box but the empty box tray at the third guide rail 523 of the discharge tray is not yet full, the tray layering mechanism 57 will temporarily lift the tray that is buffering empty boxes, allowing the normal trays with empty boxes on the lower feeding device to continue participating in the circulation, avoiding process blockage. The gantry discharge gripper 53, through the tray follow-up gripper arm 5345 and knife box gripper arm 5347 integrated in the gantry gripping component 534, can flexibly schedule full discharge box trays and empty box trays, realizing efficient flow of trays and knife boxes between various workstations.

[0354] In this embodiment, each conveyor line, transfer module, and gripper can be equipped with a positioning photoelectric detection device to detect the positioning status, gripping status, and orientation status of the tool box or tray, and feed the detection signals back to the control unit. Based on the feedback signals from each positioning photoelectric detection device, the control unit coordinates the timing of the actions of the conveyor lines and transfer modules between units to achieve automated operation of the device.

[0355] In this embodiment, the knife boxes are arranged as follows: Each wide side of the knife box has a snap-fit ​​groove and a longitudinal groove. The overall conveying direction of the knife boxes within the device is from the large storage unit towards the stacking and unloading device 5. The snap-fit ​​groove of a full knife box from the large storage unit faces the overall conveying direction, and this direction remains unchanged on the first and second full knife box conveying guide rails. When transported to the full box conveying device 6 by the second transfer module, a rotary cylinder rotates the knife box 180°, so that the longitudinal groove faces the overall conveying direction. When transported to the empty box channel flow line 7 by the empty box transfer module, an empty box rotary cylinder rotates the empty box 180°, so that the longitudinal groove faces the overall conveying direction. Therefore, the knife boxes on the full box conveying device 6 and the empty box channel flow line 7 all have their longitudinal grooves facing the overall conveying direction, consistent with the direction required for stacking feeding and the preparation knife disc. Subsequent gripping and placement by the grippers does not require further orientation adjustment.

[0356] In this embodiment, each key node of the conveyor flow is equipped with a barcode scanning device to read the QR code information on the wide side of the knife box, thereby enabling the identification, tracking, and orientation confirmation of the knife box and ensuring the accuracy and traceability of the knife box information in each working mode.

[0357] A first barcode scanner and a second barcode scanner are respectively installed on the first and second full-blade box conveying guide rails, located behind the camera detection device 23. After the full-blade boxes have completed sampling inspection, the barcode scanner reads the QR code on the box to confirm the diameter information and compares it with the camera detection result. If the information matches, the full-blade box continues to be conveyed forward along the conveyor line; if the information does not match, the control unit marks the full-blade box as unqualified, and it is processed by the subsequent diversion mechanism. This ensures that the information of the full-blade boxes entering the storage device 3 or the full-box conveying device 6 is accurate.

[0358] A barcode scanner is installed at the end of the knife preparation device 4, between the exchange platform 41 and the stacking discharge device 5. The barcode scanner is mounted on the left and right support frames of the exchange platform. Six barcode scanners are installed on the barcode scanner, arranged along the main conveying direction, with the spacing between them the same as the spacing between the knife box gripping cylinders on the gantry discharge gripper 53. Each time the gantry discharge gripper 53 picks up six discharge boxes from the exchange platform 41, it first moves the discharge boxes to the barcode scanner. The six barcode scanners simultaneously scan and confirm the six discharge boxes, recording the discharge box information, before placing the discharge boxes into the empty tray of the stacking discharge device 5. Thus, each discharge box placed on the tray is scanned and recorded, achieving full traceability of the discharge boxes and facilitating information integration with subsequent processes.

[0359] The detection signals from each scanning device are fed back to the control unit. The control unit coordinates the timing of each unit's actions based on the feedback signals and tracks and records the knife box information throughout the process.

[0360] In this embodiment, a full-box positioning device and a full-box scanning device are sequentially arranged along the material conveying direction on the full-box conveying device 6. The full-box positioning device is used to clamp and position the full-knife boxes, and the full-box scanning device is used to scan and confirm the position of the full-knife boxes. Specifically, the full-box positioning device includes a first blocking device and a second blocking device arranged sequentially along the material conveying direction. The first blocking device is used to intercept subsequent full-knife boxes to prevent them from contacting each other, and the second blocking device is used to clamp and position the full-knife boxes. The full-box scanning device is located behind the second blocking device. The input end of the full-box conveying device 6 faces forward, and the output end faces backward. In the full-box discharge mode or the reverse gripping discharge mode, the full-knife boxes transported to the full-box conveying device 6 by the second transfer module must be scanned and confirmed before entering the stacking discharge device 5 for palletizing to ensure the accuracy of the full-box information. The full-knife box streamline device is a structure consisting of a conveyor belt and guide baffles arranged on both sides of the conveyor belt. The upper edge of the guide baffles is higher than the bearing surface of the conveyor belt to limit the lateral displacement of the knife boxes during the conveying process.

[0361] The first and second blocking devices are located on the front side of the output end of the full box conveying device 6. Their structure is the same as the partition side blocking devices on the first and second full box conveying guide rails. They are used to partition and position the full boxes on the full box conveying device 6 when needed, and cooperate with the full box scanning device to control the flow of full boxes.

[0362] In this embodiment, a partition 72 is provided behind the input end and in front of the output end of the empty box channel flow line 7, with the partition 72 spanning above the empty box channel flow line 7. The height of the partition 72 is higher than the height of the empty box, but lower than the height of the tool box after the drill bit is placed. When a tool box containing a drill bit accidentally enters the empty box channel flow line 7, the partition blocks it, preventing it from passing through; while the height of the empty box is lower than the partition, it can pass through smoothly. Thus, it ensures that only empty boxes can enter the empty box channel flow line 7 for circulation, preventing tool boxes containing drill bits from mixing into the empty box channel and affecting the normal operation of the empty box.

[0363] The tool preparation control device provided in this embodiment has the following advantages compared with the prior art:

[0364] 1. Front-end NG handling and knife box information pre-confirmation

[0365] In this device, full toolboxes undergo random inspection by camera detection device 23 of storage and transport device 2 before entering storage unit 3. The diameter information of the toolboxes is confirmed by scanning with a first and second barcode scanner and compared with the camera detection results. Unqualified full toolboxes are diverted to NG (Not Found) flow line 24 or manually removed in storage and transport device 2, and do not enter storage unit 3. Meanwhile, storage unit 3 has only four tool preparation stations, each with two workstations. The data of the toolboxes in each station is pre-stored and confirmed in the host computer. The positions of the toolboxes on the preparation stations are fixed and clearly defined, eliminating the need for repeated barcode scanning to confirm their positions during tool preparation. Therefore, the toolbox information entering storage unit 3 and tool preparation device 4 is accurate, achieving "plug and play" toolboxes and improving the overall tool preparation fault tolerance efficiency by 50%.

[0366] 2. Mobile dynamic caching

[0367] This device transforms the toolbox's buffering function from a static, fixed buffer area to a dynamic, mobile buffer by flexibly moving four tool preparation platforms Z1, Z2, Z3, and Z4 along platform tracks, and by coordinating with the first robotic arm 33, the second robotic arm 34, the third robotic arm 35, the fourth robotic arm 36, and the first and second storage bins 31 and 32. The tool preparation platforms can move synchronously with the robotic arms, creating a near-infinite tool preparation buffering capacity when there is sufficient storage space, effectively avoiding buffer shortages caused by large work orders. Overall tool preparation buffering efficiency is improved by 50%.

[0368] 3. Shortest preparation distance

[0369] In this device, the tool preparation platform can autonomously move along the platform's travel track to the position closest to the tool preparation device 4's exchange platform 41. Compared to the existing technology where the tool preparation buffer is fixed and requires the gantry tool preparation assembly 42 to perform a long-stroke movement for switching, the gantry tool preparation assembly 42 in this device can complete the tool box switching without long-distance movement. The tool preparation platform always maintains the shortest working distance from the tool preparation device 4, thereby significantly reducing the time required for a single tool preparation. The overall tool preparation time per tool box is reduced by 40%.

[0370] 4. Reduce manufacturing costs

[0371] Due to the shortened tool preparation stroke, the device requires fewer long-stroke linear motors. Simultaneously, the synchronous belt module of the platform's travel track replaces the numerous positioning cylinders needed for the traditional fixed buffer zone, effectively reducing equipment manufacturing costs while maintaining operating speed. Costs are reduced by 15%.

[0372] 5. Empty boxes are automatically recycled.

[0373] In this device, when an empty box is generated on the tool preparation platform, either the first robotic arm 33 or the second robotic arm 34 can directly remove the empty box from the platform and transport it to the stacking and unloading device 5 via the empty box transfer flow line 37, the empty box transfer module, and the empty box channel flow line 7. There, it combines with an empty pallet to form a pallet with an empty box, which is then transported by the gantry unloading gripper 53 to the tool preparation device 4 for reuse. Thus, the empty boxes generated during tool preparation can be automatically recycled within the device, reducing the frequency and amount of manual replenishment.

[0374] In summary, the tool preparation control device provided in this embodiment achieves rapid front-end NG processing and plug-and-play tool box information processing; flexible and versatile mobile caching; reduced single-box tool preparation time; lower manufacturing costs; and automatic recycling of empty boxes. As shown in Table 1, compared to existing tool preparation machines, it reduces human intervention by 40%, increases tool preparation capacity by 40%, and improves empty box utilization by 100%. Only a portion of empty boxes needs to be replenished in the initial stage to maintain device operation, thus reducing manual empty box replenishment operations by 95%.

[0375] Table 1 Comprehensive Improvement Table

[0376] In summary, this embodiment provides a three-line, three-section tool preparation structure and equipment. Through parallel operation lines and segmented layout, combined with the exchange platform 41, gantry tool preparation assembly 42, and stacked discharge design of upper and lower two layers and two zones, efficient and high-precision automated tool preparation is achieved.

[0377] Example 2:

[0378] This embodiment provides a three-line, three-section tool preparation method, which is used in the three-line, three-section tool preparation device in Embodiment 1.

[0379] The tool preparation method is uniformly scheduled by the control unit, which automatically determines and executes the corresponding working mode according to the work order requirements.

[0380] The terms used in this embodiment are defined as follows: a full knife box is a knife box containing only the same type of knife needles; a half-full knife box is a knife box containing half or more of the same type of knife needles, specifically in this embodiment, the number of knife needles in the knife box is greater than or equal to 25 and less than 50; other knife boxes are knife boxes containing less than half of the same type of knife needles.

[0381] This tool preparation method includes the following steps: First, the control unit receives the work order requirements transmitted by the external drilling rig system and determines the type of toolbox required by the work order.

[0382] When a work order requires a full box, the full box unloading mode is executed. The box gripping device transports the full boxes from the full box conveyor to the stacking unloading device for direct unloading.

[0383] When a work order requires a half-full knife box, the reverse gripping unloading mode is executed. The knife box gripping device transports the full knife box from the full box conveyor to the exchange device for reverse gripping and knife preparation.

[0384] When a work order requires additional tool boxes, the normal tool preparation mode is executed. The exchange unit will perform normal tool preparation from the full tool box delivered by the storage and transport unit.

[0385] During the operation of the above working modes, when the exchange device needs empty boxes, the empty boxes are recycled after the exchange device has finished preparing the blades via the empty box conveying device. The discharge boxes generated after the reverse gripping blade preparation or normal blade preparation are sent to the tray of the stacking discharge device for discharge via the gantry discharge grippers.

[0386] The specific steps for each working mode are explained in detail below.

[0387] Common steps in full-box discharge mode and reverse gripping discharge mode

[0388] When a work order requires a full or half-full cutter box, first perform the following common steps:

[0389] S101, the full box conveying device receives the full knife box conveyed by the storage conveying device.

[0390] Specifically, full-blade boxes are input from the first and second full-blade box conveyor rails of the storage and conveying device. The full-blade boxes are inspected for quality by a camera detection device on the full-blade box conveyor rails. Unqualified full-blade boxes on the first full-blade box conveyor rail are manually removed; qualified full-blade boxes on the first full-blade box conveyor rail flow to the direct feed channel output end of the first full-blade box conveyor rail and are transferred to the input end of the full-blade box conveying device by the second transfer module. Unqualified full-blade boxes on the second full-blade box conveyor rail are transported to the NG (Not in a Container) flow line by the first transfer module; qualified full-blade boxes on the second full-blade box conveyor rail are transported to the output end of the second full-blade box conveyor rail and then picked up by the robotic arm of the storage device and placed into their corresponding second storage storage unit. If the first storage warehouse corresponding to the first full tool box conveying track needs to be replenished, the qualified full tool boxes on the second full tool box conveying track are transferred to the replenishment track input end of the first full tool box conveying track through the first transfer module. After being transported to the replenishment track output end by the replenishment track, they are picked up and replenished by the robot in the first storage warehouse.

[0391] S102, the lower layer of the full box palletizing device of the stacking discharge device receives the stack of empty pallets, which are then split into individual empty pallets by the dismantling mechanism and conveyed to the third guide rail of the full box palletizing device in the opposite direction of material transportation.

[0392] S103, the full box conveying device transports the full knife box to the full box tray third guide rail of the full box tray loading device.

[0393] S104, the full-blade box gripping device places the full-blade boxes one by one into the empty tray of the third guide rail of the full-blade box loading tray, forming a full-blade box tray.

[0394] S105, the full-knife box pallet is conveyed to the fourth guide rail for full-box loading in the opposite direction of material conveying.

[0395] Specific steps of the full box dispensing working mode

[0396] When a work order requires a full toolbox, after performing the common steps S101 to S105 described above, continue with the following steps:

[0397] The full-load tray is lifted to the upper layer of the full-load traying device by a lifting device set on the fourth guide rail. The full-load tray then passes through the fifth guide rail and is stored on the sixth and seventh guide rails. The gantry discharge grippers then pick up the full-load trays from the sixth and seventh guide rails and transfer them to the sixth discharge guide rail. Finally, they are stacked and discharged on the seventh discharge guide rail. When there are many full-load trays, some can be temporarily stored on the seventh guide rail and stacked and buffered by the unpacking mechanism.

[0398] The specific steps of the reverse gripper discharge working mode are as follows:

[0399] When a work order requires a half-full toolbox, after performing the common steps S101 to S105 described above, continue with the following steps:

[0400] S106: The full-blade box tray is lifted to the upper level of the full-blade box loading device by a lifting device set on the fourth guide rail of the full-blade box loading device. The exchange device includes a storage device and a blade preparation device, the blade preparation device including an exchange platform. The gantry discharge grippers pick up the full-blade boxes from the full-blade box tray and transfer the full-blade boxes to the exchange platform.

[0401] S107: The robotic arm places the storage boxes or empty boxes from the storage unit onto the tool preparation platform, which then transports them to the exchange platform. The storage boxes include full tool boxes, remaining tool boxes after tool preparation, and empty boxes.

[0402] The gantry-mounted tool preparation assembly performs a reverse gripping operation based on work order requirements. When the work order requires a half-full tool box of the same specification, the gantry-mounted tool preparation assembly extracts excess tool needles from the full tool box on the exchange platform to form a half-full tool box of the same specification as the output box. The extracted excess tool needles can be placed in the empty box of the tool preparation platform, or added to the empty space created after tool preparation in the storage box of the tool preparation platform.

[0403] When the work order requires a half-full cutter box of different specifications, the gantry cutter preparation assembly extracts excess cutter needles from the full cutter box of the exchange platform to form a half-full cutter box, and extracts cutter needles that meet the specifications of the work order from the storage box conveyed by the cutter preparation platform and adds them to the half-full cutter box to form a discharge box, and the reverse gripping is completed.

[0404] S108: After the reverse gripping is completed, the gantry discharge gripper sends the discharge box back to the upper layer of the full box palletizing device and places it back on the original pallet for pallet stacking and discharge. Excess full discharge box pallets can also be buffered on the seventh guide rail of the full box palletizing device.

[0405] The specific steps for normal tool preparation mode are as follows:

[0406] When a work order requires additional tool boxes, the normal tool preparation mode is executed, including the following steps:

[0407] S201, the full tool box is transported to the exchange device via the storage and conveying device of the tool preparation line, and is picked up by the robot and placed into the storage device in the exchange device for storage.

[0408] S202: The robotic arm removes the storage box from the storage device and places it on the tool preparation platform. The tool preparation platform transports the storage box to the exchange platform along the platform travel track for tool preparation.

[0409] S203: The stacking and unloading device is equipped with a palletizing and unloading device. The lower layer of the palletizing and unloading device receives stacked pallets with empty boxes. After being separated into individual pallets with empty boxes by the unpacking mechanism, the pallets are conveyed against the material transport direction to the fourth guide rail of the palletizing and unloading device. The lifting device then lifts the pallets to the upper layer of the palletizing and unloading device and transfers them to the fifth guide rail for storage. The gantry unloading grippers transport the empty boxes from the pallets with empty boxes one by one to the exchange platform of the knife preparation device.

[0410] S204: The gantry tool preparation assembly picks up the tool needles required by the work order from the storage box on the tool preparation platform and places them in the empty box on the exchange platform to form the discharge box according to the work order requirements.

[0411] S205: The gantry discharge gripper moves the discharge box to the upper layer of the discharge tray device and puts it back into the original tray. The tray is transported along the upper flow line of the discharge tray device, that is, along the material transport direction, to the seventh guide rail of the discharge tray device for stacking and discharge.

[0412] Empty box recycling steps:

[0413] When the switching unit needs empty boxes, the empty boxes generated after the tool preparation are recycled via an empty box transport device. Specifically, the following steps are included:

[0414] S301: Empty boxes generated after tool preparation are stored in the storage device when the exchange platform does not need them; when the exchange platform needs empty boxes for tool preparation and the stacking and unloading device lacks a tray with an empty box, the robot arm takes them out of the storage device and places them on the empty box transfer line.

[0415] The full-box palletizing device receives stacks of empty pallets, which are then separated into individual empty pallets by the unpacking mechanism and conveyed to the second full-box palletizing guide rail. The empty pallets are then transported to the second unpacking palletizing guide rail by the cross-channel transport device and conveyed along the transport flow line to the third unpacking palletizing guide rail.

[0416] S302: The empty box transfer flow line transports the empty box to the empty box transfer module, and the empty box transfer module transfers the empty box to the empty box channel flow line.

[0417] S303: The empty box channel conveyor transports empty boxes to the receiving end of the third guide rail for unloading and palletizing. When the exchange platform urgently needs empty boxes but the empty box tray at the third guide rail for unloading and palletizing is not yet full, the tray layering mechanism on both sides of the third guide rail for unloading and palletizing will lift the trays that buffer empty boxes, allowing subsequent full trays with empty boxes to pass through first, avoiding process congestion.

[0418] S304: The empty box gripping device loads the empty boxes on the empty box channel flow line one by one into the empty tray on the third guide rail of the discharge tray to form a tray with empty boxes. The fourth guide rail of the discharge tray receives the tray with empty boxes.

[0419] S305: The fourth guide rail for unloading and loading is lifted by the lifting device, and the tray with empty boxes is transferred to the fifth guide rail for unloading and loading. The empty boxes are then transported to the exchange platform by the gantry unloading grippers.

[0420] In addition, in this embodiment, after the gantry discharge gripper picks up the discharge box that has completed the knife preparation from the exchange platform during the knife preparation operation, it first moves the discharge box to the barcode scanner between the exchange platform and the stacking discharge device. The six barcode scanners on the barcode scanner simultaneously scan the six discharge boxes, read the QR code information on the outer wall of the knife box, and transmit it to the control unit.

[0421] The three-stage knife preparation method for three production lines provided in this embodiment achieves a complete operation process through the coordinated operation of the above-mentioned working modes, including direct discharge of full boxes, reverse gripping knife preparation discharge, normal knife preparation discharge, and automatic recycling of empty boxes.

[0422] Example 3:

[0423] This embodiment provides a reverse gripping method for a tool preparation system, which is used in the reverse gripping device for a tool preparation system in Embodiment 1.

[0424] The anti-scraping method includes the following steps:

[0425] The control unit receives work order requests from the external drilling rig system and determines the type of cutter box required by the work order. When the work order requires a half-full cutter box, the cutter box gripping device transports the full cutter box from the full box conveying device to the cutter preparation device for reverse gripping and cutter preparation.

[0426] Specifically, this anti-scraping method includes the following detailed steps:

[0427] S101, the full box conveying device receives full knife boxes. The input end of the full box conveying device can be connected to the full knife box output end of the storage conveying device, or directly connected to the output end of the external warehouse to receive full knife boxes.

[0428] S102, the lower layer of the full-box palletizing device of the stacking discharge device receives the stacked empty pallets, which are then split into individual empty pallets by the unpacking mechanism and transported in the opposite direction of material transport to the full-box palletizing first guide rail, the full-box palletizing second guide rail, and finally to the full-box palletizing third guide rail.

[0429] S103, the full box conveying device transports the full knife box to the full box tray third guide rail of the full box tray loading device.

[0430] S104, the full-knife box gripping device picks up the full-knife boxes one by one from the output end of the full-knife box conveying device and places them into the empty tray on the third guide rail of the full-knife box loading tray. After the empty tray is filled, a full-knife box tray is formed.

[0431] S105, the full-knife box pallet is conveyed to the fourth guide rail for full-box loading in the opposite direction of material conveying.

[0432] S106, the full-blade box tray is lifted to the upper layer of the full-blade box loading device by a lifting device set on the fourth guide rail of the full-blade box loading system, and then conveyed to the sixth guide rail of the full-blade box loading system via the fifth guide rail. The exchange device includes a storage device and a blade preparation device, the blade preparation device including an exchange platform. The gantry discharge grippers pick up the full-blade boxes from the full-blade box tray on the sixth guide rail of the full-blade box loading system and transfer the full-blade boxes to the exchange platform.

[0433] S107, the robotic arm places the storage boxes or empty boxes in the storage device onto the tool preparation platform, and then the tool preparation platform transports them along the platform's travel track to the exchange platform for reverse gripping and tool preparation. The storage boxes include full tool boxes of various sizes, remaining tool boxes after tool preparation, and empty boxes, used to provide the required tool needles or store excess tool needles taken out during the reverse gripping process.

[0434] The specific process of reverse gripping for tool preparation is as follows: The gantry tool preparation component performs a reverse gripping operation according to the work order requirements. When the work order requires a half-full tool box of the same specification, the gantry tool preparation component extracts excess tool needles from the full tool box on the exchange platform to form a half-full tool box of the same specification as the output box. The extracted excess tool needles can be placed in the empty box conveyed by the tool preparation platform, or added to the empty space formed after tool preparation in the storage box on the tool preparation platform. When the work order requires half-full tool boxes of different specifications, the gantry tool preparation component extracts excess tool needles from the full tool box on the exchange platform to form a half-full tool box, and then extracts tool needles that meet the specifications required by the work order from the storage box conveyed by the tool preparation platform and adds them to the half-full tool box to form the output box. At this point, the reverse gripping is completed.

[0435] S108, after the reverse gripping is completed, the gantry discharge gripper picks up the discharge box from the exchange platform and sends it back to the upper layer of the full-box traying device, placing it back into the original tray to form a discharge box tray. The discharge box tray is transported along the flow line to the seventh guide rail of the full-box traying device, where it is stacked by the disassembly mechanism before being discharged. When there are many discharge box trays, some of the discharge box trays can be temporarily stored on the seventh guide rail of the full-box traying device and stacked and buffered by the disassembly mechanism.

[0436] The reverse gripping method provided in this embodiment achieves a complete automated process for full-blade boxes from conveying, palletizing, transferring, reverse gripping to discharging through the coordinated operation of a full-box conveying device, a full-box palletizing device, a gantry discharge gripper, a storage device, and a blade preparation device. It takes into account two reverse gripping scenarios: half-blade boxes of the same specification and half-blade boxes of different specifications, and meets the needs of different work orders.

[0437] Example 4:

[0438] This embodiment provides an operation method for an empty box transport device for a knife preparation system, which is used in the empty box transport device for a knife preparation system in Embodiment 1.

[0439] The procedure includes the following detailed steps:

[0440] S301, the empty box generated after the preparation of the knife is completed is placed in the storage device for storage when the preparation device does not need the empty box; when the preparation device needs the empty box to prepare the knife, and the stacking and unloading device lacks a tray with an empty box, the robot arm takes it out from the storage device and places it on the empty box transfer line.

[0441] Simultaneously, the lower feeding device of the unloading and palletizing device in the stacking unloading device receives empty pallets. The unloading and palletizing device includes a lower feeding device and an upper unloading device. The lower feeding device is equipped with a guide rail for conveying materials in the opposite direction of material conveying. Empty pallets are conveyed along the conveying flow line to the third guide rail of the unloading and palletizing device.

[0442] S302, the empty box transfer flow line transports the empty box to the empty box transfer module, and the empty box transfer module picks up the empty box from the empty box transfer flow line and transfers it to the input end of the empty box channel flow line.

[0443] Specifically, the empty box transfer module includes an empty box lifting module, an empty box lateral movement drive cylinder, an empty box rotation cylinder, and empty box grippers. The empty box lifting module drives the empty box grippers to descend and pick up the empty box from the output end of the empty box transfer flow line. After rising, the empty box lateral movement drive cylinder drives it to move horizontally above the input end of the empty box channel flow line. The empty box rotation cylinder drives the empty box to rotate 180° so that the longitudinal groove end of the empty box faces the conveying direction. The empty box lifting module then descends to release the empty box to the input end of the empty box channel flow line.

[0444] S303, the empty box channel streamline transports the empty boxes along the material conveying direction to the receiving end of the third guide rail for discharging and loading. The empty box channel streamline is located outside the storage device and the knife preparation device, and does not interfere with the various mechanisms of the knife preparation operation device.

[0445] S304, the empty box gripping device picks up empty boxes one by one from the output end of the empty box channel and loads them into the empty tray on the third guide rail of the discharge tray. Once the empty tray is filled with a preset number of empty boxes, it forms a tray with empty boxes. The fourth guide rail of the discharge tray receives this tray with empty boxes. The transmission direction of the fourth guide rail of the discharge tray can be changed to receive the tray with empty boxes conveyed by the third guide rail of the discharge tray.

[0446] S305, the fourth guide rail for unloading and loading is lifted by its lifting device, transferring the empty box tray from the lower feeding device to the fifth guide rail for unloading and loading on the upper unloading device. The gantry unloading gripper is positioned above the knife preparation device and the stacking unloading device, gripping the empty knife box from the fifth guide rail for unloading and loading, and transferring it to the exchange platform of the knife preparation device for knife preparation.

[0447] During the above operation, a dismantling mechanism is installed at the seventh guide rail of the discharge tray. After the empty box tray is formed into a discharge box tray by the preparation knife, the discharge box tray is transferred to the seventh guide rail of the discharge tray along the sixth guide rail of the upper discharge device. The dismantling mechanism stacks multiple discharge box trays together and outputs them.

[0448] The empty box conveying device operation method provided in this embodiment achieves a complete automated process through the coordinated operation of the storage device, empty box transfer flow line, empty box transfer module, empty box channel flow line, empty knife box gripping device, and stacking and unloading device. This process involves retrieving empty boxes generated after knife preparation from the storage device, transferring and conveying them, palletizing them, and returning them to the knife preparation device for reuse. The automatic recycling of empty boxes within the system reduces the frequency and quantity of manual replenishment, thus improving the overall operating efficiency of the knife preparation system.

[0449] Example 5:

[0450] This embodiment provides a tool preparation system and method using a gantry discharge gripper, which is used in a gantry discharge gripper of Embodiment 1.

[0451] The knife preparation method includes the following steps:

[0452] S1, the full-box tray loading device and the unloading tray loading device respectively receive the trays.

[0453] Specifically, the third guide rail of the full-box loading device receives trays filled with full-cut boxes, while the third guide rail of the discharge loading device receives trays filled with empty boxes. The fourth guide rail of the full-box loading device receives the trays filled with full-cut boxes from the third guide rail and rises to convey them to the fifth and sixth guide rails of the full-box loading device. The fourth guide rail of the discharge loading device receives the trays filled with empty boxes from the third guide rail of the discharge loading device and conveys them to the fifth and sixth guide rails of the discharge loading device.

[0454] S2, the gantry discharge grippers transfer the full or empty box to the knife preparation device for knife preparation, forming the discharge box. This step specifically includes:

[0455] S21, the gantry discharge gripper raises the pallet gripping unit to avoid interference, switching to the tool box gripping mode. The pallet gripping unit includes pallet avoidance cylinders located on both sides of the connecting base plate. The pallet avoidance cylinders drive the pallet side clamping cylinders and the pallet follower clamping arms to rise vertically, avoiding interference with the pallet when gripping the tool box.

[0456] S22, when reverse gripping is required, the gantry discharge gripper moves to above the fifth or sixth guide rail of the full box loading device, the gantry lifting module drives the gantry gripping component to descend, and the knife box gripping unit grips the full knife boxes in the tray in groups of six knife boxes.

[0457] When normal knife preparation is required, the gantry discharge gripper moves above the fifth and sixth guide rails of the discharge tray device. The gantry lifting module drives the gantry gripping assembly to descend, and the knife box gripping unit grips the empty boxes in the tray in groups of six knife boxes.

[0458] During clamping, the two clamping cylinders of each knife box clamping unit drive the two knife box clamping arms to move towards each other in the horizontal direction, clamping the knife box from the longitudinal side wall of the knife box.

[0459] S23, the gantry discharge gripper transfers the full or empty tool box to the receiving station of the exchange platform. The gantry lifting module drives the gantry gripping component to rise, and the gantry longitudinal and transverse motors work together to move the gantry gripping component above the receiving station. The gantry lifting module then descends, and the tool box gripping unit places the full or empty tool box onto the horizontally moving or lifting tool reserve plate located at the receiving station.

[0460] S24, a horizontally moving or lifting reserve knife plate carrying a full or empty knife box moves from the receiving station to the reserve knife station along the material conveying direction. The reserve knife device performs reverse gripping reserve knife for a full knife box, extracting excess knife needles from the full knife box to form a discharge box; or performs normal reserve knife for an empty box, picking up the required knife needles from the storage box on the reserve knife platform and placing them into the empty box to form a discharge box.

[0461] S3, after the cutting tool is prepared, the gantry's discharge gripper returns the discharge box to its original tray, and the stacking discharge device then discharges the material. This step specifically includes:

[0462] S31, after the tool preparation is completed, the horizontally moving tool preparation plate or the lifting tool preparation plate carrying the discharge box moves back from the tool preparation station to the receiving station.

[0463] S32, the gantry ejector grippers use the tool box gripping unit to remove the material box from the receiving station. The gantry lifting module drives the gantry gripping assembly to descend, and the tool box gripping unit grips and removes the material boxes in groups of six tool boxes. After the gantry lifting module rises, the gantry longitudinal and gantry transverse motors work together to drive the gantry gripping assembly to move above the original pallet. The gantry lifting module descends, the tool box gripping unit releases the ejector box, and places the ejector box back into its corresponding position on the original pallet.

[0464] S33, when the pallet is full of the discharge box, the gantry discharge gripper switches to pallet gripping mode. The pallet avoidance cylinder drives the pallet side clamping cylinder and the pallet follower clamping arm to descend vertically. The pallet side clamping cylinder drives the pallet follower clamping arm to extend horizontally towards each other. The pallet positioning slot set on the inner side of the pallet follower clamping arm matches the outer contour of the pallet, clamping the pallet.

[0465] The gantry-type discharge grippers pick up full-loaded trays from the upper discharge device of the full-loaded tray unit and transport them across zones to the upper discharge device of the discharge tray unit. The trays with discharge boxes on the upper discharge devices of the full-loaded tray unit and the upper discharge device of the discharge tray unit are transported to the fifth and sixth discharge tray guide rails, and then to the seventh discharge tray guide rail for stacking and discharge.

[0466] The knife preparation method using gantry-type discharge grippers provided in this embodiment achieves this by switching between pallet gripping units and knife box gripping units. This allows the same gripper to handle both individual knife boxes for loading and unloading and to grip the entire pallet for cross-area transport. Six sets of knife box gripping units can grip a row of six knife boxes at a time, completing the transport of all twelve knife boxes on the pallet in two steps. This approach accommodates both full-box reverse gripping for knife preparation and empty-box normal knife preparation scenarios, improving the transport efficiency and flexibility of the knife preparation system.

[0467] Example 6:

[0468] This embodiment provides a three-channel, three-line tool retraction device 9 and method for rearranging mixed drill bits in the tool box after drilling, organizing tools of different specifications into a unified specification to facilitate subsequent cleaning processes. The tool retraction device 9 shares symmetry or similarity with the tool preparation device (see Tool Preparation Embodiment 1) in its overall layout and some components. The structural descriptions of identical or functionally corresponding devices in Tool Preparation Embodiment 1 can be directly referenced, and will not be repeated in this embodiment. The following focuses on describing the unique structure and workflow of the tool retraction device 9, which distinguishes it from the tool preparation device.

[0469] Figure 48 A top view of the tool retraction device 9 is shown. Figure 49 and Figure 50 A perspective view of the tool retraction device 9 is shown;

[0470] refer to Figure 48 In this embodiment, the unloading device 9 adopts a three-channel layout, including an unloading operation device, a full-box unloading conveyor 95, and an empty-box unloading conveyor 96. Along the unloading conveying direction, the unloading operation device is sequentially divided into a stacking feeding device 91, an unloading exchange device, and a docking cleaning device 94, wherein the unloading exchange device includes an unloading device 92 and an unloading storage device 93 arranged sequentially. The full-box unloading conveyor 95 is located on one side of the unloading operation device, and the empty-box unloading conveyor 96 is located on the other side of the unloading operation device.

[0471] The tool retraction device is the core channel for tool retraction operations, responsible for the input, arrangement, and output of tool boxes to be retracted; the empty tool box retraction conveyor 96 is responsible for the buffering, circulation, and abnormal detection and handling of empty tool boxes; the full tool box retraction conveyor 95 is used to directly convey full tool boxes that do not require tool retraction arrangement to the cleaning process.

[0472] Figure 51 A schematic diagram of the stacking feeder 91 is shown.

[0473] refer to Figure 51 The stacking feeding device 91 is located at the equipment input end and is used to realize the stacking, destacking, empty pallet transfer, and preliminary sorting of knife boxes with trays to be unloaded. It includes a knife box receiving device and an empty pallet collecting device 912 arranged in parallel along the knife unloading conveying direction.

[0474] Specifically, the upper feeding device of the tool return box receiving device is sequentially equipped with a tool return box receiving guide rail 9111, a first tool return interaction guide rail 9112, and a second tool return interaction guide rail 9113 along its transmission guide rail. The tool return box receiving guide rail 9111 is located at the starting end of the upper feeding device and is used to receive stacked pallets placed by AGV or manually. The pallets can be stacked up to 6 layers, with each layer carrying 12 tool boxes, and each tool box accommodating 50 drill bits. A disassembly mechanism is provided at the tool return box receiving guide rail 9111. This disassembly mechanism has the same structure as the disassembly mechanism 56 in the tool preparation embodiment 1 and is used to separate the stacked multi-layer pallets layer by layer. The separated single-layer pallets with tool boxes to be returned flow sequentially along the transmission guide rail of the upper feeding device to the first tool return interaction guide rail 9112 and the second tool return interaction guide rail 9113 for use by the gantry transport grippers.

[0475] The lower-level discharge device of the knife-returning box receiving device is sequentially equipped with a knife-returning lifting guide rail 9114, an empty box loading and unloading guide rail 9115, a transverse guide rail 9116, and an empty box pallet discharge guide rail 9117 along its transmission guide rail. The knife-returning lifting guide rail 9114 is equipped with a lifting device with the same structure as the lifting device 55 in the knife preparation embodiment 1, used to lift the pallet between the upper-level feeding device and the lower-level discharge device. An empty box gripping device is provided at the empty box loading and unloading guide rail 9115, used to remove the empty knife boxes from the pallet and transfer them to the empty box knife-returning transport device 96. A cross-channel transport device is erected between the transverse guide rail 9116 and the empty pallet storage guide rail 9122 of the empty pallet collecting device 912. This cross-channel transport device has the same structure as the cross-channel transport device 54 in the knife preparation embodiment 1, used to transport the pallet on the transverse guide rail 9116 across the channel to the empty pallet storage guide rail 9122. An empty box pallet discharge guide rail 9117 is equipped with a dismantling mechanism, which is used to stack multiple empty box pallets into multi-layer pallets before output.

[0476] The lower discharge device of the empty pallet collection device 912 is sequentially equipped with a full-box buffer placement platform 9121, an empty pallet storage guide rail 9122, and an empty pallet discharge guide rail 9123 along its transmission guide rail. The full-box buffer placement platform 9121 is connected to the full-box retraction conveyor 95 and is used to temporarily store full-retraction boxes of the same diameter, which can hold 12 full-retraction boxes in 2 rows × 6 columns. The empty pallet discharge guide rail 9123 is equipped with a dismantling mechanism for stacking multiple empty pallets into multi-layer pallets before output.

[0477] A gantry transport gripper 9124 is mounted above the stacking feeding device 91. The structure of the gantry transport gripper 9124 is the same as that of the gantry discharge gripper 53 in the blade preparation embodiment 1. It has the ability to move along the X and Y directions and to rise and fall along the Z direction. Its end is equipped with a blade box gripping component, which can grip multiple blade boxes at once. The working range of the gantry transport gripper covers the first blade return interaction guide rail 9112, the second blade return interaction guide rail 9113, the blade return device 92, the full-box buffer placement platform 9121, the input end of the full-box blade return conveying device 95, and the barcode scanning area 921, and is used to grip and transport blade boxes between these areas.

[0478] Figure 53 A partial structural diagram showing the docking of the stacking feeding device 91 and the full-box unloading conveyor 95;

[0479] refer to Figure 50 and Figure 53 The full-box unloading conveyor 95 is connected to the stacking feeder 91 and the docking cleaning device 94. It is used to convey the full-box unloading box to achieve full-box DC discharge. The full-box unloading box is a box filled with cutting needles of the same specification.

[0480] The full-box unloading conveyor 95 includes a full-box transfer flow line 951 and a full-box transport flow line 952. The full-box transfer flow line 951 is located between the stacking feeder 91 and the unloading device 92, perpendicular to the unloading conveying direction. Its input end is within the working range of the gantry transport gripper, used to receive full-box unloading boxes transported by the gantry transport gripper 9124 from the first unloading interactive guide rail 9112 or the second unloading interactive guide rail 9113. The full-box transport flow line 952 extends along the unloading conveying direction, with one end connecting to the output end of the full-box transfer flow line 951 and the other end connecting to the first cleaning flow line 941 of the docking cleaning device 94, used to directly transport the full-box unloading boxes to the cleaning process.

[0481] A transfer gripping assembly is provided between the full-box transfer flow line 951 and the full-box transport flow line 952. In this embodiment, the transfer gripping assembly can be the structure of the feeding and handling module 62 in the spare knife embodiment 1. In other embodiments, other handling devices can also be used to grip and transfer the full-return knife boxes one by one from the output end of the full-box transfer flow line 951 to the full-box transport flow line 952. Specifically, the full-box buffer placement platform 9121, the full-box transfer flow line 951, and the full-box transport flow line 952 are at the same height.

[0482] Figure 54 A partial structural schematic diagram of the tool retraction device 92 is shown.

[0483] refer to Figure 54 A barcode scanning area 921 is provided between the knife retraction device 92 and the stacking feeding device 91. The barcode scanning area 921 is equipped with barcode scanning devices, and the number of barcode scanning devices corresponds to the number of knife boxes that the gantry conveying gripper can grasp at one time.

[0484] The tool retraction device 92 includes an exchange platform, which is a dual-station structure comprising a horizontally moving tool retraction disc and a vertically lifting tool retraction disc. The horizontally moving and vertically lifting tool retraction discs are arranged parallel to each other and are driven alternately along the tool retraction conveying direction by an exchange drive mechanism, enabling the two stations to perform tool retraction operations alternately. The specific structure of the tool retraction disc is the same as that of the tool preparation disc in embodiment 1. Each disc can hold 12 tool boxes, and the disc is equipped with a tool box positioning mechanism, including a side clamping positioning mechanism and a forward positioning mechanism, used for lateral clamping and forward limiting of the tool boxes.

[0485] The dual-station switching operation is consistent with the dual-station switching method of the tool preparation device in Example 1: when one disc is performing the tool retraction operation at the tool retraction station, the other disc is unloading the retracted box and loading the new empty box at the loading and unloading station; when switching stations, the lifting tool retraction disc first descends to a low position to avoid interference, the horizontally moving tool retraction disc moves into the tool retraction station, and the lifting tool retraction disc moves out to the loading and unloading station. The two discs are staggered in the vertical direction and do not interfere with each other, so as to achieve continuous and seamless connection of the tool retraction operation.

[0486] The retraction device 92 also includes a gantry retraction assembly mounted above the exchange platform. The gantry retraction assembly has the same structure as the gantry preparation assembly in Embodiment 1, including a gantry column, a gantry transverse guide rail, a pitch-changing module, and a pitch-changing lifting unit. Its end is equipped with a pitch-changing pneumatic gripper for gripping and releasing the cutting needles. The working logic of the gantry retraction assembly is the opposite of that of the gantry preparation assembly: during preparation, needles are taken from the full material box and placed into an empty box; during retraction, cutting needles of different specifications are extracted from the mixed retraction box and placed into the corresponding empty boxes on the retraction platform according to their specifications.

[0487] refer to Figure 49 and Figure 50 The tool retraction storage device 93 is located between the tool retraction device 92 and the docking cleaning device 94, and includes a tool retraction storage unit, a robotic arm, and a tool retraction platform. The tool retraction storage unit is a fixed three-dimensional rack with the same structure as the first storage unit 31 and the second storage unit 32 in the tool preparation embodiment 1. It has multiple storage positions arranged vertically, with each position used to store a tool box. The storage unit is equipped with a robotic arm travel rail and a platform travel rail.

[0488] The robotic arm moves back and forth within the storage unit along the tool retraction conveying direction via a robotic arm travel track. The structure of the robotic arm is the same as that in the tool preparation embodiment 1, including a movable base, a lifting component, a vertical lifting track, and a material handling module, used to transport the tool box between the tool retraction device 92, the tool retraction platform, and the docking and cleaning device 94.

[0489] The tool retraction platform is located on one side of the robot arm. It moves back and forth along the tool retraction conveying direction via a platform travel track, and is used to supply empty boxes and receive fully retracted tool boxes to the tool retraction device 92. The structure of the tool retraction platform is the same as that of the tool preparation platform 38 in the tool preparation embodiment 1. Each tool retraction platform has two independent stations, denoted as station A and station B, respectively. The platform is equipped with a platform side clamping mechanism and a platform forward pushing mechanism for positioning the tool boxes placed on it.

[0490] The output ends of the first and second storage bins of the tool retraction storage device 93 are respectively connected to the second cleaning flow line 942 and the third cleaning flow line 943, which are connected to the docking cleaning device 94. The robot arm is also used to place the fully retracted tool box, with the retraction arrangement completed on the tool retraction platform, into the input end of the second cleaning flow line 942 or the third cleaning flow line 943, from which the fully retracted tool box is transported to the cleaning process.

[0491] The interaction between the tool retraction platform and the robotic arm adopts a "one-pick-one-place" dual-station parallel mode: when a tool retraction platform completes tool retraction and exits from the tool retraction device 92, the robotic arm places a new empty box it carries into the idle station of that tool retraction platform, while simultaneously removing the full tool retraction box that has been arranged on the tool retraction platform, achieving uninterrupted material exchange. Multiple tool retraction platforms are configured to alternately enter the tool retraction device 92, always keeping at least one tool retraction platform within the working area of ​​the tool retraction disc to achieve continuous operation of the tool retraction disc.

[0492] Figure 55 and Figure 56 A schematic diagram of the relevant structure of the empty box unloading conveyor device 96 is shown;

[0493] The empty box unloading conveyor 96 includes an empty box circulation line 961, an empty box unloading transfer line 962, and an empty box transfer device 963.

[0494] The empty box circulation line 961 extends along the retraction conveying direction and is used for buffering and circulating the empty knife boxes. The input end of the empty box circulation line 961 corresponds to the empty box loading and unloading guide rail 9115 of the lower discharge device of the retraction knife box receiving device. The empty box loading and unloading guide rail 9115 and the input end of the empty box circulation line 961 are equipped with an empty box gripping device, which is used to take out the empty boxes in the tray at the empty box loading and unloading guide rail 9115 and put them into the input end of the empty box circulation line 961.

[0495] The empty box transfer flow line 962 is set perpendicular to the tool retraction conveying direction at the input end of the tool retraction storage device 93. Its input end is connected to the output end of the empty box circulation line 961. It is used to transport the empty box from the empty box circulation line 961 to the tool retraction storage device 93 for the robot arm in the tool retraction storage device to grasp and use.

[0496] The empty box transfer device 963 is located between the empty box transfer flow line 962 and the empty box circulation line 961. Its structure is the same as that of the empty box transfer module 71 in the tool preparation embodiment 1. It is used to transfer the empty box on the output end of the empty box circulation line 961 to the input end of the empty box transfer flow line 962.

[0497] A residual needle detection mechanism can also be installed on the empty box circulation line 961. This residual needle detection mechanism includes a barrier sheet metal spanning above the empty box circulation line 961 and a photoelectric sensor located at the barrier sheet metal. The lower edge of the barrier sheet metal is lower than the height of the needle-carrying knife box but higher than the height of the empty box. When a knife box with residual needles passes through, it will be blocked by the barrier sheet metal. If the photoelectric sensor detects that the knife box remains in the same position for more than a preset time (e.g., 3 seconds), the system determines it to be a knife box with residual needles and triggers an alarm. The empty box gripping device or the empty box transfer device 963 then moves it to the abnormal knife box flow line 97.

[0498] The tool retraction device 9 also includes an abnormal tool box flow line 97, which spans above the empty tool box transfer flow line 962. This flow line receives tool boxes with abnormal tool placement detected on the tool retraction platform, as well as tool boxes with remaining needles detected on the empty box circulation line 961, and transports them to the manual processing station. The tool retraction platform is equipped with the same detection device as in the tool preparation embodiment 1. When an abnormal height of the drill bit placement in the tool box is detected (such as not fully inserted or tilted), a robotic arm moves the tool box to the abnormal tool box flow line 97.

[0499] The docking cleaning device 94 includes a first cleaning flow line 941, a second cleaning flow line 942, and a third cleaning flow line 943, all of which dock with external cleaning equipment. The first cleaning flow line 941 is used to receive the fully unloaded tool boxes conveyed by the full box transport flow line 952. The second cleaning flow line 942 and the third cleaning flow line 943 are used to receive the fully unloaded tool boxes that have completed the tool unloading arrangement and are transported by the robot arm from the tool unloading platform. The two flow lines transport the fully unloaded tool boxes to the cleaning process for subsequent cleaning treatment.

[0500] This embodiment provides a three-channel, three-line tool retraction method for the aforementioned tool retraction device 9. This method operates in parallel via a tool retraction device, a full-box tool retraction conveyor 95, and an empty-box tool retraction conveyor 96. Based on the diameter information of the tools in the box to be retracted, it automatically selects a full-box DC retraction, normal tool retraction, or reverse-grip tool retraction mode, and achieves internal recycling of empty boxes.

[0501] Methods for retracting the blade include:

[0502] Determine the type of the returned knife box;

[0503] When the full-return knife box is returned, the gantry transport gripper 9124 transports the full-return knife box on the stacking feeding device 91 to the full-box knife return conveying device 95 into the cleaning line. The full-return knife box is a knife box filled with knife needles of the same specification.

[0504] When the half-full unloading box is returned, the gantry transport gripper 9124 transports the half-full unloading box on the stacking feeding device 91 to the unloading device 92 for reverse gripping and unloading to form a full unloading box. Then, the gantry transport gripper 9124 grabs and transports it to the full box unloading conveyor 95. The half-full unloading box is a box containing cutter needles of the same specification, and the number is more than half of the total number that the unloading box can hold, but not full.

[0505] When other unloading boxes are returned, the gantry transport gripper 9124 transports the unloading boxes on the stacking feeder 91 to the unloading device 92 for unloading. Other unloading boxes are those in which the number of the same type of cutting needles in the unloading box does not exceed half of the total number that the box can hold.

[0506] When the tool retraction device 92 needs an empty box, the empty box generated after the tool retraction device 92 has completed retraction is transported by the empty box tool retraction conveyor 96 for reuse.

[0507] This is achieved through the following steps:

[0508] S501, Stacking and Barcode Sorting

[0509] Pallets with removable tool boxes are stacked on the removable tool box receiving guide rail 9111 of the upper feeding device of the removable tool box receiving device. The AGV or manual placement of the stacked pallets on the removable tool box receiving guide rail 9111 is then performed. The disassembly mechanism separates the stacked multi-layer pallets layer by layer. The separated single-layer pallets with removable tool boxes flow sequentially along the transmission guide rail of the upper feeding device to the first removable tool interaction guide rail 9112 and the second removable tool interaction guide rail 9113.

[0510] The gantry-type transport gripper picks up the tool box to be unloaded from the tray on the first tool unloading interactive guide rail 9112 or the second tool unloading interactive guide rail 9113 and transfers it to the barcode scanning area 921. The barcode scanning device in the barcode scanning area 921 scans and identifies the tool box, reading the diameter information of the tools inside.

[0511] S502, Knife Box Information Judgment

[0512] After scanning the code, the system reads the diameter of the tool box. Based on the proportion of tools of the same diameter in the tool box, the system determines the type of tool return box. Tool return box types include full tool return box, half-full tool return box, and other tool return boxes.

[0513] If the proportion of tools with the same diameter information is 100%, it is judged as a full retraction box and enters the full box DC process;

[0514] If the proportion of tools with the same diameter information is ≥50% but less than 100%, it is judged as a half-full tool retraction box and enters the reverse gripping tool retraction process; in other embodiments, the half-full tool retraction box can also be set as ≥80% but less than 100% of tools with the same diameter information.

[0515] If the proportion of tools with the same diameter information is less than 50%, it is judged as another tool retraction box and enters the normal tool retraction process.

[0516] Full-box DC process: When the tool box is determined to be full, the following steps are performed:

[0517] S601, Full-Return Tool Box Transfer and Transportation: After the gantry transport gripper picks up the full-return tool box, it is placed into the input end of the full-box transfer flow line 951. The full-box transfer flow line 951 transports the full-return tool box to its output end in a direction perpendicular to the tool return conveying direction. The transfer gripping assembly picks up the full-return tool box from the output end of the full-box transfer flow line 951 and transfers it into the full-box transport flow line 952. If the tool boxes already placed on the full-box transfer flow line 951 reach the maximum placement capacity, the gantry transport gripper places the full-return tool box into the full-box buffer placement table 9121 of the empty pallet collection device 912 for temporary storage. When there is empty space on the full-box transfer flow line 951, the gantry transport gripper retrieves it from the full-box buffer placement table 9121 and places it back into the full-box.

[0518] S602, Fully retracted tool box direct delivery cleaning: The full box transport flow 952 transports the full retracted tool box along the retracted tool conveying direction to the first cleaning flow 941 of the docking cleaning device 94. The first cleaning flow 941 sends the full retracted tool box into the external cleaning equipment for subsequent tool cleaning.

[0519] Reverse gripping and retraction process: When the tool box is determined to be half full, perform the following steps:

[0520] S801, Half-full unloading box loading and preparation: The gantry transport gripper 9124 picks up the half-full unloading box and puts it into the exchange platform of the unloading device 92. The robot arm picks up the empty box and the same model full box from the unloading storage box and puts them into the unloading platform. The unloading platform is transported to the unloading device 92 along the platform travel track.

[0521] S802, Reverse gripping arrangement and unloading: After the gantry retraction assembly extracts cutting needles of different specifications from the half-full retraction box, it places them into the empty box on the retraction platform according to the specifications. Then, it clamps cutting needles from the full box of the same model and adds them into the half-full retraction box, so that the half-full retraction box forms a full retraction box with the same specifications placed inside the cutting box. The full retraction box is clamped by the gantry transport gripper 9124 and placed on the full box buffer placement platform 9121.

[0522] S803, Full Retraction Tool Box Output: When the full retraction tool box conveying device 95 needs a full retraction tool box, the gantry transport gripper 9124 picks up the full retraction tool box on the full box buffer placement table 9121 and places it into the full box transfer flow line 951 for output.

[0523] Normal tool retraction process: When it is determined to be another tool retraction box, perform the following steps:

[0524] S701, Tool Removal Box Loading and Empty Box Preparation: The gantry conveying gripper picks up the tool removal box and places it on the exchange platform of the tool removal device 92. The exchange platform has a dual-station structure; the tray currently at the tool removal station (horizontally moving tool removal tray or lifting tool removal tray) receives the tool removal box. Simultaneously, the robot arm in the tool removal storage device 93 moves along the robot arm travel track to the empty box storage position in the tool removal storage device, picks up the empty box, and places it on the tool removal platform. The tool removal platform is transported along the platform travel track to the tool removal device 92, supplying empty boxes to the exchange platform of the tool removal device 92.

[0525] S702, Tool Retraction Arrangement and Discharge: The gantry tool retraction assembly extracts tool needles of different specifications from the tool retraction box on the exchange platform and places them into the corresponding empty boxes on the tool retraction platform according to their specifications. When an empty box is filled with tool needles of the same diameter, a full tool retraction box with the same specifications is formed. The full tool retraction box is transported by the tool retraction platform along the platform's travel track to the second cleaning flow line 942 or the third cleaning flow line 943 at the output end of the tool retraction storage device 93. The robot arm moves along the robot arm's travel track to the tool retraction platform, picks up the full tool retraction box, and places it at the input end of the second cleaning flow line 942 or the third cleaning flow line 943. The second cleaning flow line 942 or the third cleaning flow line 943 transports the full tool retraction box to external cleaning equipment for subsequent tool needle cleaning.

[0526] S703, Empty box return after tool retraction: After the tool retraction device 92 completes the tool retraction arrangement, the empty boxes generated on the exchange platform are picked up by the gantry tool retraction assembly and transported back to the first tool retraction interactive guide rail 9112 or the second tool retraction interactive guide rail 9113 of the stacking feed device 91, and placed into the empty tray on the corresponding station to form a tray with empty boxes.

[0527] Empty cartridge circulation process: When the tool retraction device 92 needs an empty cartridge, the following steps are performed:

[0528] S7031, Empty Carton Extraction and Circulation Conveying: The lifting device at the retraction lifting guide rail 9114 operates, raising the retraction lifting guide rail 9114 to the height of the upper feeding device of the retraction box receiving device. The empty carton pallet on the first retraction interactive guide rail 9112 or the second retraction interactive guide rail 9113 is transferred to the retraction lifting guide rail 9114. After receiving the empty carton pallet, the lifting device drives the retraction lifting guide rail 9114 to descend to the height of the lower discharge device. The empty carton pallet is transferred from the retraction lifting guide rail 9114 to the empty carton loading and unloading guide rail 9115. The empty carton gripping device at the empty carton loading and unloading guide rail 9115 removes the empty cartons one by one from the pallet and transports them to the input end of the empty carton circulation line 961. The empty cartons are then transported to the output end of the empty carton circulation line 961 along the retraction conveying direction. The empty box transfer device 963 picks up an empty box from the output end of the empty box circulation line 961 and transfers it to the input end of the unloaded empty box transfer line 962.

[0529] S7032, Empty Pallet Collection and Stacking: Empty pallets formed after empty boxes are removed are conveyed to the transverse guide rail 9116 via the empty box loading / unloading guide rail 9115. The cross-channel transport device picks up the empty pallets from the transverse guide rail 9116 of the knife box receiving device and transports them to the empty pallet storage guide rail 9122 of the empty pallet collection device 912. The empty pallets are conveyed along the empty pallet storage guide rail 9122 to the empty pallet discharge guide rail 9123. The pallet dismantling mechanism at the empty pallet discharge guide rail 9123 stacks multiple empty pallets into multi-layer pallets before outputting them.

[0530] S7033, Empty Box Storage for Use: The robot arm in the tool retraction storage compartment moves along the robot arm travel track to the output end of the tool retraction empty box transfer flow line 962, grabs the empty box on the tool retraction empty box transfer flow line 962, and puts it into the tool retraction storage compartment for storage until the next use; or when the tool retraction platform needs an empty box, the robot arm directly puts the empty box into the station of the tool retraction platform for the tool retraction device 92 to perform tool retraction arrangement.

[0531] Abnormal Handling: During the tool retraction process, if the detection device on the tool retraction platform detects that the drill bit placement height inside the tool box is abnormal (such as not fully inserted or tilted), the robot arm will pick up the abnormal tool box and move it to the abnormal tool box flow line 97.

[0532] Through the above methods, this embodiment achieves a three-channel parallel operation process: large-capacity stacked pallet feeding, DC unattended full-box arrangement, dual-mode arrangement of reverse gripping and normal retraction, internal recycling of empty boxes, and automatic detection and handling of anomalies. All mechanisms work collaboratively, with gantry handling grippers sorting, retraction disc arrangement, robotic arm handling, and alternating supply of empty boxes to the retraction platform all performed in parallel without interference or waiting, significantly improving retraction efficiency and meeting the high-capacity demand of tens of thousands of boxes per hour.

[0533] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. This application is not limited to the exact structures described above and illustrated in the accompanying drawings, and it should not be considered that the specific implementation of this application is limited to these descriptions. For those skilled in the art, various changes and modifications made without departing from the concept of this application should be considered to fall within the protection scope of this application.

Claims

1. A reverse gripping device for a knife preparation system, the knife preparation system comprising a knife preparation operating device, the knife preparation operating device comprising a knife preparation unit and a stacking and discharging device, characterized in that, Also includes: A full-box conveying device is installed on one side of the knife preparation device. The full-box conveying device is used to transport full-knife boxes. The knife preparation device is used to reverse-grip for knife preparation. The output end of the full-box conveying device is connected to a stacking and discharging device. The stacking and discharging device is used to discharge the discharging boxes after reverse-gripping and knife preparation. A full-knife box gripping device is installed between the knife preparation device and the stacking discharge device. It is used to grip the full-knife boxes output by the full-knife conveying device and discharge them to the stacking discharge device, or to grip the full-knife boxes of the full-knife conveying device and discharge them to the knife preparation device.

2. The reverse gripping device for a tool preparation system according to claim 1, characterized in that: The input end of the full box conveying device is connected to the output end of an external warehouse, which is used to convey full boxes to the full box conveying device.

3. The reverse gripping device for a tool preparation system according to claim 1, characterized in that, It also includes: a storage storage device, which stores storage boxes, including multi-specification full tool boxes, remaining tool boxes after tool preparation, and empty boxes. The storage storage device is equipped with a tool preparation platform and a robotic arm that slide along the storage storage device. The storage storage device is used to provide the tool preparation device with the required tool preparation drill bits. The input end of the full box conveying device is connected to the output end of the full knife box of the storage device, and is used as the source of the full knife box of the full box conveying device. The bottom of the knife preparation platform is connected to the platform travel track, which extends to the knife preparation device. The robot arm is used to place the storage knife box in the storage device onto the knife preparation platform, and replenish the required knife needles when the knife preparation device performs reverse gripping.

4. The reverse gripping device for a tool preparation system according to claim 3, characterized in that: The stacking and discharging device includes a full-box traying device. The lower feeding device of the full-box traying device includes a full-box traying first guide rail, a full-box traying second guide rail, a full-box traying third guide rail, and a full-box traying fourth guide rail arranged in the opposite material conveying direction. The full-box third guide rail is connected to the output end of the full-box conveying device. The full-box gripping device is arranged above the full-box third guide rail and the output end of the full-box conveying device. The first guide rail for full-box loading is used to receive stacked empty pallets and split them into individual empty pallets. The second guide rail for full-box loading is used to receive empty pallets conveyed by the first guide rail for full-box loading. The third guide rail for full-box loading is used to receive empty pallets conveyed by the second guide rail for full-box loading. The empty pallets placed on the third guide rail are used to receive full-knife boxes conveyed by the full-knife box gripping device of the full-box loading device to form a full-knife box pallet. The transmission direction of the fourth guide rail for full-box loading can be changed. It is used to receive full-knife box pallets conveyed by the third guide rail for full-box loading. The fourth guide rail for full-box loading is equipped with a lifting device for lifting the fourth guide rail for full-box loading and interacting with the upper discharge device of the full-box loading device. The upper discharge device of the full-box traying device includes a fifth full-box traying guide rail, a sixth full-box traying guide rail, and a seventh full-box traying guide rail arranged sequentially along its conveying flow line. The fifth full-box traying guide rail is used to receive and place full-knife box trays conveyed by the fourth full-box traying guide rail. The sixth full-box traying guide rail is used to receive trays conveyed by the fifth full-box traying guide rail and to place full-discharge box trays or full-knife box trays. The seventh full-box traying guide rail is used to receive stacks of full-discharge box trays. The seventh full-box traying guide rail is equipped with a dismantling mechanism for dismantling stacked multi-layer trays or stacking multiple trays into multi-layer trays.

5. A reverse gripping device for a tool preparation system according to claim 4, characterized in that: The knife preparation device and the stacking discharge device are equipped with gantry discharge grippers, which are used to pick up full-knife boxes from the sixth guide rail of the full-box loading tray and transfer them to the knife preparation device, and to transfer the discharge boxes after the reverse gripping is completed from the knife preparation device back to the original tray.

6. A reverse gripping device for a tool preparation system according to claim 5, characterized in that: The tool preparation device includes an exchange platform and a gantry tool preparation assembly. The exchange platform includes a lifting tool preparation plate and a horizontally moving tool preparation plate, and the lifting tool preparation plate and the horizontally moving tool preparation plate are arranged vertically in parallel. The lifting and horizontally moving cutter plate can be moved alternately to the cutter preparation station and the receiving station along the material conveying direction. The cutter preparation station is located below the gantry cutter preparation assembly, and the receiving station is located on the side close to the full box loading device. The output end of the tool preparation platform is connected to the tool preparation station. The storage box conveyed by the tool preparation platform is used to provide tool needles for the reverse gripping operation, or to store tool needles taken out by the reverse gripping operation. The gantry preparation assembly is used at the preparation station to reverse-grip the cutting needles in the full-blade box delivered by the gantry discharge grippers.

7. A reverse gripping method for a tool preparation system, applied to the reverse gripping device according to any one of claims 1 to 7, characterized in that, Includes the following steps: When a work order requires a half-full knife box, the knife box gripping device transports the full knife box from the full box conveying device to the knife preparation device for reverse gripping and knife preparation.

8. The reverse gripping method for a tool preparation system according to claim 7, characterized in that, Includes the following steps: S101, Full box conveying device receives full knife boxes from storage conveying device or large warehouse conveying; S102, the lower layer of the full box palletizing device of the stacking discharge device receives the stack of empty pallets, which are then split into individual empty pallets by the unpacking mechanism and conveyed to the third guide rail of the full box palletizing device in the opposite direction of material transportation. S103, the full box conveying device transports the full knife box to the full box tray third guide rail of the full box traying device; S104, the full knife box gripping device places the full knife boxes one by one into the empty tray of the third guide rail of the full box loading tray to form a full knife box tray; S105, the full-knife box pallet is conveyed to the fourth guide rail for full-box loading in the opposite direction of material conveying.

9. The reverse gripping method for a tool preparation system according to claim 8, characterized in that, It also includes the following steps: S106: The full knife box tray is lifted to the upper layer of the full box loading device by the lifting device set on the fourth guide rail of the full box loading. The exchange device includes a storage device and a knife preparation device. The gantry discharge gripper picks up the full knife box from the full knife box tray and transfers the full knife box to the exchange platform. S107: The robotic arm places the storage boxes or empty boxes in the storage device onto the tool preparation platform, and then the tool preparation platform transports them to the exchange platform for reverse gripping and tool preparation. S108: After the reverse gripping is completed, the gantry discharge gripper sends the discharge box back to the upper layer of the full box loading device and puts it back into the original tray to form the discharge box tray. The discharge box tray is transported along the flow line to the seventh guide rail of the full box loading device for tray stacking and discharge.

10. The reverse gripping method for a tool preparation system according to claim 9, characterized in that, The S107 reverse grip tool preparation includes the following steps: According to the work order requirements, when the work order requires a half-full knife box of the same specification, the gantry knife preparation component extracts excess knife needles from the full knife box of the exchange platform to form a half-full knife box of the same specification as the discharge box. The extracted excess knife needles can be placed in the empty box of the knife preparation platform, or added to the empty space formed after the knife preparation platform storage box is used for knife preparation. When the work order requires a half-full cutter box of different specifications, the gantry cutter spare assembly removes excess cutter needles from the full cutter box of the exchange platform to form a half-full cutter box. Cutter needles are then removed from the storage box conveyed by the spare cutter carrier, and cutter needles that meet the specifications of the work order are added to the half-full cutter box to form an output box, and the reverse gripping is completed.

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