Blade stacking equipment

Abstract

This utility model discloses a blade stacking device, including a frame, on which are mounted: a blade feeding assembly, including a first flexible vibratory feeder for adjusting the front and back of the blades; a visual recognition assembly, including a first detection camera located above the first flexible vibratory feeder for determining the front and back of the blades within the first flexible vibratory feeder; a blade shaft positioning assembly, including a mounting base slidably connected to the frame for fixing the blade shaft and a first drive mechanism for driving the mounting base to slide; a transfer assembly, including a first robotic arm for grasping and transferring the blades from the first flexible vibratory feeder to the blade shaft; and a spacer ring feeding assembly, including a second flexible vibratory feeder for vibrating and flattening the spacer rings and a second robotic arm for grasping and transferring the spacer rings from the second flexible vibratory feeder to the blade shaft. In this utility model, both the blades and spacer rings are grasped using a combination of a flexible vibratory feeder and a robotic arm, resulting in high production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of paper shredder technology, and in particular to a blade stacking device. Background Technology

[0002] A paper shredder consists of a set of rotating blades, a paper comb, and a drive motor. Paper is fed through the interlocking blades and shredded into many small pieces to achieve confidentiality. The shredder blades are composed of blades and spacers spaced on a cutter shaft. Specifically, multiple A-type and B-type blades are stacked and fitted onto the cutter shaft, forming a set of A-type and B-type blades, separated by spacers. Typically, in blade stacking equipment, the blades are gripped from a flexible vibrating plate by a robotic arm and placed vertically above the cutter shaft, then moved vertically downwards and fitted onto the shaft. The spacers are held above the cutter shaft by a clamping mechanism and fitted onto it. However, the clamping mechanism is complex and prone to malfunction, affecting subsequent blade stacking. Therefore, there is a need for a blade stacking device that can feed spacers. Utility Model Content

[0003] The purpose of this utility model is to design a blade stacking device to overcome the shortcomings of the above-mentioned technology.

[0004] This utility model discloses a blade stacking device, including a frame on which are provided: a blade feeding assembly, including a first flexible vibratory plate for vibrating and adjusting the blades to be in the front and back; a visual recognition assembly, including a first detection camera located above the first flexible vibratory plate for determining the front and back of the blades in the first flexible vibratory plate; a blade shaft positioning assembly, including a mounting base slidably connected to the frame for fixing the blade shaft and a first driving mechanism for driving the mounting base to slide; a transfer assembly, including a first robotic arm for grasping and transferring the blades from the first flexible vibratory plate to the blade shaft; and a spacer ring feeding assembly, including a second flexible vibratory plate for vibrating and flattening the spacer rings and a second robotic arm for grasping and transferring the spacer rings from the second flexible vibratory plate to the blade shaft.

[0005] Further optimization includes a first base, a first tray for placing blades on the first base, a first cover plate on the first base, the first tray being located above the first cover plate, at least one motor seat inside the first base, a voice coil motor on the upper end of each motor seat, the output end of the voice coil motor being connected to the first cover plate, a controller electrically connected to the voice coil motor inside the first base, and a spring providing a buffering effect between the bottom of the first tray and the first base.

[0006] Preferably, the first driving mechanism includes a linear guide rail mounted on the frame, a slider slidably fitted on the linear guide rail and connected to the mounting base, a lead screw pair arranged in the same direction as the linear guide rail, and a driving component that drives the lead screw pair to work. The nut in the lead screw pair is connected to the mounting base, so that the mounting base moves back and forth along the linear guide rail under the drive of the lead screw pair.

[0007] Preferably, the mounting base is provided with a mounting block, and the upper surface of the mounting block is provided with a mounting hole for inserting the cutter shaft.

[0008] In a further optimization, the first robotic arm includes a first control unit connected to the frame, a first rotating arm rotatably connected to the first control unit, a second control unit mounted on the first rotating arm, a first lifting column telescopically connected to the second control unit, and a first gripping unit mounted on the first lifting column.

[0009] Preferably, the first gripping part includes a rotating component rotatably connected to the first lifting column and a magnetic suction cup connected to the rotating component and rotating with the rotating component. The magnetic suction cup is used to adsorb the end face of the blade. The lifting end of the first lifting column is provided with a push post at the center of the bottom of the magnetic suction cup. The push post performs a telescoping action relative to the magnetic suction cup under the drive of the first lifting column, which is used to push the blade away from the magnetic suction cup.

[0010] Further optimization includes a third control unit connected to the frame, a second rotating arm rotatably connected to the third control unit, a fourth control unit mounted on the second rotating arm, a second lifting column telescopically connected to the fourth control unit, and a second gripping unit mounted on the second lifting column.

[0011] Preferably, the second gripping part includes a drive seat connected to the second lifting column and a plurality of claws slidably connected to the drive seat and evenly distributed thereon. The claws achieve gripping and releasing of the spacer ring by relative sliding.

[0012] In a further optimization, the visual recognition component also includes a second detection camera located on one side of the second flexible vibrating disk and used to determine the starting position of the movement of the spacer ring grasped by the second robotic arm.

[0013] In a further optimization, the frame is also equipped with a pressing assembly, which includes a lifting mechanism and a horizontal traversing mechanism mounted on the lifting mechanism. The horizontal traversing mechanism has two pressing parts that can reciprocate relative to each other. The pressing parts are located above the positioning mechanism. The pressing parts move vertically and horizontally relative to the cutter shaft through the lifting mechanism and the horizontal traversing mechanism. The two pressing parts are symmetrically close to the two sides of the cutter shaft. When the pressing parts move from top to bottom along the cutter shaft, the pressing parts contact the end face of the blade or spacer ring stuck on the cutter shaft and press the blade or spacer ring down.

[0014] The technical advantages of this invention are as follows: the blades are laid out through high-frequency vibration of a flexible vibrating plate. A spring is installed at the bottom of the flexible vibrating plate, so that when the robotic arm grasps the blades, it presses down on the material tray of the flexible vibrating plate. Even though the material tray of the flexible vibrating plate is constantly vibrating, the robotic arm will not collide with it, thus enabling the robotic arm to accurately and safely grasp the blades. Multiple flexible vibrating plates are used, each capable of holding different types of blades, allowing for the simultaneous grasping and transfer of multiple blades. The spacer rings are also laid out through the vibration of the flexible vibrating plate, allowing the corresponding robotic arm to grasp them simultaneously during the vibration of the flexible vibrating plate. This design is not only simple in structure but also more efficient. Unlike other methods that use a flexible vibrating plate for the blades but other grasping structures for the spacer rings, which result in inconsistent production frequencies and low production efficiency due to the different grasping structures of the blades and spacer rings, this invention uses a combination of a flexible vibrating plate and a robotic arm to grasp both the blades and spacer rings, resulting in higher production efficiency. Attached Figure Description

[0015] Figure 1 This is the overall structure of the utility model Figure 1 ;

[0016] Figure 2 This is the overall structure of the utility model Figure 2 ;

[0017] Figure 3 This is the overall structure of the utility model Figure 3 ;

[0018] Figure 4 This is a structural diagram of the intermediate spacer ring feeding assembly of this utility model;

[0019] Figure 5 This is a structural diagram of the blade feeding assembly and the transfer assembly in this utility model;

[0020] Figure 6 This is an overall structural diagram of the flexible vibratory feeder in this utility model;

[0021] Figure 7 This is a cross-sectional view of the flexible vibrating disk in this utility model;

[0022] Figure 8 This is a structural diagram of the pressure-down component in this utility model.

[0023] In the figure: 1. Blade feeding assembly; 11. First flexible vibratory feeder; 111. First base; 112. First material tray; 113. First cover plate; 114. Motor seat; 115. Voice coil motor; 116. Spring; 117. Vibration damping table;

[0024] 2. Visual recognition component; 21. First detection camera; 22. Second detection camera;

[0025] 3. Tool shaft positioning assembly; 31. Mounting base; 32. First drive mechanism; 321. Linear guide rail; 322. Slider; 323. Lead screw pair; 324. Drive component; 33. Mounting block; 331. Mounting hole;

[0026] 4. Transfer assembly; 41. First robotic arm; 411. First control unit; 412. First rotating arm; 413. Second control unit; 414. First lifting column; 415. First gripping unit; 4151. Rotating component; 4152. Magnetic suction cup; 4153. Push column;

[0027] 5. Spacer ring feeding assembly; 51. Second flexible vibratory feeder; 52. Second robotic arm; 521. Third control unit; 522. Second rotating arm; 523. Fourth control unit; 524. Second lifting column; 525. Second gripping unit; 526. Drive base; 527. Claw;

[0028] 6. Pressing assembly; 61. Lifting mechanism; 611. Bracket; 612. First lead screw; 613. First drive device; 614. First sliding block; 62. Horizontal traverse mechanism; 63. Pressing part; 631. Pressing plate;

[0029] 7. Cutter shaft; 8. Cutting blade; 9. Spacer ring. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model are within the protection scope of the present utility model.

[0031] This utility model includes a frame, on which are mounted a blade feeding assembly 1, a vision recognition assembly 2, a blade shaft positioning assembly 3, a transfer assembly 4, and a spacer ring feeding assembly 5. The blade feeding assembly 1 includes a first flexible vibrating plate 11 for vibrating and adjusting the blades 8 to be placed flat on the vibrating plate with their front or back facing up. The vision recognition assembly 2 includes a first detection camera 21 located above the first flexible vibrating plate 11 for taking pictures of the blades 8 inside the first flexible vibrating plate 11 to determine the front or back of the blades 8. The blade shaft positioning assembly 4... Positioning component 3 includes a mounting base 31 and a first drive mechanism 32. The mounting base 31 is slidably connected to the frame to fix the cutter shaft 7, and the first drive mechanism 32 drives the mounting base 31 to slide. Transfer component 4 includes a first robot arm 41, which picks up the blade 8 from the first flexible vibrating plate 11 and transfers it to the cutter shaft 7. Spacer ring feeding component 5 includes a second flexible vibrating plate 51 and a second robot arm 52. The second flexible vibrating plate 51 vibrates and flattens the spacer ring 9, and the second robot arm 52 picks up the spacer ring 9 from the second flexible vibrating plate 51 and transfers it to the cutter shaft 7.

[0032] The assembly of the cutter shaft 7, the blade 8 and the spacer ring 9 in this utility model is as follows: the cutter shaft 7 is a cylindrical shaft structure, the blade 8 has a through hole in the center, the blade 8 has a front and a back side, and the front and back sides are alternately sleeved on the cutter shaft 7. One front blade 8 and one back blade 8 form a group, and each group of blades 8 is separated by a spacer ring 9.

[0033] The specific structure is as follows: the first flexible vibrating plate 11 includes a first base 111, which is a box-shaped hollow structure with an opening at the top. Alternatively, the first base 111 can be a cuboid support structure formed by four plate-like structures. The top opening of the first base 111 faces upward, and a first cover plate 113 is provided at the opening. A first material tray 112 for placing the blades 8 is provided on the first base 111, and the first material tray 112 is located above the first cover plate 113. At least one motor seat 114 is provided inside the first base 111. In this embodiment, there are four motor seats 114, which are respectively fixed inside the first base 111 and located at the four corners of the first cover plate 113. A voice coil motor 115 is provided on the upper end of the motor seat 114, and the output end of the voice coil motor 115 is connected to the first cover plate 113. The first base 111 is also equipped with a controller electrically connected to the voice coil motor 115. The controller is electrically or pneumatically connected to the voice coil motor 115 and is used to control the operation of the voice coil motor 115. The motor seat 114 is used to fix the voice coil motor 115. The top of the voice coil motor 115 is in contact with the bottom of the first cover plate 113. The first tray 112 is fixed on the first cover plate 113 by fasteners or limiting members. That is, the first cover plate 113 is installed on the output end of the voice coil motor 115. The movement of the voice coil motor 115 drives the first cover plate 113 to vibrate. The first cover plate 113 drives the first tray 112 to vibrate, so that the blades 8 stacked in the first tray 112 are spread out. The blades 8 are laid flat in the first tray 112 to avoid stacking, which facilitates the visual recognition component 2 to identify and the transfer component 4 to grasp.

[0034] The frame is equipped with a shock-absorbing table 117, and the first base 111 is fixed on the shock-absorbing table 117. The first material tray 112 is made of flexible material, such as PE, PP, PVC or PU, with a smooth surface and high toughness, to avoid damage to the blade 8 caused by collision with its inner wall.

[0035] A spring 116 is provided between the bottom of the first tray 112 and the first base 111 to buffer the first tray 112. The spring 116 is distributed below the first cover plate 113 and at the four corners, which plays a certain role in buffering and shock absorption of the first tray 112.

[0036] In this embodiment, there are two shock-absorbing tables 117, which are symmetrically distributed on both sides of the transfer component 4. Each shock-absorbing table 117 is provided with two first flexible vibrating disks 11. In this embodiment, the two first flexible vibrating disks 11 on the same shock-absorbing table 117 are arranged side by side, which makes it very convenient for the transfer component 4, that is, the first robotic arm 41, to move left and right and grab. Different types of blades 8 can be placed in different first flexible vibrating disks 11, which greatly improves the material handling efficiency.

[0037] The first drive mechanism 32 includes a linear guide rail 321, which is mounted on the frame and extends along two first bases 111. The first manipulator 41 is located between the two first bases 111. A slider 322 is slidably fitted on the linear guide rail 321, and a mounting seat 31 is fixed on the slider 322. A lead screw pair 323 is arranged on the frame in the same direction as the linear guide rail 321. The lead screw pair 323 includes a lead screw and a nut. The lead screw is parallel to the linear guide rail 321 in the same direction and is rotatably connected to the frame. The lead screw is driven to rotate by a drive component 324. The surface of the lead screw has a helical groove, and the nut has an internal thread. The nut engages with the lead screw through the internal thread. The nut is usually a ball nut. Auxiliary components such as balls and sealing rings are also provided between the nut and the lead screw. The nut is connected to the mounting seat 31. As the lead screw rotates, it drives the nut to move, and the nut drives the mounting seat 31 to move. The reciprocating motion of the lead screw pair 323 is achieved by the guiding and positioning of the linear guide rail 321 and the slider 322. The driving component 324 is a motor, and the output end of the motor is connected to one end of the lead screw. When the motor rotates forward, it drives the lead screw to rotate forward; when the motor rotates in reverse, it drives the lead screw to rotate in reverse. The spiral groove of the lead screw is a single-direction thread groove. The forward rotation of the lead screw drives the nut to move in one direction, and the nut drives the mounting seat 31 to move in that direction. When the mounting seat 31 needs to move in the opposite direction, the driving component 324 drives the lead screw to rotate in reverse. Finally, the mounting seat 31 achieves reciprocating movement under the drive of the nut. The mounting seat 31 is provided with a mounting block 33, and the upper surface of the mounting block 33 has a mounting hole 331. The cutter shaft 7 is directly and vertically inserted into the mounting hole 331. In this embodiment, the cutter shaft 7 is a hexagonal prism, and the mounting hole 331 is a corresponding hexagonal hole, so that the cutter shaft 7 will not rotate relative to the mounting hole 331.

[0038] Furthermore, there can be multiple mounting holes 331, and tooling with different types of holes can be added inside the mounting holes 331 to adapt to different sizes of cutter shafts 7.

[0039] The first robotic arm 41 includes a first control unit 411, a first rotating arm 412, a second control unit 413, a first lifting column 414, and a first gripping unit 415. The first control unit 411 is connected to the frame. The first rotating arm 412 is placed horizontally, and one end is connected to the first control unit 411 via a vertical pivot. The first control unit 411 drives the first rotating arm 412 to rotate horizontally around the pivot. The other end of the first rotating arm 412 is connected to the second control unit 413 via another pivot, so that the second control unit 413 drives itself to rotate horizontally around the pivot. The first rotating arm 412 rotates, that is, the first control unit 411 drives the first rotating arm 412 to rotate. The first rotating arm 412 can drive the second control unit 413 to rotate. At the same time, the second control unit 413 can rotate along the first rotating arm 412, thereby realizing reciprocating movement in the X-axis direction. The first rotating arm 412 is provided with the second control unit 413, and the second control unit 413 is provided with the first lifting column 414. The first lifting column 414 can extend and retract relative to the second control unit 413. The first lifting column 414 is provided with the first gripping part 415.

[0040] The first gripping part 415 includes a rotating component 4151, which is fixed to the end of the first lifting column 414, so that the rotating component 4151 can both lift and rotate. The bottom of the rotating component 4151 is provided with a magnetic suction cup 4152, which rotates and lifts with the rotating component 4151. In this embodiment, the bottom end face of the magnetic suction cup 4152 is provided with a groove, that is, the magnetic suction cup 4152 is in the shape of a ring. A hole is provided in the middle of the groove of the magnetic suction cup 4152, and a pusher 4153 is inserted into the hole. One end of the pusher 4153 is connected to the first lifting column 414, and the other end passes through the hole. When the magnetic suction cup 4152 adsorbs the blade 8 facing upward in the first material tray 112 and transfers the blade 8 to a predetermined position, the pusher 4153 pushes the center position of the blade 8 end face under the lifting action of the first lifting column 414, so that the blade 8 is disengaged from the magnetic suction cup 4152.

[0041] The structure and working principle of the second flexible vibratory plate 51 of the spacer ring feeding assembly 5 are the same as those of the first flexible vibratory plate 11, and will not be repeated here. The first manipulator 41 is actually a four-axis industrial robot.

[0042] The second robotic arm 52 of the spacer ring feeding assembly 5 includes a third control unit 521, a second rotating arm 522, a fourth control unit 523, a second lifting column 524, and a second gripping unit 525. The third control unit 521, the second rotating arm 522, the fourth control unit 523, and the second lifting column 524 correspond to the first control unit 411, the first rotating arm 412, the second control unit 413, and the first lifting column 414. The second robotic arm 52 is actually a four-axis industrial robot.

[0043] The second lifting column 524 is provided with a second gripping part 525, which includes a drive seat 526 and a jaw 527. The drive seat 526 is connected to the lifting end of the second lifting column 524 and is driven to move up and down by the second lifting column 524. The jaw 527 is installed on the drive seat 526. In this embodiment, the three jaws 527 are movably connected to the drive seat 526. The drive seat 526 is provided with a drive device to drive the three jaws 527 to move synchronously and reciprocate relative to each other. The three jaws 527 are engaged with the outer wall of the spacer ring 9 to grip the spacer ring 9 and move the spacer ring 9 and sleeve it onto the cutter shaft 7. The second gripping part 525 is a conventional pneumatic three-jaw chuck structure.

[0044] The visual recognition component 2 is configured in a one-to-one correspondence with the first flexible vibrating plate 11. The visual recognition component 2 mainly includes a first detection camera 21, which is connected to the control center of the whole machine. The first detection camera 21 is located directly above each first flexible vibrating plate 11 and captures images of the upper surface of the blade 8 inside the first flexible vibrating plate 11. In this embodiment, the front or back of the blade 8 is marked. The first detection camera 21 is aimed at the upper surface of the blade 8 to obtain image information of the upper surface of the blade 8 and feeds the obtained image information back to the control center. For example, if the marked side of the blade 8 is defined as the front, the blade 8 can be placed arbitrarily on the first flexible vibrating plate 11, and it can be in two states: front facing up or back facing up. When the control center knows from the image information that there is no front facing up in the first flexible vibrating plate 11, When the blade 8 is facing up or its reverse side is facing up, the first robotic arm 41 is controlled to grasp it, so that the blade 8 is alternately sleeved on the cutter shaft 7 with its front and back sides facing up. If there is no blade 8 facing up or its reverse side facing up in the first flexible vibrating plate 11, or if there are blades 8 in a stacked state, the control center controls the first flexible vibrating plate 11 to vibrate, so that the blade 8 is flattened or in a state with its front and back sides facing up, thus performing repeated continuous vibration. It should be noted that the first flexible vibrating plate 11 is in a state of continuous vibration. When the first robotic arm 41 is grasping, at this time, due to the action of the spring 116, when the blade 8 is grasped by the first robotic arm 41 and detached from the bottom surface of the first flexible vibrating plate 11, the first flexible vibrating plate 11 can continue to vibrate without being affected, thereby improving production efficiency.

[0045] In addition, the visual recognition component 2 also includes a second detection camera 22. The second detection camera 22 is located on one side of the second flexible vibrating plate 51 and is used to determine the starting position of the movement of the spacer ring 9 grasped by the second robotic arm 52. The second detection camera 22 is connected to the control center of the whole machine. After the second robotic arm 52 grasps the spacer ring 9 from the second flexible vibrating plate 51, it needs to move the spacer ring 9 to above the cutter shaft 7. Therefore, the second gripping part 525 of the second robotic arm 52 moves together with the spacer ring 9 to directly above the second detection camera 22. The starting position of the spacer ring 9 is determined by the second detection camera 22. At the same time, it can also detect whether the spacer ring 9 is in a flat position under the gripper 527, so that the spacer ring 9 can be smoothly fitted onto the cutter shaft 7.

[0046] The second detection camera 22 and the first detection camera 21 have the same structure and working principle, which are conventional technical means and will not be described in detail here.

[0047] The frame is also equipped with a pressing assembly 6, which includes a lifting mechanism 61 and a horizontal traversing mechanism 62. The lifting mechanism 61 includes a bracket 611 mounted on the frame. A first lead screw 612 is mounted on the bracket 611. The first lead screw 612 is vertically arranged and rotatably connected to the bracket 611. A first driving device 613 for driving the first lead screw 612 to rotate is mounted on the bracket 611. The first driving device 613 is a motor. The output end of the first driving device 613 is connected to one end of the first lead screw 612. A first nut is slidably fitted on the first lead screw 612. The surface of the first lead screw 612 has a single-direction thread. A first sliding block 614 is slidably connected to the first lead screw 612 through the first nut. The first driving device 613 drives the first lead screw 612 to rotate forward or backward. The first lead screw 612 drives the first sliding block 614 to move up or down, thereby realizing the first sliding block 614 to move vertically reciprocally along the first lead screw 612 relative to the bracket 611.

[0048] The horizontal traverse mechanism 62 includes a mounting base 31 fixed on the first sliding block. The mounting base 31 moves vertically up and down along the bracket with the first sliding block. The mounting base 31 is provided with a left and right rotating screw, which is set perpendicularly to the first screw 612. The mounting base 31 is provided with a second driving device for driving the left and right rotating screw to rotate. Two second sliders 322 are slidably engaged on the left and right rotating screw, so that the second sliders 322 can move horizontally back and forth along the left and right rotating screw, and at the same time move vertically up and down through the lifting mechanism 61. Since the two second sliders 322 are sequentially mounted on the same left and right rotating screw, the left and right rotating screw is also a bidirectional screw. When the screw rotates in one direction, the two second sliders 322 engaged on the screw separate or move closer to each other. When it rotates in the opposite direction, the two second sliders 322 move closer or separate. The two second sliders 322 are respectively provided with two pressing parts 63, so that the two pressing parts 63 can move back and forth relative to each other.

[0049] In this embodiment, the pressing part 63 consists of two forward-extending pressing plates 631. The two pressing parts 63 are located on both sides of the cutter shaft 7 and can be moved close to both sides of the cutter shaft 7 by left and right rotating screws. That is, the two pressing parts 63 are symmetrically close to both sides of the cutter shaft 7. In other words, the pressing parts 63 are moved to the top sides of the cutter shaft 7 by the lifting mechanism 61 and the horizontal moving mechanism 62. Before the pressing parts 63 move, the blades 8 on the cutter shaft 7 are stuck on the shaft body of the cutter shaft 7 during the fitting process and do not fall smoothly to the bottom of the cutter shaft 7 to form a stack. The pressing parts 63 move from top to bottom from both sides of the cutter shaft 7 until the pressing parts 63 contact the upper end face of the blades 8 or spacer rings 9 stuck on the shaft body of the cutter shaft 7. The pressing parts 63 continue to descend, thereby pressing down the blades 8 or spacer rings 9, and finally making the blades 8 or spacer rings 9 fall smoothly to the bottom of the cutter shaft 7 to form a normal stack.

[0050] In this embodiment, both pressing parts 63 have notches on their opposite sides facing the cutter shaft 7, which are adapted to the outer periphery of the cutter shaft 7. That is, the side of the pressing part 63 can be as close as possible to the cutter shaft 7, so that the pressing point of the pressing part 63 pressing down on the blade 8 is as close as possible to the center hole of the blade 8, making the pressing smoother and less strenuous, and avoiding secondary jamming between the blade 8 and the cutter shaft 7 during pressing, which may even damage the surface of the blade 8 and the cutter shaft 7 in severe cases.

[0051] This utility model is not limited to the above-described preferred embodiments. Anyone can derive other forms of products under the guidance of this utility model. However, regardless of any changes made in their shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this utility model.

Claims

1. A blade stacking device, characterized in that, Includes a frame, on which are provided: The blade feeding assembly (1) includes a first flexible vibratory plate (11) for adjusting the vibration of the blade (8) in both the front and back sides; The visual recognition component (2) includes a first detection camera (21) located above the first flexible vibrating disk (11) and used to determine the front and back of the blade (8) inside the first flexible vibrating disk (11); The tool shaft positioning assembly (3) includes a mounting base (31) slidably connected to the frame and used to fix the tool shaft (7) and a first drive mechanism (32) for driving the mounting base (31) to slide. The transfer assembly (4) includes a first manipulator (41) that grips and transfers the blade (8) from the first flexible vibratory plate (11) to the cutter shaft (7); The spacer ring feeding assembly (5) includes a second flexible vibratory plate (51) for vibrating and flattening the spacer ring (9) and a second robotic arm (52) for grabbing the spacer ring (9) from the second flexible vibratory plate (51) and transferring it to the cutter shaft (7).

2. The blade stacking device according to claim 1, characterized in that, The first flexible vibrating plate (11) includes a first base (111), a first tray (112) for placing the blade (8) is provided on the first base (111), a first cover plate (113) is provided on the first base (111), the first tray (112) is located above the first cover plate (113), at least one motor seat (114) is provided in the first base (111), each motor seat (114) is provided with a voice coil motor (115) at its upper end, the output end of the voice coil motor (115) is connected to the first cover plate (113), a controller electrically connected to the voice coil motor (115) is also provided in the first base (111), and a spring (116) is provided between the bottom of the first tray (112) and the first base (111) to buffer the first tray (112).

3. The blade stacking device according to claim 2, characterized in that, The first drive mechanism (32) includes a linear guide rail (321) mounted on the frame, a slider (322) slidably fitted on the linear guide rail (321) and connected to the mounting base (31), a lead screw pair (323) arranged in the same direction as the linear guide rail (321), and a drive member (324) that drives the lead screw pair (323) to work. The nut in the lead screw pair (323) is connected to the mounting base (31), so that the mounting base (31) reciprocates along the linear guide rail (321) under the drive of the lead screw pair (323).

4. The blade stacking device according to claim 3, characterized in that, The mounting base (31) is provided with a mounting block (33), and the upper surface of the mounting block (33) is provided with a mounting hole (331) for inserting the cutter shaft (7).

5. The blade stacking device according to claim 1, characterized in that, The first robotic arm (41) includes a first control unit (411) connected to the frame, a first rotating arm (412) rotatably connected to the first control unit (411), a second control unit (413) mounted on the first rotating arm (412), a first lifting column (414) telescopically connected to the second control unit (413), and a first gripping unit (415) mounted on the first lifting column (414).

6. The blade stacking device according to claim 5, characterized in that, The first gripping part (415) includes a rotating part (4151) rotatably connected to the first lifting column (414) and a magnetic suction cup (4152) connected to the rotating part (4151) and rotating with the rotating part (4151). The magnetic suction cup (4152) is used to adsorb the end face of the blade (8). The lifting end of the first lifting column (414) is provided with a push column (4153) at the center of the bottom of the magnetic suction cup (4152). The push column (4153) performs a telescoping action relative to the magnetic suction cup (4152) under the drive of the first lifting column (414) to push the blade (8) away from the magnetic suction cup (4152).

7. The blade stacking device according to claim 1, characterized in that, The second robotic arm (52) includes a third control unit (521) connected to the frame, a second rotating arm (522) rotatably connected to the third control unit (521), a fourth control unit (523) mounted on the second rotating arm (522), a second lifting column (524) telescopically connected to the fourth control unit (523), and a second gripping unit (525) mounted on the second lifting column (524).

8. The blade stacking device according to claim 7, characterized in that, The second gripping part (525) includes a drive seat (526) connected to the second lifting column (524) and a plurality of claws (527) slidably connected to the drive seat (526) and evenly distributed. The claws (527) achieve gripping and releasing of the spacer ring (9) by relative sliding.

9. The blade stacking device according to claim 1, characterized in that, The visual recognition component (2) also includes a second detection camera (22) located on one side of the second flexible vibrating disk (51) and used to determine the starting position of the movement of the spacer ring (9) grasped by the second robotic arm (52).

10. The blade stacking device according to claim 1, characterized in that, The frame is also provided with a pressing assembly (6), which includes a lifting mechanism (61) and a horizontal traversing mechanism (62) mounted on the lifting mechanism (61). The horizontal traversing mechanism (62) is provided with two pressing parts (63) that can reciprocate relative to each other. The pressing parts (63) are located above the positioning mechanism. The pressing parts (63) move vertically and horizontally relative to the cutter shaft (7) through the lifting mechanism (61) and the horizontal traversing mechanism (62). The two pressing parts (63) are symmetrically close to the two sides of the cutter shaft (7). When the pressing parts (63) move from top to bottom along the shaft of the cutter shaft (7), the pressing parts (63) contact the end face of the blade (8) or spacer ring (9) stuck on the shaft of the cutter shaft (7) and press down the blade (8) or spacer ring (9).

Images