CN210413345U

CN210413345U - Mechanical arm device of paper shredder core assembling equipment

Info

Publication number: CN210413345U
Application number: CN201921171695.4U
Authority: CN
Inventors: 曹辉; 李文; 杨正清
Original assignee: Dongguan Bangze Electronics Co Ltd
Current assignee: Dongguan Bangze Electronics Co Ltd
Priority date: 2019-07-24
Filing date: 2019-07-24
Publication date: 2020-04-28
Anticipated expiration: 2029-07-24

Abstract

The utility model discloses a kneader core equipment's manipulator device, wherein be provided with and grab the material device, it has two at least clamp finger units to grab material device movable mounting, each clamp finger unit sets up along circular orientation equidistant respectively, and each clamp finger unit has the motion trend of closing up towards the center direction respectively, each clamp finger unit installs a jack catch as replacement subassembly respectively, the inboard shaping respectively of each jack catch is provided with and supports the top with work piece profile assorted profile modeling, the profile modeling of each jack catch is supported the top and is surrounded and form work piece clamping part. Compared with the prior art, the mechanical hand device grabs the small parts and the special-shaped parts through the set clamping jaws, so that the automatic assembly of the machine core of the paper shredder is realized, the labor cost is reduced, and the production efficiency is improved.

Description

Mechanical arm device of paper shredder core assembling equipment

Technical Field

The utility model belongs to the technical field of kneader core manufacture equipment technique and specifically relates to a manipulator device of kneader core equipment is related to.

Background

The core of the paper shredder belongs to the most important working component of the paper shredder, and generally comprises a motor, a cutter bar component and a transmission box, wherein the motor and the cutter bar component are respectively arranged on the transmission box to realize the power transmission between the motor and the cutter bar component. In the prior art, an enterprise generally assembles the motor, the knife bar assembly and the transmission box through a manual method, and because the transmission box comprises a plurality of reduction gears, in the manual assembly process, each component part needs to be assembled in order, and the assembly steps are multiple.

Therefore, the paper shredder core assembling equipment can effectively reduce the labor cost, improve the automation level of a workshop and improve the production efficiency of enterprises. In the automatic assembling process of the paper shredder, the mechanical arm device is used for automatically assembling the transmission box and the transmission parts therein, which is a common method. However, the shapes and sizes of the transmission boxes and the transmission parts therein are different, and the assembly requirement is high in precision, so that the existing manipulator device does not meet the production requirement of automatic assembly of the movement of the paper shredder. Therefore, a clamping type mechanical arm device of stable and reliable shredder movement assembling equipment is urgent to research, develop and demand.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a mechanical hand device of kneader core equipment, it can accomplish the part of different shapes size grab material equipment work, stable in structure, reliable, the assembly error rate is low.

In order to realize the purpose, the utility model discloses the technical scheme who adopts is: the utility model provides a mechanical hand device of kneader core equipment, including gantry frame, manipulator slide and lifing arm, gantry frame has a crossbeam of horizontal setting, manipulator slide slidable mounting is in gantry frame's crossbeam, the lifing arm rigid coupling is in the manipulator slide, the lifing arm is provided with the actuating lever that sets up from top to bottom, the bottom of actuating lever is provided with grabs the material device, it has two at least clamp finger units to grab material device movable mounting, each presss from both sides the finger unit and sets up along circular direction equidistance respectively, and each presss from both sides the finger unit and has the motion trend of closing up towards the direction of centre respectively, each presss from both sides the finger unit and installs a jack catch as the replacement subassembly respectively, the inboard shaping of each jack catch is provided with the profile modeling of matching with the work piece profile phase and supports the top, the profile modeling. The mechanical arm device grabs the small parts and the special-shaped parts through the set clamping jaws, so that the automatic assembly of the machine core of the paper shredder is realized, the labor cost is reduced, and the production efficiency is improved.

In a further technical scheme, the gantry frame comprises two upright columns which are symmetrically arranged, two ends of a cross beam are respectively and fixedly connected to the tops of the two upright columns, the cross beam is provided with a sliding seat guide rail along the length direction, the sliding seat guide rail is horizontally arranged, a manipulator sliding seat is slidably arranged on the sliding seat guide rail, and two opposite end parts of the sliding seat guide rail are respectively provided with a travel switch; the crossbeam is provided with a transverse driving mechanism, the transverse driving mechanism is in transmission connection with the manipulator sliding seat, two opposite side parts of the manipulator sliding seat are respectively provided with a touch block in a protruding mode, the two touch blocks are respectively in trigger fit with the travel switches on the corresponding sides, and the two travel switches are respectively and electrically connected with the transverse driving mechanism. The transverse positioning reciprocating movement of the grabbing device is realized, so that the grabbing device can repeatedly take materials and assemble parts for the same parts.

In a further technical scheme, the transverse driving mechanism is a synchronous belt driving mechanism and comprises two belt pulleys, a synchronous belt and a driving motor, one belt pulley is a driving wheel, the other belt pulley is a driven wheel, the driving wheel and the driven wheel are respectively rotatably arranged at the end parts of two opposite sides of the cross beam, the synchronous belt is tightly sleeved on the driving wheel and the driven wheel, the driving motor is provided with a driving rotating shaft, and the driving rotating shaft is coaxially connected with the driving wheel; the two travel switches are respectively provided with a photoelectric sensor, the two photoelectric sensors are respectively electrically connected with the driving motor, the two photoelectric sensors are respectively provided with a U-shaped induction groove, and the U-shaped induction grooves of the two photoelectric sensors are respectively in inserted and embedded fit with a corresponding touch block so as to trigger the corresponding photoelectric sensors; the manipulator slide is provided with hold-in range clamp structure, and hold-in range clamp structure includes that one smugglies the base secretly and closes the lid secretly, smugglies the inboard of base rigid coupling in the manipulator slide secretly, smugglies secretly and closes the lid and pass through bolted connection in smuggleing the base secretly, and smuggle the upper surface that closes the lid secretly and the lower surface of smuggleing the base secretly and lean on the cooperation, and the hold-in range is worn to locate to smuggle.

In a further technical scheme, the lifing arm is provided with lift drive arrangement, lift drive arrangement is including a straight line cylinder, the cylinder rigid coupling of straight line cylinder is in the lateral surface of manipulator slide, the actuating lever sets up to the piston rod, the piston rod transmission is connected in the cylinder of straight line cylinder, the lower extreme of piston rod is connected with a lifter plate, the lifter plate level sets up, grab the bottom at the lifter plate of material device installation, the guide hole that runs through about a is seted up respectively to the both sides of the cylinder of straight line cylinder, slidable mounting has a lift guide arm in two guide holes respectively, the lower extreme of two lift guide arms rigid coupling respectively in the upper surface of lifter plate.

In a further technical scheme, the lifting arm is provided with a rotary driving device, the rotary driving device comprises a rotary cylinder, the cylinder barrel of the rotary cylinder is connected to the bottom surface of the lifting plate through a bolt, the lower surface of the cylinder barrel of the rotary cylinder is rotatably provided with a rotary disk, and the material grabbing device is fixedly arranged on the bottom surface of the rotary disk. The structure realizes the rotation angle conversion of the part assembling station, thereby enabling the parts to be automatically assembled in the correct assembling direction.

In a further technical scheme, the grabbing device is provided with a grabbing cylinder and a clamping finger mechanism, the grabbing cylinder is provided with a piston push rod, the clamping finger mechanism is provided with a clamping finger connecting seat and at least two clamping finger units, the clamping finger connecting seat is fixed at the bottom of the grabbing cylinder, each clamping finger unit is respectively and movably connected to the clamping finger connecting seat and extends out of the lower part of the bottom surface of the clamping finger connecting seat, and the piston push rod is respectively in transmission connection with each clamping finger unit so as to drive clamping claws on each clamping finger unit to perform closing movement and opening movement; the clamping finger mechanism is arranged into a parallel clamping finger structure or a Y-shaped clamping finger structure.

In a further technical scheme, the clamping finger mechanism is arranged to be a parallel clamping finger structure, a rocker arm transmission structure, a clamping finger connecting seat and two clamping finger units are arranged on the parallel clamping finger structure from top to bottom, the rocker arm transmission structure is provided with two symmetrically arranged rocker arms, the middle parts of the two rocker arms are respectively hinged to two opposite side parts of the bottom of the material grabbing cylinder, and the upper end parts of the two rocker arms are respectively pivoted to the piston push rod; the clamping finger connecting seat is provided with a sliding seat, the sliding seat is fixed at the bottom of the material grabbing cylinder, the sliding seat is provided with a sliding chute, and the sliding chute vertically penetrates through the top surface and the bottom surface of the sliding seat; the two clamping finger units are respectively and slidably mounted in the sliding grooves, the two clamping finger units are arranged in parallel, the upper ends of the two clamping finger units penetrate through the sliding seat and are pivoted with the lower end of a corresponding rocker arm, the lower ends of the two clamping finger units extend to the lower side of the bottom surface of the sliding seat, connecting holes are respectively formed in the lower portions of the two clamping finger units, internal threads are formed in each connecting hole in a forming mode, and each clamping jaw is fixedly connected to the connecting holes through bolts.

In a further technical scheme, two clamping jaws are respectively arranged into two clamping sleeves, the two clamping sleeves are symmetrically arranged, the inner sides of the two clamping sleeves are concavely formed with profile modeling abutting parts matched with the profile of the transmission box, the profile modeling abutting parts of the two clamping sleeves are oppositely arranged in the opposite direction and used for automatic material grabbing and assembling of the transmission box, the upper parts of the two clamping sleeves are respectively formed and provided with clamping finger connecting parts, and the clamping finger connecting parts of the two clamping sleeves are respectively fixed in corresponding connecting holes through bolts. This structure has realized that two have the relative motion trend that closes up press from both sides and indicate the unit, drives the jack catch and presss from both sides tight frock to the box body part to the realization is grabbed material equipment frock automatically to the box body part.

In a further technical scheme, two clamping jaws are respectively arranged into two rod-shaped clamping rods, the two clamping rods are symmetrically arranged, the two clamping rods are formed to be provided with tooth groove abutting parts matched with the tooth groove shape and size of a transmission gear in a transmission box, the tooth groove abutting parts of the two clamping rods are oppositely arranged in a facing mode and used for automatic material grabbing and assembling of the transmission gear in the transmission box, the upper portions of the two clamping rods are respectively formed with a clamping finger connecting portion, and the clamping finger connecting portions of the two clamping rods are respectively fixed in corresponding connecting holes through bolts. This structure has realized that two have the relative motion trend that closes together press from both sides the finger unit, drives the jack catch and presss from both sides tight frock to gear part to the realization is grabbed material equipment frock automatically to gear part.

In a further technical scheme, two jack catchs set up respectively to two jackets, two jackets symmetry settings, the inboard shaping of two jackets is provided with the profile modeling top of supporting with the axis body assorted of gear shaft, the profile modeling top of supporting is the arc surface setting, the relative orientation setting of the profile modeling top of these two jackets, the automatic material equipment of grabbing of gear shaft who is used for in the transmission box, the upper portion shaping of these two jackets has a clamp finger connecting portion respectively, the clamp finger connecting portion of these two jackets are fixed in corresponding connecting hole through the bolt respectively. This structure has realized that two have the relative motion trend that closes up press from both sides and indicate the unit, drives the jack catch and presss from both sides tight frock to gear shaft spare to the realization is grabbed material equipment frock automatically to gear shaft spare.

After the structure is adopted, compared with the prior art, the utility model the advantage that has is:

the utility model provides a special manipulator device for paper shredder core assembling equipment, which clamps the paper shredder core parts through the profiled claws, thereby realizing the automatic assembly of the paper shredder core parts, avoiding the manual assembly, saving the labor cost and having high assembly efficiency; in addition, the utility model discloses still carry out the frock through interchangeable jack catch to the kneader core part of different shape and size and press from both sides tightly, realize carrying out automatic equipment to different model kinds of kneader cores, improve the suitability of equipment, reduced the equipment cost of enterprise.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is an exploded schematic view of the material grabbing device in the utility model.

Fig. 3 is an exploded view of the material grabbing device with another claw in the present invention.

Fig. 4 is an exploded view of the material grabbing device with another jaw in the present invention.

In the figure:

31-beam, 3101-slide carriage guide rail, 3102-belt pulley, 3103-synchronous belt, 3104-drive motor, 3105-travel switch, 32-column, 33-manipulator slide carriage, 3301-touch block, 34-linear cylinder, 3401-lifting plate, 3402-rotary cylinder connecting seat, 35-rotary cylinder, 3501-rotary disk, 3502-rotary disk seat, 3503-material grabbing cylinder connecting seat, 36-material grabbing cylinder, 3601-clamping finger unit and 37-clamping claw.

Detailed Description

The following are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby.

A mechanical arm device of a paper shredder movement assembling device is shown in figures 1 and 2 and comprises a gantry frame, a mechanical arm sliding seat 33 and a lifting arm, wherein the gantry frame is provided with a transverse beam 31 which is transversely arranged, the mechanical arm sliding seat 33 is slidably arranged on the transverse beam 31 of the gantry frame, the lifting arm is fixedly connected with the mechanical arm sliding seat 33, the lifting arm is provided with a driving rod which is vertically arranged, the bottom of the driving rod is provided with a material grabbing device, the material grabbing device is movably provided with at least two clamping finger units 3601, each clamping finger unit 3601 is respectively arranged at equal intervals along the circular direction, and each finger clamping unit 3601 has a movement trend of closing towards the center direction, each finger clamping unit 3601 is provided with a clamping jaw 37 as a replacement component, the inner side of each clamping jaw 37 is provided with a profiling abutting part matched with the profile of the workpiece in a forming mode, and the profiling abutting part of each clamping jaw 37 surrounds to form a workpiece clamping part. This manipulator device carries out the frock through the jack catch 37 that has the profile modeling of closing motion trend to the equipment part of kneader core and grabs the material, and is reliable and stable, and the frock precision is high, and the equipment fault rate is low, has realized the equipment of full-automatic kneader core, avoids artifical equipment, reduces the cost of labor of enterprise, improves production efficiency.

Specifically, the gantry frame comprises two upright posts 32 which are symmetrically arranged, two ends of a cross beam 31 are respectively and fixedly connected to the tops of the two upright posts 32, the cross beam 31 is provided with a sliding seat guide rail 3101 along the length direction, the sliding seat guide rail 3101 is horizontally arranged, a manipulator sliding seat 33 is slidably mounted on the sliding seat guide rail 3101, and two opposite end parts of the sliding seat guide rail 3101 are respectively provided with a travel switch 3105; the cross beam 31 is provided with a transverse driving mechanism, the transverse driving mechanism is in transmission connection with the manipulator sliding seat 33, two opposite side parts of the manipulator sliding seat 33 are respectively provided with a touch block 3301 in a protruding mode, the two touch blocks 3301 are respectively in trigger fit with the travel switches 3105 on the corresponding sides, and the two travel switches 3105 are respectively and electrically connected to the transverse driving mechanism. This structure carries out the drive displacement of transverse direction to grabbing the material device through horizontal drive structure, solves to grab the material device and shifts the position of part by material feeding unit to equipment station, and the location is accurate, and the error rate is low, and the operation is quick.

In a preferred embodiment, the transverse driving mechanism is a synchronous belt driving mechanism, which comprises two belt pulleys 3102, a synchronous belt 3103 and a driving motor 3104, wherein one belt pulley 3102 of the two belt pulleys 3102 is a driving wheel, the other belt pulley 3102 is a driven wheel, the driving wheel and the driven wheel are respectively rotatably mounted at two opposite side end parts of the cross beam 31, the synchronous belt 3103 is tightly sleeved on the driving wheel and the driven wheel, the driving motor 3104 is provided with a driving rotating shaft, and the driving rotating shaft is coaxially connected with the driving wheel; the two travel switches 3105 are respectively provided with a photoelectric sensor, the two photoelectric sensors are respectively electrically connected with the driving motor 3104, the two photoelectric sensors are respectively provided with a U-shaped induction groove, and the U-shaped induction grooves of the two photoelectric sensors are respectively in inserted and embedded fit with a corresponding touch block 3301 to trigger the corresponding photoelectric sensors; manipulator slide 33 is provided with hold-in range clamp structure, and hold-in range clamp structure includes that one smugglies the base secretly and closes the lid secretly, smugglies the inboard of base rigid coupling in manipulator slide 33 secretly, smugglies secretly and closes the lid and pass through bolted connection in smuggleing the base secretly, and smuggle secretly the upper surface that closes the lid and the lower surface of smuggleing the base and lean on the cooperation, hold-in range 3103 wears to locate to smuggle secretly and closes the upper surface. The synchronous belt driving mechanism has the advantages of high transmission precision, high transmission efficiency and the like, and is particularly suitable for short-distance conveying structures. Of course, the lateral driving mechanism may be provided as a wheel set driving structure or a belt driving structure, etc. The transmission precision of the transverse driving mechanism meets the assembly requirement of the automatic paper shredder core, and the specific composition structure is not considered as a distinguishing technical scheme of the application.

Specifically, the lifing arm is provided with lift drive, lift drive is including a straight line cylinder 34, straight line cylinder 34's cylinder rigid coupling is in the lateral surface of manipulator slide 33, the actuating lever sets up to the piston rod, piston rod transmission is connected in straight line cylinder 34's cylinder, the lower extreme of piston rod is connected with a lifter plate 3401, lifter plate 3401 level sets up, grab the bottom at lifter plate 3401 of expecting the device to install, the guide hole that runs through about one is seted up respectively to the both sides of straight line cylinder 34's cylinder, slidable mounting has a lift guide arm in two guide holes respectively, the lower extreme of two lift guide arms rigid coupling respectively in lifter plate 3401's upper surface. Still be provided with intermediate junction structure between lifter plate 3401 and the revolving cylinder 35, specifically, lifter plate 3401's bottom surface has a revolving cylinder connecting seat 3402 through the bolt fastening, revolving cylinder connecting seat 3402's the sunken shaping of upper surface has the lifter plate chamber mouth, the opening shape size of lifter plate chamber mouth is in the same place with lifter plate 3401's bottom surface shape size, revolving cylinder connecting seat 3402 can imbed the lifter plate chamber mouth just to revolving cylinder connecting seat 3402 passes through bolted connection in lifter plate 3401. The top of the cylinder of the rotary cylinder 35 is fixed to the bottom of the rotary cylinder connecting seat 3402 by bolts. The connecting structure realizes the fixed connection between the cylinder barrel of the rotary cylinder 35 and the lifting plate 3401, and has stable and reliable structure.

Specifically, the lifting arm is provided with a rotation driving device, the rotation driving device comprises a rotation cylinder 35, a cylinder barrel of the rotation cylinder 35 is connected to the bottom surface of the lifting plate 3401 through a bolt, a rotation disc 3501 is rotatably mounted on the lower surface of the cylinder barrel of the rotation cylinder 35, and the material grabbing device is fixedly mounted on the bottom surface of the rotation disc 3501.

Specifically, a detachable connecting structure is arranged between the rotary cylinder 35 and the material grabbing cylinder 36 and comprises a rotary disc seat 3502 and a material grabbing cylinder connecting seat 3503, a rotary disc connecting cavity is formed in the upper surface of the rotary disc seat 3502 in a concave mode, the rotary disc connecting cavity is circular, the shape and the size of the rotary disc connecting cavity are matched with those of the rotary disc 3501, a clamping and embedding positioning structure is arranged between the rotary disc connecting cavity and the binding surface of the rotary disc 3501 and comprises four clamping column units distributed at intervals along the circumferential direction, the rotary disc 3501 is just embedded into the rotary disc connecting cavity, and the rotary disc 3501 and the rotary disc seat 3502 are fixedly connected through bolts; the upper surface of the material grabbing cylinder connecting seat 3503 is abutted and matched with the lower surface of the rotating disc seat 3502, and the material grabbing cylinder connecting seat 3503 and the rotating disc seat 3502 are fixedly connected through bolts; the lower surface of the material grabbing cylinder connecting seat 3503 is concavely formed with a material grabbing cylinder connecting cavity, the shape and the size of the outline of the cavity opening of the material grabbing cylinder connecting cavity are matched with the shape and the size of the cross section of the cylinder body of the material grabbing cylinder 36, the material grabbing cylinder 36 can be embedded into the material grabbing cylinder connecting cavity from bottom to top just in the vertical direction, and the material grabbing cylinder 36 is fixed in the cylinder connecting cavity through a bolt. The detachable connection structure displayed by the structure realizes detachable connection between the grabbing cylinder 36 and the rotating cylinder 35 in different models, provides the matching connection structure of the driving assemblies in different specifications for different assembly requirements of different part assembly stations on assembly equipment, and is good in structural stability, high in grabbing precision of the grabbing device and low in automatic assembly error rate.

The material grabbing device is provided with a material grabbing cylinder 36 and a clamping finger mechanism, the material grabbing cylinder 36 is provided with a piston push rod, the clamping finger mechanism is provided with a clamping finger connecting seat and at least two clamping finger units 3601, the clamping finger connecting seat is fixed at the bottom of the material grabbing cylinder 36, each clamping finger unit 3601 is movably connected to the clamping finger connecting seat respectively and extends out of the lower side of the bottom surface of the clamping finger connecting seat, and the piston push rod is in transmission connection with each clamping finger unit 3601 respectively; the clamping finger mechanism is arranged into a parallel clamping finger structure or a Y-shaped clamping finger structure.

The clamping finger mechanism is arranged to be a parallel clamping finger structure, a rocker arm transmission structure, a clamping finger connecting seat and two clamping finger units 3601 are arranged on the parallel clamping finger structure from top to bottom, the rocker arm transmission structure is provided with two symmetrically arranged rocker arms, the middle parts of the two rocker arms are respectively hinged to two opposite side parts of the bottom of the material grabbing cylinder 36, and the upper end parts of the two rocker arms are respectively pivoted to a piston push rod; the clamping finger connecting seat is provided with a sliding seat which is fixed at the bottom of the material grabbing cylinder 36, the sliding seat is provided with a sliding chute, and the sliding chute vertically penetrates through the top surface and the bottom surface of the sliding seat; the two finger clamping units 3601 are respectively and slidably mounted in the sliding grooves, the two finger clamping units 3601 are arranged in parallel, the upper ends of the two finger clamping units 3601 penetrate through the sliding seat and are pivoted with the lower end of a corresponding rocker arm, the lower ends of the two finger clamping units 3601 extend to the lower portion of the bottom surface of the sliding seat, connecting holes are respectively formed in the lower portions of the two finger clamping units 3601, internal threads are formed in each connecting hole, and each clamping jaw 37 is fixedly connected to the connecting holes through bolts. This parallel clamp indicates structure can be applicable to the vertical angle and grab the material downwards, and among the concrete jack catch structure, the profile modeling supports the upper portion of top and has the location step towards the horizontal protrusion shaping of central direction, when grabbing the material device and grabbing down, each location step does spacing support with the upper surface of work piece and leans on the cooperation to realize the location of upper and lower direction between the work piece and the card is grabbed. The parallel clamping finger structure ensures accurate material grabbing and positioning and improves the assembly success rate.

Specifically, as shown in fig. 2, the claws 37 are replaceable positioning elements and can be replaced according to different assembly parts, in the automatic assembly station of the transmission box body parts, two claws 37 are respectively provided as two jackets which are symmetrically arranged, the inner sides of the two jackets are concavely formed with profile modeling abutting parts matched with the profile of the transmission box, the profile modeling abutting parts of the two jackets are oppositely arranged and used for automatic material grabbing and assembly of the transmission box, the upper parts of the two jackets are respectively provided with clamping finger connecting parts, and the clamping finger connecting parts of the two jackets are respectively fixed to corresponding connecting holes through bolts. These two jack catchs 37 are the claw of grabbing when the transmission box body carries out automatic equipment, and the profile modeling of these two jack catchs 37 is supported the top and can closely laminate with the outline of transmission box body, realizes the frock location between transmission box body part and the jack catchs 37, and it is high to grab material positioning accuracy, grabs the material reliable and stable, and the part can not appear the displacement at the transfer in-process to influence automatic equipment.

Specifically, as shown in fig. 3, the jaws 37 are replaceable positioning elements and can be replaced and used according to different assembly parts, in an automatic assembly station of the transmission gear parts, the two jaws 37 are respectively provided with two rod-shaped clamping bars, the two clamping bars are symmetrically arranged, the two clamping bars are formed to be provided with tooth socket abutting parts matched with the tooth socket shape and size of the transmission gear in the transmission box, the tooth socket abutting parts of the two clamping bars are oppositely arranged and face each other for automatic material grabbing and assembly of the transmission gear in the transmission box, the upper parts of the two clamping bars are respectively formed with a clamping finger connecting part, and the clamping finger connecting parts of the two clamping bars are respectively fixed to corresponding connecting holes through bolts. The two clamping jaws 37 are special material grabbing clamping jaws used when the transmission gear is automatically assembled, the profiling abutting parts of the two clamping jaws 37 can be tightly attached to the tooth socket profile of the transmission gear, the tool positioning between a transmission gear part and the clamping jaws 37 is realized, the material grabbing positioning precision is high, the material grabbing is stable and reliable, the transmission gear part cannot displace in the transfer process, and the automatic assembly is influenced.

Specifically, as shown in fig. 4, the claws 37 are replaceable positioning elements and can be replaced and used according to different assembly parts, in an automatic assembly station of the gear shaft part, the two claws 37 are respectively provided with two clamping sleeves which are symmetrically arranged, the inner sides of the two clamping sleeves are provided with profiling abutting parts matched with the shaft body of the gear rotating shaft, the profiling abutting parts are arranged in an arc shape and oppositely arranged and used for automatic material grabbing and assembly of the gear rotating shaft in the transmission box, the upper parts of the two clamping sleeves are respectively provided with a clamping finger connecting part, and the clamping finger connecting parts of the two clamping sleeves are respectively fixed in corresponding connecting holes through bolts. The two clamping jaws 37 are special material grabbing clamping jaws used when the gear shaft is automatically assembled, the profiling abutting parts of the two clamping jaws 37 can be tightly attached to the shaft body of the transmission gear shaft, the tool positioning between the transmission gear shaft part and the clamping jaws 37 is realized, the material grabbing positioning precision is high, the material grabbing is stable and reliable, and the transmission gear shaft part cannot displace in the transfer process, so that the automatic assembly is influenced.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims

1. The utility model provides a mechanical hand device of kneader core equipment, includes portal frame, manipulator slide (33) and lifing arm, portal frame has crossbeam (31) of a horizontal setting, and manipulator slide (33) slidable mounting is in portal frame's crossbeam (31), and the lifing arm rigid coupling is in manipulator slide (33), and the lifing arm is provided with the actuating lever that sets up about one, its characterized in that: the bottom of the driving rod is provided with a material grabbing device which is movably provided with at least two clamping finger units (3601), each clamping finger unit (3601) is arranged at equal intervals along the circular direction, each clamping finger unit (3601) has a movement trend of being closed towards the central direction,

each clamping finger unit (3601) is respectively provided with a clamping jaw (37) as a replacement component, the inner side of each clamping jaw (37) is respectively provided with a profiling abutting part matched with the outline of a workpiece in a forming way, and the profiling abutting parts of the clamping jaws (37) surround to form a workpiece clamping part.

2. The manipulator device of paper shredder core assembling equipment according to claim 1, characterized in that: the gantry frame comprises two upright posts (32) which are symmetrically arranged, two ends of the beam (31) are respectively and fixedly connected with the tops of the two upright posts (32),

a sliding seat guide rail (3101) is arranged on the cross beam (31) along the length direction, the sliding seat guide rail (3101) is horizontally arranged, the manipulator sliding seat (33) is slidably arranged on the sliding seat guide rail (3101), and two opposite end parts of the sliding seat guide rail (3101) are respectively provided with a one-stroke switch (3105);

the transverse beam (31) is provided with a transverse driving mechanism, the transverse driving mechanism is in transmission connection with the manipulator sliding seat (33), two opposite side portions of the manipulator sliding seat (33) are respectively provided with a touch block (3301) in a protruding mode, the two touch blocks (3301) are respectively matched with the travel switches (3105) on the corresponding sides in a triggering mode, and the two travel switches (3105) are respectively and electrically connected to the transverse driving mechanism.

3. The manipulator device of paper shredder core assembling equipment according to claim 2, characterized in that: the transverse driving mechanism is a synchronous belt driving mechanism and comprises two belt pulleys (3102), a synchronous belt (3103) and a driving motor (3104), one belt pulley (3102) is set as a driving wheel, the other belt pulley (3102) is set as a driven wheel, the driving wheel and the driven wheel are respectively rotatably mounted at the end parts of two opposite sides of the cross beam (31), the synchronous belt (3103) is tensioned and sleeved on the driving wheel and the driven wheel, the driving motor (3104) is provided with a driving rotating shaft, and the driving rotating shaft is coaxially connected with the driving wheel;

the two travel switches (3105) are respectively provided with a photoelectric sensor, the two photoelectric sensors are respectively electrically connected with the driving motor (3104), the two photoelectric sensors are respectively provided with a U-shaped induction groove, and the U-shaped induction grooves of the two photoelectric sensors are respectively in inserted fit with a corresponding touch block (3301) to touch the corresponding photoelectric sensors;

manipulator slide (33) are provided with the hold-in range and press from both sides tight structure, and the hold-in range presss from both sides tight structure and includes that one secretly presss from both sides the base and secretly closes the lid, secretly presss from both sides the base rigid coupling in the inboard of manipulator slide (33), secretly closes the lid through bolted connection in smuggleing the base secretly, and secretly close the upper surface of lid and the lower surface of smuggleing the base and lean on the cooperation, hold-in range (3103) wear to locate to smuggle secretly.

4. The manipulator device of paper shredder core assembling equipment according to claim 3, characterized in that: the lifting arm is provided with a lifting driving device, the lifting driving device comprises a linear air cylinder (34), a cylinder barrel of the linear air cylinder (34) is fixedly connected to the outer side surface of the manipulator sliding seat (33), the driving rod is arranged as a piston rod, the piston rod is connected to the cylinder barrel of the linear air cylinder (34) in a transmission manner, the lower end of the piston rod is connected with a lifting plate (3401), the lifting plate (3401) is horizontally arranged, the grabbing device is arranged at the bottom of the lifting plate (3401),

guide holes which penetrate through the cylinder barrel vertically are respectively formed in two sides of the cylinder barrel of the linear cylinder (34), a lifting guide rod is respectively installed in the two guide holes in a sliding mode, and the lower ends of the two lifting guide rods are respectively fixedly connected to the upper surface of the lifting plate (3401).

5. The manipulator device of paper shredder core assembling equipment according to claim 4, characterized in that: the lifting arm is provided with rotary driving device, and rotary driving device is including a revolving cylinder (35), and bolted connection is passed through to the cylinder of revolving cylinder (35) in the bottom surface of lifter plate (3401), and a rotary disk (3501) is installed in the lower surface rotation of the cylinder of revolving cylinder (35), grab material device fixed mounting in the bottom surface of rotary disk (3501).

6. The manipulator device of a shredder deck assembly apparatus according to any one of claims 1 to 5, wherein: the material grabbing device is provided with a material grabbing cylinder (36) and a clamping finger mechanism, the material grabbing cylinder (36) is provided with a piston push rod, the clamping finger mechanism is provided with a clamping finger connecting seat and at least two clamping finger units (3601), the clamping finger connecting seat is fixed at the bottom of the material grabbing cylinder (36), each clamping finger unit (3601) is movably connected with the clamping finger connecting seat respectively and extends out of the lower side of the bottom surface of the clamping finger connecting seat, and the piston push rod is in transmission connection with each clamping finger unit (3601) respectively;

the clamping finger mechanism is arranged into a parallel clamping finger structure or a Y-shaped clamping finger structure.

7. The manipulator device of paper shredder core assembling equipment according to claim 6, characterized in that: the finger clamping mechanism is arranged into a parallel finger clamping structure, the parallel finger clamping structure is provided with a rocker arm transmission structure, a finger clamping connecting seat and two finger clamping units (3601) from top to bottom,

the rocker arm transmission structure is provided with two symmetrically arranged rocker arms, the middle parts of the two rocker arms are respectively hinged to two opposite side parts of the bottom of the material grabbing cylinder (36), and the upper end parts of the two rocker arms are respectively hinged to the piston push rod;

the clamping finger connecting seat is provided with a sliding seat which is fixed at the bottom of the material grabbing cylinder (36), the sliding seat is provided with a sliding chute, and the sliding chute vertically penetrates through the top surface and the bottom surface of the sliding seat;

the two finger clamping units (3601) are respectively and slidably mounted in the sliding grooves, the two finger clamping units (3601) are arranged in parallel, the upper ends of the two finger clamping units (3601) penetrate through the sliding seat and are pivoted with the lower end of the corresponding rocker arm, the lower ends of the two finger clamping units (3601) extend to the lower portion of the bottom surface of the sliding seat, connecting holes are respectively formed in the lower portions of the two finger clamping units (3601), internal threads are formed in the connecting holes, and the clamping jaws (37) are fixedly connected to the connecting holes through bolts.

8. The manipulator device of a shredder core assembly apparatus according to claim 7, wherein: the two clamping jaws (37) are respectively arranged into two clamping sleeves which are symmetrically arranged, profile modeling abutting parts matched with the outline of the transmission box are formed on the inner sides of the two clamping sleeves in a concave mode, the profile modeling abutting parts of the two clamping sleeves face towards each other and are used for automatic material grabbing and assembling of the transmission box, clamping finger connecting parts are respectively formed on the upper portions of the two clamping sleeves, and the clamping finger connecting parts of the two clamping sleeves are respectively fixed in the corresponding connecting holes through bolts.

9. The manipulator device of a shredder core assembly apparatus according to claim 7, wherein: two jack catchs (37) set up respectively to two be shaft-like clamping bars, and two clamping bars symmetry set up, and two clamping bar shaping are provided with and drive the tooth's socket shape size assorted tooth's socket in the transmission box is supported the top, and the tooth's socket of these two clamping bars is supported the top and is set up towards relatively, is used for the automatic material equipment of grabbing of the drive gear in the transmission box, and the upper portion of these two clamping bars shaping respectively has a clamp to indicate connecting portion, and the clamp of these two clamping bars indicates connecting portion respectively through the bolt fastening in corresponding the connecting hole.

10. The manipulator device of a shredder core assembly apparatus according to claim 7, wherein: the two clamping jaws (37) are respectively arranged into two clamping sleeves which are symmetrically arranged, the inner sides of the two clamping sleeves are formed and provided with profiling abutting parts matched with the shaft bodies of the gear rotating shafts, the profiling abutting parts are arranged in an arc shape, the profiling abutting parts of the two clamping sleeves face to each other and are used for automatic material grabbing and assembling of the gear rotating shafts in the transmission box, the upper parts of the two clamping sleeves are respectively formed with a clamping finger connecting part, and the clamping finger connecting parts of the two clamping sleeves are respectively fixed in the corresponding connecting holes through bolts.