Automatic die-casting island equipment

Abstract

The utility model provides automatic die-casting island equipment. The automatic die-casting island equipment comprises a first part taking robot, a cinder ladle removing device, a water gap punching device, a cooling conveying line, a second part taking robot, a punching and shearing device and a multi-station burr removing machine. The first workpiece taking robot is located on the side portion of the die-casting machine. The water gap punching device and the cinder ladle removing device are sequentially arranged in a spaced mode along the carrying path of the first part taking robot, and the water gap punching device is arranged at the starting end of the cooling conveying line. The tail end of the cooling conveying line, the punching and shearing device and the multi-station deburring machine are sequentially arranged at intervals along the carrying path of the second part taking robot. According to the automatic die-casting island equipment, through reasonable layout and arrangement, the first piece taking robot and the second piece taking robot are used for achieving automatic cinder ladle removal, water gap separation, punching and burr removal under the cooperative machining effect of multiple stations, the production cycle of castings is shortened, the quality of the castings is effectively guaranteed, and the production efficiency is improved. And large-scale production of castings is facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to die casting production technical field especially relates to a kind of automatic die casting island equipment. BACKGROUND

[0002] With the rapid development of new energy automobile industry, the machining precision and production efficiency of valve body type high-precision aluminum alloy die casting are increasingly improved. However, in the traditional die casting process, there are significant technical bottlenecks in the post-processing process of valve body type special-shaped structural parts, mainly manifested in that: in the key links of removing slag bag, separating pouring system, removing parting line burr and punching processing, the existing process needs to rely on multi-station dispersed operation mode.

[0003] Specifically, the traditional operation process needs to go through four or more independent processes: the operator needs to remove the slag bag by hand-knocking with a rubber stick first, and then separate the handle and the sprue by manual breaking; thereafter, the workpiece is transferred to an oil press for parting line punching and punching processing, and finally still needs to return to the manual station for special-shaped hole burr trimming and manual filing of residual burr.

[0004] The above-mentioned dispersed processing mode not only leads to an increase in material turnover times, but also causes an expansion of equipment floor space, prolonging the production cycle of the casting; at the same time, manual filing is prone to cause high residual burr, thus failing to ensure the quality of the casting; therefore, the above-mentioned problems seriously restrict the large-scale production of the casting. SUMMARY

[0005] The utility model aims at overcoming the deficiencies in the prior art, providing an automatic die casting island equipment capable of shortening the production cycle of the casting and better ensuring the quality of the casting, while realizing large-scale production of the casting.

[0006] The utility model aims at overcoming the deficiencies in the prior art, providing an automatic die casting island equipment capable of shortening the production cycle of the casting and better ensuring the quality of the casting, while realizing large-scale production of the casting.

[0007] The utility model discloses an automatic die casting island equipment, comprising a die casting machine, the die casting machine is used for die casting forming casting, the automatic die casting island equipment further comprises: first pick-up robot, slag bag removing device, water gap punching device, cooling transport line, second pick-up robot, punching and shearing device and multi-station burr removing machine.

[0008] The first pick-up robot is located at the side of the die casting machine; the water gap punching device and the slag bag removing device are sequentially and spacedly arranged along the carrying path of the first pick-up robot, and the water gap punching device is arranged at the starting end of the cooling transport line; the end of the cooling transport line, the punching and shearing device and the multi-station burr removing machine are sequentially and spacedly arranged along the carrying path of the second pick-up robot.

[0009] The first taking-out robot is used for carrying the shaped casting to a processing station of the slag ladle removing device for slag ladle removing operation, and carrying the shaped casting after the slag ladle removing operation to a processing station of the water gap punching and cutting device for water gap removing operation; the second taking-out robot is used for carrying the shaped casting after the water gap removing operation to a processing station of the punching device for punching operation, and carrying the shaped casting after the punching operation to a processing station of the multi-station flash removing machine for flash removing operation.

[0010] In one of the embodiments, the automatic die casting island device further comprises a water gap collecting box, the water gap punching and cutting device, the slag ladle removing device and the water gap collecting box are sequentially and spacedly arranged along the carrying path of the first taking-out robot, and the water gap collecting box is used for collecting the water gap carried by the first taking-out robot.

[0011] In one of the embodiments, the water gap punching and cutting device, the slag ladle removing device and the water gap collecting box are circumferentially arranged around the first taking-out robot.

[0012] In one of the embodiments, the slag ladle removing device comprises a rack, a pneumatic hammer and a scraper, the rack is provided with a funnel, the pneumatic hammer and the scraper are connected with the rack respectively, the pneumatic hammer and the scraper are located above the funnel, the pneumatic hammer is used for knocking the slag ladle on the casting, and the scraper is used for scraping the flash on the casting.

[0013] In one of the embodiments, the slag ladle removing device further comprises a hydraulic shear, the hydraulic shear is connected with the rack, and the hydraulic shear is located above the funnel, the hydraulic shear is used for shearing the flow channel on the casting.

[0014] In one of the embodiments, the water gap punching and cutting device comprises a punching rack body, a driving punch and a punching blade plate, the punching rack body is provided with a punching channel, the driving punch and the punching blade plate are arranged on the inner circumferential wall of the punching channel, and the extension end of the driving punch is arranged in a staggered manner towards one side of the punching blade plate.

[0015] In one of the embodiments, the punching rack body is further provided with an empty space, the empty space is communicated with the punching channel, and the punching blade plate is arranged adjacent to the empty space.

[0016] In one of the embodiments, the water gap punching and cutting device further comprises a protective buffer plate, the protective buffer plate is arranged in an inclined manner below the punching channel, and the protective buffer plate is used for guiding the casting to slide to the cooling and conveying line.

[0017] In one of the embodiments, the automatic die-casting island device further comprises a tray, and the end of the cooling conveying line, the punching and shearing device, the tray and the multi-station deburring machine are sequentially and spacedly arranged along the carrying path of the second taking robot, and the tray is used for placing the castings.

[0018] The end of the cooling conveying line is provided with a material turnover area, and the punching and shearing device, the tray, the multi-station deburring machine and the material turnover area are circumferentially distributed around the second taking robot.

[0019] Compared with the prior art, the automatic die-casting island device has at least the following advantages:

[0020] The castings can sequentially complete the slag ladle removal and water gap separation processes through the slag ladle removal device and the water gap punching and shearing device under the carrying of the first taking robot, and the castings can sequentially complete the punching and deburring processes through the punching and shearing device and the multi-station deburring machine under the carrying of the second taking robot. The automatic die-casting island device of the present application has a reasonable layout, reduces the number of casting turnovers and the equipment floor area, and realizes the automatic slag ladle removal, water gap separation, punching and deburring processes through the cooperation of the first taking robot and the second taking robot in the multi-station, thereby shortening the production cycle of the castings and effectively ensuring the quality of the castings, which is conducive to the large-scale production of the castings. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0022] Figure 1 FIG. 1 is a structural schematic view of an automatic die-casting island device in an embodiment of the present application;

[0023] Figure 2 FIG. 2 is a structural schematic view of a slag ladle removal device of the automatic die-casting island device shown in FIG. 1; Figure 1 FIG. 3 is an enlarged view of part A of the automatic die-casting island device shown in FIG. 1;

[0024] Figure 3 FIG. 4 is a structural schematic view of a water gap punching and shearing device of the automatic die-casting island device shown in FIG. 1; Figure 1 FIG. 5 is a structural schematic view of a multi-station deburring machine of the automatic die-casting island device shown in FIG. 1;

[0025] Figure 4 FIG. 6 is a structural schematic view of a cooling conveying line of the automatic die-casting island device shown in FIG. 1; Figure 1

[0026] ​Reference signs: automated die-casting island equipment 10; automated die-casting island equipment 10; die-casting machine 100; first taking-out robot 200; slag ladle removing device 300; rack 310; funnel 3110; air hammer 320; scraper 330; hydraulic shear 340; nozzle punching device 400; punching frame body 410; punching channel 4101; empty position 4102; driving punch 420; punching cutter plate 430; protective buffer plate 440; cooling conveying line 500; material turnover area 510; second taking-out robot 600; punching and shearing device 700; multi-station deburring machine 800; nozzle collecting box 900; tray 1000. DETAILED DESCRIPTION

[0027] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0028] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0030] This disclosure provides an automated die-casting island equipment, including a die-casting machine for die-casting castings. The automated die-casting island equipment also includes a first part-retrieving robot, a slag removal device, a sprue punching device, a cooling conveyor line, a second part-retrieving robot, a punching and shearing device, and a multi-station deburring machine. The first part-retrieving robot is located on the side of the die-casting machine; the sprue punching device and the slag removal device are arranged sequentially at intervals along the transport path of the first part-retrieving robot, with the sprue punching device located at the beginning of the cooling transport line; the end of the cooling transport line, the punching and shearing device, and the multi-station deburring machine are arranged sequentially at intervals along the transport path of the second part-retrieving robot; wherein, the first part-retrieving robot is used to transport the shaped casting to the processing station of the slag removal device for slag removal operation, and to transport the shaped casting after slag removal operation to the processing station of the sprue punching device for sprue removal operation; the second part-retrieving robot is used to transport the shaped casting after sprue removal operation to the processing station of the punching and shearing device for punching operation, and to transport the shaped casting after punching operation to the processing station of the multi-station deburring machine for deburring operation.

[0031] Please see Figures 1 to 4 To better understand the automated die-casting island equipment 10 of this application, the following further explanation of the automated die-casting island equipment 10 is provided:

[0032] The automatic die-casting island equipment 10 of an embodiment comprises a die-casting machine 100 for die-casting forming a casting. The automatic die-casting island equipment 10 further comprises a first taking-out robot 200, a slag ladle removing device 300, a water gap punching device 400, a cooling conveying line 500, a second taking-out robot 600, a punching and shearing device 700, and a multi-station flash removing machine 800. The first taking-out robot 200 is located at the side of the die-casting machine 100; the water gap punching device 400 and the slag ladle removing device 300 are sequentially and spacedly arranged along the conveying path of the first taking-out robot 200, and the water gap punching device 400 is arranged at the starting end of the cooling conveying line 500; the ending end of the cooling conveying line 500, the punching and shearing device 700, and the multi-station flash removing machine 800 are sequentially and spacedly arranged along the conveying path of the second taking-out robot 600; wherein the first taking-out robot 200 is used for conveying the formed casting to the processing station of the slag ladle removing device 300 to perform slag ladle removing operation, and then conveying the formed casting after the slag ladle removing operation to the processing station of the water gap punching device 400 to perform water gap removing operation; the second taking-out robot 600 is used for conveying the formed casting after the water gap removing operation to the processing station of the punching and shearing device 700 to perform punching operation, and then conveying the formed casting after the punching operation to the processing station of the multi-station flash removing machine 800 to perform flash removing operation.

[0033] In the embodiment, the casting can sequentially complete the slag ladle removing and water gap separating processes by the slag ladle removing device 300 and the water gap punching device 400 under the conveying of the first taking-out robot 200, and the transportation of the casting is realized by the cooling conveying line 500, so that the casting can sequentially complete the punching and flash removing processes by the punching and shearing device 700 and the multi-station flash removing machine 800 under the conveying of the second taking-out robot 600. The automatic die-casting island equipment 10 of the utility model realizes the slag ladle removing, water gap separating, punching, and flash removing processes by the reasonable layout, the reduction of the casting turnover times and the equipment floor area, and the cooperation of the first taking-out robot 200 and the second taking-out robot 600 in the multi-station, so as to shorten the production cycle of the casting and effectively ensure the casting quality, thereby being beneficial to the large-scale production of the casting.

[0034] It should be noted that the structure of the first taking-out robot 200, the taking and placing method, and the conveying method thereof in cooperation with other components all belong to the prior art, and the position relationship of the first taking-out robot 200 and the related components is protected in the application. Similarly, the structure of the second taking-out robot 600, the taking and placing method, and the conveying method thereof in cooperation with other components all belong to the prior art, and the position relationship of the second taking-out robot 600 and the related components is protected in the application.

[0035] It should be noted that in actual production process, the castings formed after the die casting machine is opened usually include the following main parts: the handle (i.e. the sprue), the runner and the body of the casting. Specifically, in the present embodiment, the first taking robot 200 mainly clamps the handle part connected with the casting, so as to drive the body of the casting to be processed in the corresponding processing station, i.e. to complete the slag ladle removal process on the slag ladle removal device 300 and to complete the sprue separation process on the sprue punching device 400.

[0036] Among them, the control method of the first taking robot 200 driving the body of the casting to be processed in the corresponding processing station belongs to the prior art, which will not be described here; similarly, the control method of the second taking robot 600 clamping the casting to be processed in the corresponding processing station belongs to the prior art, which will not be described here.

[0037] As shown in Figure 1 In one of the embodiments, the automatic die casting island equipment 10 further comprises a sprue collecting box 900, the sprue punching device 400, the slag ladle removal device 300 and the sprue collecting box 900 are sequentially and spacedly arranged along the conveying path of the first taking robot 200, and the sprue collecting box 900 is used to collect the sprue conveyed by the first taking robot 200. In this way, the first taking robot 200 can place the handle that has completed the slag ladle removal and sprue separation processes to the sprue collecting box 900 for collection; specifically, after the die casting machine 100 is opened, the first taking robot 200 clamps the handle part connected with the casting, so that the body of the casting after the sprue separation process is separated from the handle, and then the first taking robot 200 still clamps the handle, so as to place the handle to the sprue collecting box 900.

[0038] As shown in Figure 1 and Figure 2 In one of the embodiments, the sprue punching device 400, the slag ladle removal device 300 and the sprue collecting box 900 are circumferentially distributed around the first taking robot 200. In this way, the spatial positions of the sprue punching device 400, the slag ladle removal device 300 and the sprue collecting box 900 are reasonably arranged, so as to ensure that the first taking robot 200 realizes the automatic slag ladle removal and sprue separation processes under the synergistic processing of multiple stations without the intervention of production personnel.

[0039] As shown in Figure 1 and Figure 3As shown in the drawings, in one embodiment, the slag ladle removing device 300 comprises a rack 310, an air hammer 320 and a scraper 330; the rack 310 is provided with a funnel 3110, the air hammer 320 and the scraper 330 are connected with the rack 310 respectively, the air hammer 320 and the scraper 330 are both located above the funnel 3110, the air hammer 320 is used for knocking the slag ladle on the casting, and the scraper 330 is used for scraping the flash on the casting.

[0040] It can be understood that, in the embodiment, the first taking robot 200 clamps the handle to arrange the casting in the knocking direction of the air hammer 320, and through the reciprocating lifting movement of the punch installed on the power output end of the air hammer 320, at this time, the first taking robot 200 clamps the handle to make the casting move and adjust in three-dimensional space relative to the punch, so as to knock the slag ladle on the casting through the punch; after the slag ladle removing operation is completed, the first taking robot 200 drives the casting to move relative to the scraper 330 to scrape the relatively flat flash part on the casting, so that the slag ladle and the flash part are directly dropped into the funnel 3110 for material collection, thereby avoiding the problem of random scattering of the material. Specifically, in the embodiment, the slag ladle removing device 300 further comprises a dolly, which is arranged at the discharge port of the funnel 3110, and the dolly is used for collecting and transporting the dropped material.

[0041] As shown in the drawings, Figure 3 In one embodiment, the slag ladle removing device 300 further comprises a hydraulic shear 340, the hydraulic shear 340 is connected with the rack 310, the hydraulic shear 340 is located above the funnel 3110, and the hydraulic shear 340 is used for shearing the runner on the casting.

[0042] It can be understood that, for the runner which cannot be knocked off together with the slag ladle and has a relatively thick structure, the hydraulic shear 340 can be used for shearing operation on the above-mentioned runner part.

[0043] As shown in the drawings, Figure 1 , Figure 2 and Figure 4 In one embodiment, the nozzle punching device 400 comprises a punching rack 410, a driving punch 420 and a punching blade plate 430; the punching rack 410 is provided with a punching channel 4101, the driving punch 420 and the punching blade plate 430 are both arranged on the inner peripheral wall of the punching channel 4101, and the telescopic end of the driving punch 420 is located on one side of the punching blade plate 430 in a staggered manner.

[0044] It can be understood that the first taking robot 200 clamps the handle part connected with the casting to align the casting body with the telescopic end of the driving punch 420, and the part of the handle adjacent to the casting body abuts against the punching die plate 430, so that when the telescopic end of the driving punch 420 is pushed out towards the casting body, the casting body and the handle part are misaligned and separated, so that the process of separating the water gap can be quickly completed without manual intervention.

[0045] Specifically, the driving punch 420 is fixedly installed on the driving telescopic end of the air cylinder, oil cylinder or electric cylinder to drive the punch to push out towards the casting body, so as to misalign and separate the casting body and the handle part.

[0046] It should be noted that, as shown in Figure 2 , the punching die plate 430 is triangular in shape; as shown in Figure 4 , the punching die plate 430 is rectangular in shape. In other embodiments, the shape of the punching die plate 430 includes but is not limited to the above-mentioned triangular shape and rectangular shape.

[0047] As shown in Figure 4 , in one embodiment, the punching frame 410 further has an empty space 4102, which is in communication with the punching channel 4101, and the punching die plate 430 is arranged adjacent to the empty space 4102. In this way, the first taking robot 200 can place the part of the handle adjacent to the casting body in the punching channel 4101 through the empty space 4102, so that the part of the handle adjacent to the casting body abuts against the punching die plate 430.

[0048] As shown in Figure 1 and Figure 4 , in one embodiment, the water gap punching device 400 further comprises a protective buffer plate 440, which is arranged inclinedly below the punching channel 4101, and the protective buffer plate 440 is used to guide the casting to slide to the cooling and conveying line 500.

[0049] It can be understood that after the casting passes through the water gap separation process, the casting body falls from the punching channel 4101 to the protective buffer plate 440, and then slides to the starting end of the cooling and conveying line 500 through the protective buffer plate 440, so that the problem of knocking and damage of the casting body during falling and sliding can be effectively avoided.

[0050] As shown in Figure 1As shown, in one of the embodiments, the automatic die-casting island equipment 10 further comprises a tray 1000, the end of the cooling conveying line 500, the punching and shearing device 700, the tray 1000 and the multi-station flash removing machine 800 are sequentially and spacedly arranged along the carrying path of the second taking robot 600, and the tray 1000 is used for placing the castings; the end of the cooling conveying line 500 is provided with a material turnover area 510, and the punching and shearing device 700, the tray 1000, the multi-station flash removing machine 800 and the material turnover area 510 are circumferentially distributed around the second taking robot 600. In this way, the spatial positions of the punching and shearing device 700, the tray 1000 and the water gap collecting box 900, the multi-station flash removing machine 800 and the material turnover area 510 are reasonably arranged, so as to ensure that the second taking robot 600 realizes the automatic punching and flash removing processes under the cooperation of the multi-stations without the intervention of production personnel.

[0051] It should be noted that the punching and shearing device 700 is a prior art, and the Chinese patent document publication number is CN221985659U; the multi-station flash removing machine 800 is a prior art, and the Chinese patent document publication number is CN205904733U, therefore, the punching and shearing device 700 and the multi-station flash removing machine 800 described above will not be described again.

[0052] Compared with the prior art, the utility model has at least the following advantages:

[0053] The castings can complete the slag ladle removing and water gap separating processes in sequence under the carrying of the first taking robot through the slag ladle removing device and the water gap punching and shearing device, and realize the transportation of the castings through the cooling conveying line, so that the castings can complete the punching and flash removing processes in sequence under the carrying of the second taking robot through the punching and shearing device and the multi-station flash removing machine. The automatic die-casting island equipment of the utility model realizes the slag ladle removing, water gap separating, punching and flash removing processes through the reasonable layout and the reduction of the castings turnover times and the equipment floor area, and realizes the automatic slag ladle removing, water gap separating, punching and flash removing processes under the cooperation of the multi-stations of the first taking robot and the second taking robot, thereby shortening the production cycle of the castings, effectively ensuring the quality of the castings, and being beneficial to the large-scale production of the castings.

[0054] The above-described embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but it cannot be understood as the limitation of the utility model patent range. It should be noted that, for ordinary skilled persons in the art, without departing from the concept of the utility model, a number of modifications and improvements can be made, which belong to the protection range of the utility model. Therefore, the protection range of the utility model patent should be subject to the appended claims.

Claims

1. An automated die-casting island equipment, comprising a die-casting machine, said die-casting machine being used for die-casting to form castings, characterized in that, The automated die-casting island equipment also includes: a first part-retrieving robot, a slag removal device, a sprue punching device, a cooling transport line, a second part-retrieving robot, a punching and shearing device, and a multi-station deburring machine; The first part-retrieving robot is located on the side of the die-casting machine; the sprue punching device and the slag removal device are arranged sequentially at intervals along the transport path of the first part-retrieving robot, and the sprue punching device is located at the beginning of the cooling transport line; the end of the cooling transport line, the punching and shearing device and the multi-station deburring machine are arranged sequentially at intervals along the transport path of the second part-retrieving robot. The first part-retrieving robot is used to transport the shaped casting to the processing station of the slag removal device for slag removal, and then transport the shaped casting after slag removal to the processing station of the sprue punching device for sprue removal. The second part-retrieving robot is used to transport the shaped casting after sprue removal to the processing station of the punching and shearing device for punching, and then transport the shaped casting after punching to the processing station of the multi-station deburring machine for deburring.

2. The automated die-casting island equipment according to claim 1, characterized in that, The automated die-casting island equipment also includes a sprue collection box. The sprue punching device, the slag removal device, and the sprue collection box are arranged sequentially and at intervals along the transport path of the first part-retrieving robot. The sprue collection box is used to collect the sprues transported by the first part-retrieving robot.

3. The automated die-casting island equipment according to claim 2, characterized in that, The sprue cutting device, the slag bag removal device, and the sprue collection box are arranged in a circular pattern around the first part-retrieving robot.

4. The automated die-casting island equipment according to claim 1, characterized in that, The slag removal device includes a frame, an air hammer, and a scraper; the frame is equipped with a funnel, the air hammer and the scraper are respectively connected to the frame, and the air hammer and the scraper are both located above the funnel. The air hammer is used to strike the slag on the casting, and the scraper is used to scrape off the burrs on the casting.

5. The automated die-casting island equipment according to claim 4, characterized in that, The slag removal device also includes a hydraulic shear connected to the frame and positioned above the funnel. The hydraulic shear is used to cut the flow channels on the casting.

6. The automated die-casting island equipment according to claim 1, characterized in that, The sprue punching device includes a punching frame, a driving punch, and a punching blade; the punching frame has a punching channel, and the driving punch and the punching blade are both located on the inner peripheral wall of the punching channel, with the telescopic end of the driving punch offset from the side facing the punching blade.

7. The automated die-casting island equipment according to claim 6, characterized in that, The punching frame is also provided with a clearance space, which is connected to the punching channel, and the punching blade is arranged adjacent to the clearance space.

8. The automated die-casting island equipment according to claim 7, characterized in that, The sprue punching device also includes a protective buffer plate, which is inclinedly disposed below the punching channel and is used to guide the casting to slide down to the cooling transport line.

9. The automated die-casting island equipment according to claim 1, characterized in that, The automated die-casting island equipment also includes a material tray. The end of the cooling transport line, the punching and shearing device, the material tray, and the multi-station deburring machine are arranged sequentially and at intervals along the transport path of the second part-picking robot. The material tray is used to place the castings. The cooling transport line has a material turnover area at its end. The punching and shearing device, the material tray, the multi-station deburring machine, and the material turnover area are arranged in a circular pattern around the second picking robot.

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