CN210818256U - Feeding manipulator of paper shredder core assembling equipment - Google Patents

Feeding manipulator of paper shredder core assembling equipment Download PDF

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Publication number
CN210818256U
CN210818256U CN201921172617.6U CN201921172617U CN210818256U CN 210818256 U CN210818256 U CN 210818256U CN 201921172617 U CN201921172617 U CN 201921172617U CN 210818256 U CN210818256 U CN 210818256U
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China
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clamping
rotary
finger
driving
triggering
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CN201921172617.6U
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曹辉
李文
杨正清
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Dongguan Bangze Electronics Co Ltd
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Dongguan Bangze Electronics Co Ltd
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Abstract

The utility model discloses a feeding manipulator of paper shredder core assembling equipment, wherein a lifting arm is provided with a rotary travel switch device which is provided with an induction triggering part; the bottom of the driving rod is provided with a rotary driving device which is electrically connected with the rotary travel switch device, the rotary driving device is provided with a rotary disk, the edge of the rotary disk is provided with a rotary triggering part used for triggering the rotary travel switch device, and the rotary triggering part rotates to penetrate through the induction triggering part; the bottom of the rotating disc is flexibly provided with a material grabbing device used for clamping a workpiece. Compared with the prior art, the feeding manipulator can rotate and press the workpiece to automatically select the position, so that the workpiece is accurately aligned to the assembly direction, the assembly error rate is low, and the production efficiency is high.

Description

Feeding manipulator 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 feeding manipulator 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.
The paper shredder core assembling equipment can effectively reduce 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 assembly structure of the knife bar shaft and the transmission gear of the knife bar assembly is a coaxial transmission structure, and the knife bar shaft is sleeved with the sleeving hole which is arranged in a special-shaped hole or a polygonal hole matched with the transmission gear and the knife bar shaft in shape, so that the coaxial transmission between the transmission gear and the knife bar shaft is realized. The transmission gear's suit hole needs to carry out the shape with the sword stick axle and aligns the installation, at present, only can carry out artifical installation, and the cost of labor is huge, and the packaging efficiency is low.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a not enough to prior art exists, the utility model aims at providing a material loading manipulator of kneader core equipment can carry out automatic feeding equipment to the equipment work piece that needs the shape to align the installation such as drive gear, and 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 feeding manipulator of kneader core equipment, includes portal frame, manipulator slide and lifing arm, portal frame has a crossbeam of horizontal setting, and manipulator slide slidable mounting is in portal frame's crossbeam, and the lifing arm rigid coupling is in the manipulator slide, and the lifing arm is provided with the actuating lever that sets up about one, its characterized in that: the lifting arm is provided with a rotary travel switch device, and the rotary travel switch device is provided with an induction triggering part; the rotary driving device is installed at the bottom of the driving rod and is electrically connected with the rotary stroke switch device, the rotary driving device is provided with a rotary disk, the edge of the rotary disk is provided with a rotary triggering portion used for triggering the rotary stroke switch device, the rotary triggering portion rotates to penetrate through the induction triggering portion, and the material grabbing device used for clamping a workpiece is flexibly installed at the bottom of the rotary disk. The feeding manipulator can rotate and align workpieces, so that the workpieces are accurately aligned to the installation stations, the assembly error rate is low, and the production efficiency is high.
In a further technical scheme, the material grabbing device is provided with a material grabbing cylinder and a clamping finger mechanism, the material 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 material 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; the clamping finger mechanism is arranged into a parallel clamping finger structure or a Y-shaped clamping finger structure. The structure realizes that the clamping finger unit has a motion trend of closing towards the center, and drives the clamping jaws to clamp and grab a workpiece.
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 portion of the bottom surface of the sliding seat, and the bottoms of the two clamping finger units are respectively and fixedly connected with a clamping jaw.
In a further technical scheme, two clamping jaws are respectively arranged into two rod-shaped clamping rods, the two clamping rods are symmetrically arranged, tooth groove abutting parts matched with the tooth groove shape and size of a transmission gear in a transmission box are formed on the inner sides of the two clamping rods, the tooth groove abutting parts of the two clamping rods are oppositely arranged in an opposite direction and used for automatic material grabbing and assembling of the transmission gear in the transmission box, clamping finger connecting parts are respectively formed on the upper parts of the two clamping rods, and the clamping finger connecting parts of the two clamping rods are respectively fixed on corresponding clamping finger units through bolts. The structure provides a special clamping jaw for a gear, a gear workpiece is clamped and grabbed through the tooth groove abutting part matched with the tooth groove, the grabbing is stable and reliable, and the workpiece is positioned accurately.
In a further technical scheme, the upper parts of the two tooth socket abutting parts are convexly provided with steps for axially limiting the transmission gear, and the step surfaces of the steps of the two tooth socket abutting parts are respectively abutted and matched with the upper surface of the transmission gear. The structure realizes the limit of the workpiece and the clamping jaws in the up-and-down direction, and the limiting part is used as a reaction part when the gear part is sleeved downwards, so that the gear part can not break away from the clamping jaws when rotating and pressing down type automatic assembly is carried out, and the success rate of automatic assembly is further improved.
In a further technical scheme, the rotary driving device is provided with a rotary driving motor, and the rotary driving motor is provided with a driving rotating shaft; the center of the top surface of the rotating disc is provided with a rotating shaft connecting part in a molding way, the rotating shaft connecting part of the rotating disc is fixedly connected with a driving rotating shaft of a rotating driving motor, the rotating disc is in coaxial transmission fit with the driving rotating shaft, the rotating triggering part is provided with a triggering notch, the triggering notch is formed at the edge of the rotating disc in a concave way, and the triggering notch penetrates through the top surface and the bottom surface of the rotating disc from top to bottom; the rotary travel switch device is provided with a U-shaped photoelectric sensor, the U-shaped photoelectric sensor is provided with a transmitter and a receiver, the transmitter and the receiver symmetrically form a U-shaped groove, and the rotary track of the trigger notch of the rotary disk penetrates through the inside of the U-shaped groove. This structure provides the travel switch structure of single rotation cycle, guarantees that the work piece carries out the automatic equipment of rotatory push-down formula of rotation cycle at least, avoids the work piece to take place the equipment error, further improves the success rate of automatic equipment.
In a further technical scheme, a sliding support is arranged on the bottom surface of the rotating disc, the sliding support is provided with an installation cavity arranged along the vertical direction, the material grabbing device is installed in the installation cavity in an up-and-down sliding mode, a sleeve-embedded triggering sheet is transversely arranged on the upper portion of the material grabbing device in a protruding mode, and the triggering sheet transversely extends to the outside of the sliding support; the sliding support is provided with a sleeve-embedded inductive switch at one side corresponding to the sleeve-embedded trigger piece, the sleeve-embedded inductive switch is electrically connected with a rotary driving motor, and the sleeve-embedded inductive switch is in trigger fit with the sleeve-embedded trigger piece.
In a further technical scheme, an elastic device is arranged between the top of the grabbing device and the sliding support, so that the grabbing device has an up-and-down elastic trend, and the elastic device is a spring device, an elastic cylinder device, an elastic air bag device or an elastic soft rubber device. According to the structure, the elastic device is arranged between the top of the grabbing device and the sliding support, so that the grabbing device has a vertical downward elastic driving potential energy, when a workpiece rotates to a correct installation position, an assembly stroke is formed between the workpiece and a station, the elastic device drives the clamping jaws and the workpiece to be completely assembled in a downward sleeved mode, and the structure has the advantages of being simple in structure and low in cost.
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.
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; two travel switches are respectively provided with a U-shaped photoelectric sensor, the two U-shaped photoelectric sensors are respectively electrically connected with the driving motor, the two U-shaped photoelectric sensors are respectively provided with a U-shaped groove, and the U-shaped grooves of the two U-shaped photoelectric sensors are respectively in insertion and embedding fit with the touch blocks at the same side so as to trigger the corresponding U-shaped photoelectric sensors.
After the structure is adopted, compared with the prior art, the utility model the advantage that has is:
1. the utility model provides a feeding manipulator of kneader core equipment carries out grabbing of centre gripping formula to the work piece through the jack catch of profile modeling and expects the equipment, has realized the automatic equipment of kneader core, avoids artifical equipment, has reduced the cost of labor, has improved production efficiency.
2. The utility model provides a feeding manipulator of kneader core equipment grabs the material device through the rotation driving device drive and rotates, realizes the down assembly of rotation type of work piece, makes the special-shaped mounting hole automatic alignment equipment position of work piece, avoids the image counterpoint, and is with low costs, and equipment work piece qualification rate is high.
3. The utility model provides a feeding manipulator of kneader core equipment is provided with resilient means between top and the sliding support through grabbing the material device, makes to grab the material device and has perpendicular decurrent elastic drive potential energy, when making the dysmorphism mounting hole of work piece rotate to the correct equipment position, grabs the material device and promotes the down suit of work piece to correct equipment station, simple structure, the reaction is rapid, resilient means and rotary driving device combination form a low cost, and the package assembly is sought to efficient automation.
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 a schematic structural diagram of the material grabbing device of the present invention.
FIG. 3 is an exploded view of the material grabbing device of the present invention
In the figure:
31-beam, 3101-slide carriage guide rail, 3102-belt pulley, 3103-synchronous belt, 3105-travel switch, 32-upright post, 33-manipulator slide carriage, 3301-touch block, 34-linear cylinder, 3401-lifting plate, 36-material-grabbing cylinder, 3600-embedded touch trigger piece, 3601-finger-clamping unit, 37-jaw, 38-rotary driving motor, 3800-embedded induction switch, 3801-driving rotating shaft, 3802-rotating shaft connecting part, 3803-rotary disk, 3804-sliding bracket, 3805-mounting cavity, 3806-elastic device, 3810-rotary travel switch device and 3811-rotary driving motor seat.
Detailed Description
The following are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby.
The utility model provides a feeding manipulator of kneader core equipment, as shown in fig. 1-3, includes portal frame, manipulator slide 33 and lifing arm, portal frame has a crossbeam 31 of 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 from top to bottom, its characterized in that: the lifting arm is provided with a rotary travel switch device 3810, and the rotary travel switch device 3810 is provided with an induction triggering part; the bottom of the driving rod is provided with a rotary driving device, the rotary driving device is electrically connected with a rotary stroke switch device 3810, the rotary driving device is provided with a rotary disk 3803, the edge of the rotary disk 3803 is provided with a rotary triggering part used for triggering the rotary stroke switch device 3810, the rotary triggering part rotates to penetrate through the induction triggering part, and the bottom of the rotary disk 3803 is flexibly provided with a material grabbing device used for clamping a workpiece. This material loading manipulator device carries out rotatory automatic selection position equipment to the work piece through rotary drive device, guarantees that the work piece can be installed to the equipment station with correct equipment position, avoids artifical equipment, reduces the cost of labor, and the equipment is fast, and production efficiency is high.
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. An intermediate connection structure is further arranged between the lifting plate 3401 and the rotary driving motor 38, specifically, a rotary driving motor base 3811 is fixed on the bottom surface of the lifting plate 3401 through bolts, and the rotary travel switch device 3810 is fixedly connected to the side portion of the rotary driving motor base 3811.
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 installed on the sliding grooves in a sliding mode, 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 face of the sliding seat, and clamping jaws 37 are fixedly connected to the bottoms of the two finger clamping units 3601 respectively. 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.
In particular, the jaws 37, as an alternative positioning element, can be exchanged for use according to the different assembly parts, in an automatic assembly station of transmission gear parts. The two clamping jaws 37 are respectively provided with two rod-shaped clamping rods, the two clamping rods are symmetrically arranged, tooth groove abutting parts matched with the tooth groove shape and size of a transmission gear in the transmission box are formed on the inner sides of the two clamping rods, the tooth groove abutting parts of the two clamping rods are oppositely arranged in the opposite directions and used for automatic material grabbing and assembling of the transmission gear in the transmission box, clamping finger connecting parts are respectively formed on the upper parts of the two clamping rods, and the clamping finger connecting parts of the two clamping rods are respectively fixed on the corresponding clamping finger units 3601 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, the upper parts of the two tooth socket abutting parts are convexly provided with steps for axially limiting the transmission gear, and the step surfaces of the steps of the two tooth socket abutting parts are respectively abutted and matched with the upper surface of the transmission gear. This structure can realize jack catch 37 when grabbing the material and getting the piece, accomplishes the axial positioning between work piece and the jack catch 37, when guaranteeing that material loading manipulator rotates the equipment of formula of pushing down, promotes the work piece and carries out down suit in the installation station of sword stick axle, is as the effect portion of upper and lower direction thrust.
Specifically, the rotation driving device is provided with a rotation driving motor 38, and the rotation driving motor 38 is provided with a driving rotating shaft 3801; a rotating shaft connecting part 3802 is formed in the center of the top surface of the rotating disc 3803, the rotating shaft connecting part 3802 of the rotating disc 3803 is fixedly connected with a driving rotating shaft 3801 of the rotating driving motor 38, the rotating disc 3803 is in coaxial transmission fit with the driving rotating shaft 3801, a triggering notch is formed in the rotating triggering part, the triggering notch is formed in the edge of the rotating disc 3803 in a concave mode, and the triggering notch penetrates through the top surface and the bottom surface of the rotating disc 3803 vertically; the rotary travel switch device 3810 is provided with a U-shaped photoelectric sensor, the U-shaped photoelectric sensor is provided with a transmitter and a receiver, the transmitter and the receiver symmetrically form a U-shaped groove, and a rotary track of the trigger notch of the rotary disk 3803 penetrates through the inside of the U-shaped groove. The emitter and the receiver of the U-shaped photoelectric sensor send driving signals to the rotary driving motor 38 under the state that the optical signals are disconnected, and the rotary driving motor 38 is controlled to rotate forwards; when the trigger notch rotates to the U-shaped groove, the emitter and the receiver of the U-shaped photoelectric sensor are communicated through optical signals, and the U-shaped photoelectric sensor sends a braking signal to the rotary driving motor 38 to control the rotary driving motor 38 to stop running. During this transition of the optical signal, the rotary drive motor 38 drives the rotary plate 3803 just for a complete circular period of rotation. Therefore, the grabbing device drives the workpiece to perform automatic position selection and assembly in a regular circle period, the special-shaped mounting hole of the workpiece can be aligned with the cutter rod shaft necessarily, and the workpiece can be smoothly sleeved on the mounting station of the cutter rod shaft under the pushing of the elastic device.
Specifically, a sliding support 3804 is arranged on the bottom surface of the rotating disc 3803, a mounting cavity 3805 arranged in the vertical direction is arranged on the sliding support 3804, the material grabbing device is installed in the mounting cavity 3805 in a vertically sliding mode, a sleeving and embedding triggering piece 3600 is transversely arranged on the upper portion of the material grabbing device in a protruding mode, and the triggering piece transversely extends to the outer portion of the sliding support 3804; a nesting induction switch 3800 is arranged at one side part of the sliding support 3804 corresponding to the nesting triggering piece 3600, the nesting induction switch 3800 is electrically connected with the rotary driving motor 38, and the nesting induction switch 3800 is in triggering fit with the nesting triggering piece 3600. The structure is used for detecting whether a workpiece is sleeved on an assembly station or not in a descending mode, when the grabbing device rotates the workpiece to a correct position, the elastic device drives the grabbing device and the workpiece to be sleeved in the descending mode, the sleeving and embedding trigger piece 3600 triggers the sleeving and embedding inductive switch 3800, and the sleeving and embedding inductive switch 3800 sends a reversing signal to the control circuit to control the rotary driving motor 38 to reverse a set angle, so that the gear workpiece is meshed with an adjacent gear assembly. The lift arm is then controlled to move up to reset and the drive motor 3104 is reset for the next assembly cycle.
Specifically, an elastic device 3806 is arranged between the top of the material grabbing device and the sliding support 3804, so that the material grabbing device has an elastic trend in the up-down direction, and the elastic device 3806 is a spring device, an elastic cylinder device, an elastic air bag device or an elastic soft rubber device. In a better embodiment, the elastic device 3806 is a spring device, and includes a compression spring, two ends of the compression spring respectively support the top of the installation cavity 3805 and the top of the material grabbing device, when the lifting arm drives the workpiece to press against the end face of the knife rod shaft, the workpiece continues to move downward for a set of installation stroke, and the compression spring is compressed, so that the workpiece has a downward elastic acting force; the rotary driving motor 38 drives the workpiece to rotate and select the position, and when the workpiece mounting hole is aligned with the shape of the cutter bar shaft, the compression spring releases compression potential energy to drive the workpiece to move downwards and be sleeved on the assembly station of the cutter bar shaft.
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 contact block 3301 in a protruding mode, the two contact 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, and 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 portions 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 3801, and the driving rotating shaft 3801 is coaxially connected with the driving wheel; the two travel switches 3105 are respectively provided with a U-shaped photoelectric sensor, the two U-shaped photoelectric sensors are respectively electrically connected with the driving motor 3104, the two U-shaped photoelectric sensors are respectively provided with a U-shaped groove, and the U-shaped grooves of the two U-shaped photoelectric sensors are respectively in insertion fit with the touch block 3301 at the same side to trigger the corresponding U-shaped photoelectric sensors. 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.
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 (10)

1. The utility model provides a feeding manipulator 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), lifing arm rigid coupling in manipulator slide (33), the lifing arm is provided with the actuating lever that sets up about one, its characterized in that: the lifting arm is provided with a rotary travel switch device (3810), and the rotary travel switch device (3810) is provided with an induction triggering part;
the bottom of the driving rod is provided with a rotary driving device, the rotary driving device is electrically connected with a rotary stroke switch device (3810), the rotary driving device is provided with a rotary disk (3803), the edge of the rotary disk (3803) is provided with a rotary triggering part used for triggering the rotary stroke switch device (3810), and the rotary triggering part rotates to penetrate through the induction triggering part;
the bottom of the rotating disc (3803) is flexibly provided with a material grabbing device used for clamping a workpiece.
2. The feeding manipulator of the paper shredder core assembling equipment according to claim 1, characterized in that: 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.
3. The feeding manipulator of the paper shredder core assembling equipment according to claim 2, 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 on 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, and the bottoms of the two finger clamping units (3601) are respectively and fixedly connected with a clamping jaw (37).
4. The feeding manipulator of paper shredder core assembling equipment according to claim 3, characterized in that: the two clamping jaws (37) are respectively provided with two rod-shaped clamping rods, the two clamping rods are symmetrically arranged, tooth groove abutting parts matched with the tooth grooves of the transmission gear in the transmission box in shape and size are formed on the inner sides of the two clamping rods, the tooth groove abutting parts of the two clamping rods are oppositely arranged in the opposite direction and used for automatic material grabbing and assembling of the transmission gear in the transmission box, clamping finger connecting parts are respectively formed on the upper parts of the two clamping rods, and the clamping finger connecting parts of the two clamping rods are respectively fixed on the corresponding clamping finger units (3601) through bolts.
5. The feeding manipulator of paper shredder core assembling equipment according to claim 4, characterized in that: the upper parts of the two tooth socket abutting parts are convexly provided with steps for axially limiting the transmission gear, and the step surfaces of the steps of the two tooth socket abutting parts are respectively abutted and matched with the upper surface of the transmission gear.
6. The feeding manipulator of the paper shredder core assembling equipment according to claim 1, characterized in that: the rotary driving device is provided with a rotary driving motor (38), and the rotary driving motor (38) is provided with a driving rotating shaft (3801); a rotating shaft connecting part (3802) is formed in the center of the top surface of the rotating disc (3803), the rotating shaft connecting part (3802) of the rotating disc (3803) is fixedly connected with a driving rotating shaft (3801) of the rotating driving motor (38), the rotating disc (3803) is in coaxial transmission fit with the driving rotating shaft (3801),
the rotary triggering part is provided with a triggering notch, the triggering notch is concavely formed on the edge of the rotary disc (3803), and the triggering notch vertically penetrates through the top surface and the bottom surface of the rotary disc (3803); the rotary travel switch device (3810) is provided with a U-shaped photoelectric sensor, the U-shaped photoelectric sensor is provided with a transmitter and a receiver, the transmitter and the receiver symmetrically form a U-shaped groove, and the rotary track of the trigger notch of the rotary disk (3803) penetrates through the inside of the U-shaped groove.
7. The feeding manipulator of paper shredder core assembling equipment according to claim 6, characterized in that: the bottom surface of the rotating disc (3803) is provided with a sliding support (3804), the sliding support (3804) is provided with an installation cavity (3805) arranged along the vertical direction, the material grabbing device is installed in the installation cavity (3805) in a vertically sliding manner, the upper part of the material grabbing device is transversely convexly provided with a sleeve embedding triggering sheet (3600), and the triggering sheet transversely extends to the outer part of the sliding support (3804);
a sleeve embedded induction switch (3800) is arranged at one side part of the sliding support (3804) corresponding to the sleeve embedded trigger piece (3600), the sleeve embedded induction switch (3800) is electrically connected with the rotary driving motor (38), and the sleeve embedded induction switch (3800) is in trigger fit with the sleeve embedded trigger piece (3600).
8. The feeding manipulator of paper shredder core assembling equipment according to claim 7, characterized in that: an elastic device (3806) is arranged between the top of the material grabbing device and the sliding support (3804) so that the material grabbing device has an elastic trend in the vertical direction, and the elastic device (3806) is a spring device, an elastic cylinder device, an elastic air bag device or an elastic soft rubber device.
9. The feeding manipulator of paper shredder core assembling equipment according to claim 8, 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.
10. The feeding manipulator of the paper shredder core assembling equipment according to claim 9, 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 tightly sleeved on the driving wheel and the driven wheel, the driving motor (3104) is provided with a driving rotating shaft (3801), and the driving rotating shaft (3801) is coaxially connected with the driving wheel;
two travel switches (3105) are respectively provided with a U-shaped photoelectric sensor, the two U-shaped photoelectric sensors are respectively and electrically connected with a driving motor (3104), the two U-shaped photoelectric sensors are respectively provided with a U-shaped groove, and the U-shaped grooves of the two U-shaped photoelectric sensors are respectively in inserted and embedded fit with the contact block (3301) at the same side to contact the corresponding U-shaped photoelectric sensors.
CN201921172617.6U 2019-07-24 2019-07-24 Feeding manipulator of paper shredder core assembling equipment Active CN210818256U (en)

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022004372A1 (en) * 2020-07-03 2022-01-06 住友重機械工業株式会社 Method for operating robot arm, robot system, teaching method, and program

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022004372A1 (en) * 2020-07-03 2022-01-06 住友重機械工業株式会社 Method for operating robot arm, robot system, teaching method, and program

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