An automated device for disassembling and arranging banknotes during printing process

Abstract

The invention discloses an automated device for dismantling and arranging banknotes in a printing process, comprising a six-axis robot installed on a ram, a fixture quick-change frame installed on one side of the ram, and a stacking station, a protective pad paper recovery station, a pallet fence recovery station, a paper loosening station and a material unloading station arranged in sequence on the other side along the length direction of the ram, a paper holding clamp, an air claw clamp and a suction cup clamp for the six-axis robot to grasp are installed on one side of the fixture quick-change frame, a vibrating paper edge loosening machine is arranged on the paper loosening station, and pallet trays are respectively placed on the stacking station, the protective pad paper recovery station, the pallet fence recovery station and the material unloading station, a plurality of loading units are stacked on the pallet tray of the stacking station, each loading unit comprises a pallet, a protective pad paper and a banknote paper pile, and a fence is arranged on the outer side of the banknote paper pile. The automated device for dismantling and arranging banknotes in a printing process of the invention realizes automated disassembly and arranging of partitions, fences and the like, improves production efficiency and reduces the demand for labor.

Description

Technical Field

[0001] The invention belongs to the technical field of automated equipment, and in particular relates to an automated device for dismantling and arranging banknotes in a banknote printing process. Background Art

[0002] The printing process of existing banknote printing plants requires a lot of labor and the degree of automation is not high. The printing process includes a manual forklift moving the pallet tray (5 layers with a total weight of about 250kg) from the warehouse to the dismantling and counting area, waiting for sorting, and then moving the pallet tray from the temporary storage area of ​​the stacking and paper turning machine to the warehouse. This process also requires manual removal of the protective net, taking the wooden support frame, taking the protective pad paper and taking the pallet to the designated location. Processing one layer requires workers to raise their heads and bend down at least 3 times, and the workload of one pallet tray requires workers to bend down at least 15 times. Banknote paper is generally 1,000 sheets per package, and workers need to carry the paper from the pallet tray to the counting machine, manually sort and align it, count it by machine, and then carry the paper to the pallet, sort and align it. One pallet tray of banknote paper requires workers to carry the paper and move it at least 10 times. Workers are also required to drive forklifts to move the pallets from the pallet dismantling machine to the paper pile turning machine, and then drag them into the paper pile turning machine to rotate the equipment, turn the banknote paper, blow and loosen the paper, push the paper, align and other operations. The pallets are dragged out of the paper pile turning machine and sent to the temporary storage area, waiting to be sent back to the warehouse. The process of dismantling and aligning the pallets requires 4 workers to operate, which is basically medium-to-high-intensity physical work. Young people are generally unwilling to take this position. At the same time, the wooden boards, protective pads, and wooden support frames are stacked separately, and the protective nets are stacked. In the entire area, the relative positions of pallets, wooden boards, support frames, forklifts, and protective nets are not coordinated. The visual effect of the visit is difficult to guarantee. When pallets are manually moved or dismantled, collisions, wooden boards or brackets falling are inevitable, and safety management is difficult. Summary of the invention

[0003] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automated device for dismantling and sorting plates in the printing process, comprising a six-axis robot installed on a ram, a fixture quick-change frame is installed on one side of the ram, and a stacking station, a protective pad paper recovery station, a pallet fence recovery station, a paper loosening station and a material unloading station are arranged in sequence on the other side along the length direction of the ram, a paper holding clamp, an air claw clamp and a suction cup clamp for the six-axis robot to grasp are installed on one side of the fixture quick-change frame, a vibrating paper edge loosening machine is arranged on the paper loosening station, and the stacking station, the protective pad paper recovery station, the pallet fence recovery station and the material unloading station are respectively placed with pallet trays, and the stacking station There are several loading units stacked on the pallet tray, each loading unit includes a pallet, protective pad paper and a banknote paper pile from bottom to top, and a fence is provided on the outside of the banknote paper pile. The six-axis robot transfers the fence on the pallet tray of the stacking station to the pallet tray of the pallet fence recovery station through an air claw clamp, the six-axis robot transfers the banknote paper pile on the pallet tray of the stacking station to the vibrating paper edge loosening machine through a paper holding clamp, the six-axis robot moves the protective pad paper on the pallet tray of the stacking station to the pallet tray of the protective pad paper recovery station through a suction cup clamp, and the six-axis robot moves the pallet on the pallet tray of the stacking station to the pallet tray of the pallet fence recovery station through a suction cup clamp.

[0004] As a preferred embodiment of the above technical solution, the six-axis robot grabs the paper holding clamp, the air claw clamp or the suction cup clamp through the gun changing plate, and the gun changing plate includes a gun changing plate male plate installed on the six-axis robot and a gun changing plate female plate installed on the paper holding clamp, the air claw clamp and the suction cup clamp respectively.

[0005] As a preferred embodiment of the above technical solution, the clamp quick-change frame is provided with three support arms arranged at intervals, one end of the support arm is fixed on the clamp quick-change frame, and the other end is provided with a U-shaped opening, the gun-changing disc master is connected to the paper-holding clamp, the air claw clamp or the suction cup clamp through a connecting rod, and the middle part of the connecting rod has a neck portion that can be inserted into the U-shaped opening.

[0006] As a preferred embodiment of the above technical solution, the paper holding clamp includes a frame formed by four side panels connected end to end, a plurality of cross beams are arranged above the frame, the two ends of the cross beams are respectively fixedly connected to two opposite side panels, a fixed plate is connected between the cross beams, the lower end of the connecting rod is fixed to the middle of the fixed plate, wherein clamping plates are respectively installed on the inner sides of the two side panels, and the clamping plates are respectively driven by cylinders to move toward the inner side of the frame, and the cylinder is electrically connected to the gun changing plate mother plate on the paper holding clamp.

[0007] As a preferred embodiment of the above technical solution, the air gripper clamp includes a mounting beam and air grippers installed at both ends of the mounting beam and arranged downward, the air grippers are electrically connected to the gun changing disk mother plate on the air gripper clamp, the air grippers include two grippers, and the inner ends of one side of the fence are respectively provided with clearance grooves for the grippers to be inserted.

[0008] As a preferred embodiment of the above technical solution, the fence is composed of a left L-shaped plate and a right L-shaped plate arranged opposite to each other, and the left L-shaped plate and the right L-shaped plate respectively include a long plate and a short plate, and a yield groove is provided on the inner side of the short plate of the left L-shaped plate, and the long plate of the right L-shaped plate is connected with a folding plate, and the folding plate and the short plate of the left L-shaped plate are arranged opposite to each other and together constitute one side of the fence, and a yield groove is provided on the inner side of the folding plate.

[0009] As a preferred embodiment of the above technical solution, the suction cup clamp includes a main beam, sub-beams are respectively provided at both ends of the main beam, auxiliary beams are respectively provided at both ends of the sub-beam, vacuum suction cups are respectively installed on the lower sides of both ends of the auxiliary beam, the vacuum suction cups are electrically connected to the gun changing plate mother plate on the suction cup clamp, the middle part of the sub-beam is fixedly connected to the main beam, and the middle part of the auxiliary beam is fixedly connected to the sub-beam.

[0010] As a preferred embodiment of the above technical solution, two AGVs are also included, each of which can move the pallet trays. The two AGVs are respectively used to transfer the pallet trays of the stacking station and the pallet trays of the unloading station.

[0011] The beneficial effects of the present invention are as follows: the automated plate disassembly and arrangement device for the banknote printing process of the present invention realizes the automated disassembly and arrangement of partitions, fences, etc., improves production efficiency, and reduces the demand for labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the present invention;

[0013] Figure 2 It is a structural diagram of the pallet fence recovery station;

[0014] Figure 3 It is a schematic diagram of the structure of the stacking station;

[0015] Figure 4 It is a structural diagram of a paper holding clamp;

[0016] Figure 5 It is a schematic diagram of the structure of the air gripper;

[0017] Figure 6 It is a schematic diagram of the structure of the suction cup fixture. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] like Figure 1-6 As shown, an automated device for dismantling and sorting plates in a banknote printing process comprises a six-axis robot 2 mounted on a ram 1, a fixture quick-change frame 3 is mounted on one side of the ram 1, and a stacking station 4, a protective pad paper recovery station 5, a pallet fence recovery station 6, a paper loosening station 7 and a material unloading station 8 are arranged in sequence on the other side along the length direction of the ram, a paper holding clamp 9, an air claw clamp 10 and a suction cup clamp 11 for the six-axis robot 2 to grasp are mounted on one side of the fixture quick-change frame 3, a vibrating paper edge loosening machine 12 is arranged on the paper loosening station 7, and pallet trays 13 are placed on the stacking station 4, the protective pad paper recovery station 5, the pallet fence recovery station 6 and the material unloading station 8, respectively, a plurality of loading units are stacked on the pallet tray 13 of the stacking station 4, and each loading unit From bottom to top, it includes a pallet 14, a protective pad paper 15 and a banknote paper pile 16. A fence 17 is provided on the outside of the banknote paper pile 16. The six-axis robot 2 transfers the fence on the pallet plate 13 of the stacking station 4 to the pallet plate 13 of the pallet fence recovery station 6 through the pneumatic gripper clamp 10. The six-axis robot 2 transfers the banknote paper pile 16 on the pallet plate 13 of the stacking station 4 to the vibrating paper edge loosening machine 12 through the paper holding clamp 9. The six-axis robot 2 moves the protective pad paper 15 on the pallet plate 13 of the stacking station 4 to the pallet plate 13 of the protective pad paper recovery station 5 through the suction cup clamp 11. The six-axis robot 2 moves the pallet 14 on the pallet plate 13 of the stacking station 4 to the pallet plate 13 of the pallet fence recovery station 6 through the suction cup clamp 11.

[0022] Furthermore, the six-axis robot 2 grabs the paper holding fixture 9, the air gripper fixture 10 or the suction cup fixture 11 through the gun changing plate, and the gun changing plate includes a gun changing plate male plate 18 installed on the six-axis robot 2 and a gun changing plate female plate 19 respectively installed on the paper holding fixture 9, the air gripper fixture 10 and the suction cup fixture 11. The gun changing plate is used to quickly replace the fixture.

[0023] Furthermore, the clamp quick-change frame 3 is provided with three support arms 20 arranged at intervals, one end of the support arm 20 is fixed on the clamp quick-change frame 3, and the other end is provided with a U-shaped opening 21. The gun-changing plate mother plate 19 is connected to the paper holding clamp 9, the air claw clamp 10 or the suction cup clamp 11 through a connecting rod 22, and the middle part of the connecting rod 22 has a neck 23 that can be inserted into the U-shaped opening 21.

[0024] Furthermore, the paper holding clamp 9 includes a frame formed by four side panels 24 connected end to end, and a plurality of cross beams 25 are arranged above the frame. The two ends of the cross beams 25 are respectively fixedly connected to two opposite side panels 24, and a fixing plate 26 is connected between the cross beams 25. The lower end of the connecting rod 22 is fixed to the middle of the fixing plate 26, and the inner sides of two adjacent side panels 24 are respectively installed with clamping plates 27, and the clamping plates 27 are respectively driven by cylinders 28 to move toward the inner side of the frame, and the cylinders 28 are electrically connected to the gun changing plate mother plate 19 on the paper holding clamp 9.

[0025] Furthermore, the air gripper fixture 10 includes a mounting beam 29 and air grippers 30 installed at both ends of the mounting beam 29 and arranged downward, the air gripper 30 is electrically connected to the gun changing disk mother plate 19 on the air gripper fixture 10, and the air gripper 30 includes two claw hands, and the inner ends of one side of the fence 17 are respectively provided with a clearance groove 31 for the claw hands to be inserted.

[0026] Furthermore, the fence 17 is composed of a left L-shaped plate 32 and a right L-shaped plate 33 that are arranged opposite to each other. The left L-shaped plate 32 and the right L-shaped plate 33 respectively include a long plate and a short plate. The inner side of the short plate of the left L-shaped plate 32 is provided with a yield groove 31. The long plate of the right L-shaped plate 33 is connected with a folding plate 34. The folding plate 34 and the short plate of the left L-shaped plate 32 are arranged opposite to each other and together constitute one side of the fence 17. The inner side of the folding plate 34 is provided with a yield groove 31.

[0027] Furthermore, the suction cup fixture 11 includes a main beam 35, and sub-beams 36 are respectively provided at both ends of the main beam 35, and auxiliary beams 37 are respectively provided at both ends of the sub-beam 36. Vacuum suction cups 38 are respectively installed on the lower sides of both ends of the auxiliary beam 37. The vacuum suction cups 38 are electrically connected to the gun changing plate mother plate 19 on the suction cup fixture 11, the middle part of the sub-beam 36 is fixedly connected to the main beam 35, and the middle part of the auxiliary beam 37 is fixedly connected to the sub-beam 36.

[0028] Furthermore, two AGVs are included, each of which can move the pallet tray 13 . The two AGVs are used to transfer the pallet tray 13 of the stacking station 4 and the pallet tray 13 of the unloading station 8 , respectively.

[0029] It is worth mentioning that the technical features such as the vibration paper edge loosening machine 12, the six-axis robot 2, the AGV, the gun changing plate, etc. involved in the patent application of the present invention should be regarded as the prior art. The specific structure, working principle and possible control method and spatial layout method of these technical features can be selected according to the conventional selection in the field, and should not be regarded as the inventive point of the patent of the present invention. The patent of the present invention will not be further elaborated.

[0030] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in this field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in this technical field through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the existing technology should be within the scope of protection determined by the claims.

Claims

1. An automated device for removing and arranging banknotes during the printing process, characterized in that: It includes a six-axis robot installed on a ram, a fixture quick-change frame is installed on one side of the ram, and a stacking station, a protective pad paper recovery station, a pallet fence recovery station, a paper loosening station and a unloading station are arranged in sequence on the other side along the length direction of the ram. A paper holding clamp, an air claw clamp and a suction cup clamp for the six-axis robot to grasp are installed on one side of the fixture quick-change frame. A vibrating paper edge loosening machine is provided on the paper loosening station. The stacking station, the protective pad paper recovery station, the pallet fence recovery station and the unloading station are respectively placed with pallet trays, and a number of loading units are stacked on the pallet tray of the stacking station, each loading unit includes a pallet, a protective pad paper and a banknote paper pile from bottom to top, and a fence is provided on the outside of the banknote paper pile, and the six-axis robot transfers the fence on the stacking station pallet tray to the pallet through the air claw clamp On the pallet tray of the fence recovery station, the six-axis robot transfers the pile of printed paper on the pallet tray of the stacking station to the vibrating paper edge loosening machine through the paper holding clamp, the six-axis robot moves the protective pad paper on the pallet tray of the stacking station to the pallet tray of the protective pad paper recovery station through the suction cup clamp, the six-axis robot moves the pallet on the pallet tray of the stacking station to the pallet tray of the pallet fence recovery station through the suction cup clamp, the six-axis robot grabs the paper holding clamp, the air claw clamp or the suction cup clamp through the gun changing tray, the gun changing tray includes a gun changing tray male tray installed on the six-axis robot and a gun changing tray female tray installed on the paper holding clamp, the air claw clamp and the suction cup clamp respectively, and also includes two AGVs that can move the pallet trays, the two AGVs are respectively used to transfer the pallet tray of the stacking station and the pallet tray of the unloading station.

2. The automatic device for disassembling and arranging the banknotes in the printing process as claimed in claim 1, characterized in that: The clamp quick-change frame is provided with three support arms arranged at intervals, one end of the support arm is fixed on the clamp quick-change frame, and the other end is provided with a U-shaped opening. The gun-changing disc mother disc is connected to the paper holding clamp, the air claw clamp or the suction cup clamp through a connecting rod, and the middle part of the connecting rod has a neck portion that can be inserted into the U-shaped opening.

3. The automatic device for disassembling and arranging the banknotes in the printing process as claimed in claim 2, characterized in that: The paper holding clamp includes a frame formed by four side panels connected end to end, a plurality of cross beams are arranged above the frame, the two ends of the cross beams are respectively fixedly connected to two opposite side panels, a fixed plate is connected between the cross beams, the lower end of the connecting rod is fixed to the middle of the fixed plate, wherein clamping plates are respectively installed on the inner sides of the two side panels, and the clamping plates are respectively driven by cylinders to move toward the inner side of the frame, and the cylinder is electrically connected to the gun changing plate mother plate on the paper holding clamp.

4. The automatic device for disassembling and arranging the banknotes in the printing process as claimed in claim 2, characterized in that: The air gripper fixture includes a mounting crossbeam and air grippers installed at both ends of the mounting crossbeam and arranged downwardly, the air grippers are electrically connected to the gun-changing disk mother plate on the air gripper fixture, the air grippers include two grippers, and the inner ends of one side of the fence are respectively provided with clearance grooves for the grippers to be inserted.

5. The automatic device for disassembling and arranging the banknotes in the printing process as claimed in claim 4, characterized in that: The fence is composed of a left L-shaped plate and a right L-shaped plate arranged opposite to each other, each of which includes a long plate and a short plate, a yield groove is provided on the inner side of the short plate of the left L-shaped plate, and the long plate of the right L-shaped plate is connected with a folding plate, which is arranged opposite to the short plate of the left L-shaped plate and together constitutes one side of the fence, and a yield groove is provided on the inner side of the folding plate.

6. The automatic device for disassembling and arranging the banknotes in the printing process as claimed in claim 2, characterized in that: The suction cup fixture includes a main beam, two ends of the main beam are respectively provided with secondary beams, two ends of the secondary beam are respectively provided with auxiliary beams, vacuum suction cups are respectively installed on the lower sides of the two ends of the auxiliary beams, the vacuum suction cups are electrically connected to the gun changing plate mother plate on the suction cup fixture, the middle part of the secondary beam is fixedly connected to the main beam, and the middle part of the auxiliary beam is fixedly connected to the secondary beam.

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