Equipment for grabbing paper articles

Abstract

The utility model discloses equipment for grabbing paper articles, which comprises a machine body frame, a limiting mechanism is arranged on the upper end face of the machine body frame, and a locking assembly for fixing the limiting mechanism and the machine body frame is arranged between the limiting mechanism and the machine body frame. A sliding assembly capable of moving relative to the machine body frame is arranged in the machine body frame, the sliding assembly comprises a mounting platform, and a lifting assembly is arranged on the mounting platform; the lifting assembly comprises a driving motor, a lead screw and a lifting sliding block. When the driving motor drives the lead screw to rotate, the lifting sliding block moves up and down relative to the mounting platform. The top end of the lifting sliding block is provided with a supporting piece fixedly connected with the lifting sliding block, and the supporting piece extends into the limiting mechanism. The machine body frame is provided with an opening groove used for receding, and a positioning device is arranged above the limiting mechanism. The limiting mechanism and the positioning device are arranged on the machine body frame to limit the periphery of the napkin paper, and then the stacked napkin paper is pressed through the lifting assembly, so that the mechanical arm accurately and sequentially grabs the napkin paper, and the feeding efficiency is high and the feeding is reliable.

Description

Technical Field

[0001] The utility model belongs to the technical field of grabbing equipment, and in particular relates to equipment for grabbing paper articles. Background Art

[0002] Tableware refers to non-edible tools that come into direct contact with food during meals, such as knives, forks, and spoons. Currently, Western restaurants or hotels require that tableware wrapped in paper towels and folded be provided to guests. There are currently tableware folding devices on the market, which use a robot to grab the stacked tableware and place it on the tableware folding device. Since a single piece of tableware is grabbed each time, there are higher requirements for the position of the tableware on the tableware folding device. However, the existing feeding equipment often has a low degree of automation, and the robot often does not face the tableware when grabbing it, which makes it impossible to accurately place the tableware in the processing area of ​​the tableware folding equipment. At the same time, the existing feeding equipment often does not have a positioning device, and the tableware waiting to be grabbed is prone to tilt or shift, resulting in the inability to continue feeding normally, and the feeding efficiency is low. Therefore, it is necessary to design a device for grabbing paper items to overcome the above difficulties. Summary of the invention

[0003] In view of the problems existing in the prior art, the utility model designs a device for grabbing paper articles. A limiting mechanism and a positioning device are provided on the body frame of the utility model to limit the four sides of the table paper, and then the table paper stacked together is pressed by a lifting component, so that the mechanical arm can accurately grab the table paper in sequence, and the feeding efficiency is high and reliable.

[0004] The invention objective of the utility model is achieved through the following technical solutions: a device for grabbing paper articles, comprising a body frame, an upper end surface of the body frame is provided with a limiting mechanism that can move horizontally relative to the body frame, a locking assembly for fixing the limiting mechanism and the body frame is provided between the limiting mechanism and the body frame; a sliding assembly that can move relative to the body frame is provided inside the body frame, the sliding assembly comprises a mounting platform, and a lifting assembly is provided on the mounting platform; the lifting assembly comprises a driving motor, a screw rod and a lifting slider, and when the driving motor drives the screw rod to rotate, the lifting slider moves up and down relative to the mounting platform; a support member is provided at the top end of the lifting slider and is fixedly connected to the support member, and the support member extends into the limiting mechanism; an opening groove for making way is provided on the body frame, and a positioning device is provided above the limiting mechanism.

[0005] Preferably, the fuselage frame is provided with guide rods arranged in pairs, and the guide rods are provided with a limiting mechanism that can slide relative to the guide rods; the limiting mechanism includes a sliding platform and a plurality of limiting components arranged on the sliding platform, a placement hole is provided in the middle of the sliding platform, a support member is inserted in the placement hole, and the limiting components are evenly distributed around the placement hole; the limiting components include angle steels arranged in pairs, and a positioning member for fixing is provided between two of the angle steels; a locking component is provided between the sliding platform and the fuselage frame.

[0006] By setting a guide rod on the fuselage frame, it is convenient for the sliding platform to move along the guide rod relative to the opening slot. Before placing the stacked napkins, first open the locking assembly so that the sliding platform can move relative to the guide rod to limit its position; the operator first moves the sliding platform to a position away from the opening slot, so that the operator can easily place the stacked napkins into the limiting mechanism while standing in front of the fuselage frame, and each of the limiting assemblies will limit the four sides of the napkins. After placing the napkins, push the sliding platform close to the opening slot, and then fix the sliding platform with the locking assembly, which is convenient for subsequent compression of the napkins. At the same time, when the lifting assembly pushes the napkins to lift, the sliding platform will not shift relative to the opening slot.

[0007] Preferably, each of the limit components is arranged perpendicular to each other, and each of the limit components and the sliding platform are arranged perpendicular to each other; the support member includes strip rods arranged perpendicular to each other, and each of the strip rods is arranged parallel to the angle steel adjacent to it; the outer contour of the support member is matched with the outer contour of the placement hole, and a gap is left between the support member and the inner wall of the placement hole.

[0008] By setting angle steel, it is convenient to limit the four sides of the paper napkins; the corners of the paper napkins are square, so the limiting effect of the limiting component is better, the paper napkins cannot move relative to the sliding platform, and the stacked paper napkins will be on the same axis as the angle steel. A placement hole is set on the sliding platform, so that when the support rises, it will lift the paper napkins through the placement hole, so that the top layer of paper napkins is placed close to the robot arm, which is convenient for the robot arm to grab the paper napkins.

[0009] Preferably, the lower end surface of the sliding platform is provided with a plurality of guide sliders for guiding, the guide sliders are fixedly connected to the sliding platform and sleeved on the outer layer of the guide rod; the lower end surface of the guide slider is arranged parallel to the upper end surface of the fuselage frame.

[0010] By setting the guide slider, the vertical distance between the sliding platform and the fuselage frame can be raised to avoid interference between the support member and the sliding platform.

[0011] Preferably, the locking assembly includes a locking knob and a locking block, the locking block is fixedly connected to the fuselage frame; the locking knob is threadedly connected to the sliding platform, and the locking block is provided with a threaded hole for inserting the locking knob; the end of the locking knob passes through the sliding platform and extends into the locking block.

[0012] When the locking knob is turned, the end of the locking knob will move up and down relative to the sliding platform; when the sliding platform needs to be fixed, the end of the locking knob is turned into the threaded hole of the locking block. When unlocking is required, the locking knob is turned in the opposite direction to disengage it from the locking block.

[0013] Preferably, the lifting assembly also includes a support platform, a vertical guide frame, a first pulley, a second pulley, a limit slider and a transmission belt; the mounting platform is provided with a support platform fixedly connected to it, and the support platform is provided with a vertical guide frame fixedly connected to it; the screw rod is installed at both ends of the vertical guide frame through bearings, and a limit slot is provided in the vertical guide frame; the end of the lifting slider facing the limit slot is provided with a limit slider fixedly connected to it, and the limit slider is arranged in the limit slot and meshes with the thread on the screw rod; the support platform is provided with a driving motor fixedly connected to it, and the motor shaft of the driving motor is provided with a first pulley; the end of the screw rod is provided with a second pulley rotating synchronously with it, and the outer layers of the first pulley and the second pulley are sleeved with a transmission belt.

[0014] When the driving motor is working, it drives the first pulley to rotate, and the first pulley drives the second pulley to rotate through the transmission belt, and the second pulley rotates synchronously with the screw rod; since the outer layer of the screw rod is provided with a limit slider connected with the screw rod, and the limit slider is set in the limit slot; then the rotation of the screw rod can drive the limit slider to move up and down, and the lifting slider will drive the support to move up and down accurately. When the support moves up, it can squeeze or lift the paper napkin.

[0015] Preferably, the first pulley and the second pulley are arranged on the lower end surface of the supporting platform, and the mounting platform is provided with a waist-shaped through hole for making way; when the driving motor is working, it drives the screw rod to rotate, and when the screw rod rotates, it drives the lifting slider to move up and down.

[0016] The waist-shaped through hole is provided to give way to the first pulley and the second pulley, so that the mounting platform and the transmission belt will not interfere with each other.

[0017] Preferably, the sliding assembly also includes a guide rail, a rodless cylinder and a connecting slider. The lower end surface of the fuselage frame is provided with a pair of guide rails, and the guide rails are provided with a mounting platform that can slide relative to them; the side of the guide rail is provided with a rodless cylinder arranged parallel to it, and the outer layer of the cylinder body of the rodless cylinder is sleeved with a connecting slider, and the edge of the connecting slider is fixedly connected to the mounting platform; when the rodless cylinder is working, the connecting slider is controlled to move axially relative to it.

[0018] When the rodless cylinder is working, the connecting slider is controlled to move relative to its axial direction, and when the connecting slider moves, the mounting platform is driven to move along the guide track.

[0019] Preferably, a buffer is provided at the edge of the mounting platform, a limit baffle is provided at the end of the fuselage frame close to the guide rail, and the buffer is arranged toward the limit baffle; a spare station is provided at the end of the fuselage frame away from the limit mechanism, the spare station is arranged side by side and adjacent to the limit mechanism, and the spare station is arranged at the end of the opening groove; a mechanical arm for sucking up paper towels is provided on the side of the fuselage frame, and a suction piece for sucking up paper towels is provided at the end of the mechanical arm.

[0020] By setting a buffer, the installation platform is prevented from shaking when it stops moving, so that the lifting slider and the support member can always remain in a vertical state, and the force applied to the paper napkin by the support member is more uniform. A spare station is set on the fuselage platform. When the spare station is needed, the sliding platform controls the lifting assembly to approach the spare station, so that it can work on the spare station. When the robot arm is working, it can grab the paper napkin in the limit mechanism. The suction member is a needle-pierced suction cup, which can reliably absorb a single piece of paper napkin.

[0021] Preferably, the limiting mechanism includes a sliding platform and a plurality of limiting components arranged on the sliding platform, each of the limiting components is arranged perpendicular to each other; a positioning device is provided directly above the limiting component, the positioning device includes a positioning cylinder, a mounting rod, a mounting plate and an open shaft sleeve, the mounting rod is fixedly mounted on the fuselage frame, and an open shaft sleeve is provided on the top of the mounting rod; the open shaft sleeve is sleeved and mounted on the mounting rod, and a fastener for fixing the open shaft sleeve and the mounting rod is provided between the open shaft sleeve and the mounting rod; the upper end surface of the open shaft sleeve is provided with a mounting plate fixedly connected thereto, a positioning cylinder fixedly connected thereto is provided on the mounting plate, and a clamping piece is provided on the piston shaft of the positioning cylinder; when the piston shaft of the positioning cylinder is extended, the clamping piece is arranged opposite to the paper towel in the limiting component.

[0022] A notch is provided on the open sleeve, which makes it easy to adjust the direction of the open sleeve; the fastener is threadedly connected to the open sleeve, and after adjusting the direction of the open sleeve, the positioning cylinder is directed toward the limit mechanism; then the fastener is rotated so that the open sleeve can be fixed on the mounting rod. When the stacked paper napkins are placed on the sliding platform, the positioning cylinder is opened, and the positioning cylinder controls the pressing member to extend; then the lifting component works to control the support member to rise, and as the support member continues to rise, the napkins will be pressed. Then the lifting component controls the support member to descend a certain distance, so that the top napkin will be away from the pressing member, and then the positioning cylinder contracts to control the pressing member to retreat, so as to make way for the robotic arm. In this way, the robotic arm works to make the suction member close to the top napkin, and then grabs the napkin to the napkin folding device for processing. In the process of grabbing the napkin, the lifting component accurately controls the support member to rise, so that the napkin can be slowly lifted, so that the top napkin is close to the robotic arm, which speeds up the grabbing efficiency.

[0023] Compared with the prior art, the utility model has the following beneficial effects: by setting a lower limit mechanism on the fuselage frame, it is convenient to radially limit the stacked napkins. The limit mechanism can move relative to the fuselage frame, which is convenient for bringing the sliding platform close to the operator when loading, and placing the napkins is more labor-saving. After the napkins are placed, push the sliding platform close to the support, and then fix the sliding platform by the locking assembly, so that the sliding platform can maintain its position with the fuselage frame, and the process of the support lifting the napkins is more stable. A lifting assembly is set in the fuselage frame, and the screw rod is driven by the driving motor to rotate, so as to accurately control the up and down movement of the support, so that the accuracy of lifting the napkins is higher, which is convenient for the robot arm to grab the napkins. A positioning device is set above the limit mechanism, and the napkins are axially limited by the positioning cylinder, so that the support can squeeze the stacked napkins. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional diagram of the utility model;

[0025] Figure 2 A three-dimensional diagram of another viewing angle of the present invention;

[0026] Figure 3 It is the front view of the utility model;

[0027] Figure 4 It is a three-dimensional diagram of the limiting mechanism;

[0028] Figure 5 is a perspective view of the lifting assembly;

[0029] Figure 6 is a three-dimensional diagram of a sliding assembly;

[0030] Figure 7 This is the exploded view after the limit mechanism and support parts are assembled.

[0031] Markings in the figure: 1. Fuselage frame; 2. Limiting mechanism; 21. Sliding platform; 22. Limiting assembly; 221. Angle steel; 222. Positioning piece; 23. Placement hole; 24. Guide slider; 3. Locking assembly; 31. Locking knob; 32. Locking block; 4. Sliding assembly; 41. Mounting platform; 42. Waist-shaped through hole; 43. Guide rail; 44. Rodless cylinder; 45. Connecting slider; 5. Lifting assembly; 51. Driving motor; 52. Screw rod; 53. Lifting slider; 54. Support platform Table; 55, vertical guide frame; 57, first pulley; 58, second pulley; 59, transmission belt; 510, limit slot; 511, limit slider; 6, support member; 61, strip rod; 7, positioning device; 71, positioning cylinder; 72, mounting rod; 73, mounting plate; 74, open sleeve; 75, fastener; 76, clamping member; 8, guide rod; 9, buffer member; 10, limit baffle; 11, spare station; 12, mechanical arm; 13, suction member; 14, open slot. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0033] like Figures 1 to 7 As shown, the present embodiment discloses a device for grabbing paper articles, comprising a body frame 1, wherein the upper end surface of the body frame 1 is provided with a limiting mechanism 2 capable of horizontal movement relative to the body frame, and a locking assembly 3 for fixing the limiting mechanism 2 and the body frame 1 is provided between the limiting mechanism 2 and the body frame 1; a sliding assembly 4 capable of moving relative to the body frame is provided inside the body frame 1, and the sliding assembly 4 comprises a mounting platform 41, and a lifting assembly 5 is provided on the mounting platform 41; the lifting assembly 5 comprises a driving motor 51, a screw rod 52 and a lifting slider 53, and when the driving motor 51 drives the screw rod 52 to rotate, the lifting slider 53 moves up and down relative to the mounting platform 41; a support member 6 is provided at the top end of the lifting slider 53 and fixedly connected to the support member 6, and the support member 6 extends into the limiting mechanism 2; an opening groove 14 for making way is provided on the body frame 1, and a positioning device 7 is provided above the limiting mechanism 2.

[0034] The fuselage frame 1 is provided with guide rods 8 arranged in pairs, and the guide rods 8 are provided with a limit mechanism 2 that can slide relative to the guide rods 8; the limit mechanism 2 includes a sliding platform 21 and a plurality of limit components 22 arranged on the sliding platform 21, a placement hole 23 is arranged in the middle of the sliding platform 21, a support member 6 is inserted in the placement hole 23, and the limit components 22 are evenly distributed around the placement hole 23; the limit components 22 include angle steels 221 arranged in pairs, and a positioning member 222 for fixing is arranged between two angle steels 221; a locking component 3 is arranged between the sliding platform 21 and the fuselage frame 1. Each of the limit components 22 is arranged perpendicular to each other, and each of the limit components 22 and the sliding platform 21 is arranged perpendicular to each other; the support member 6 includes strip rods 61 arranged perpendicular to each other, and each of the strip rods 61 is arranged parallel to the angle steel 221 arranged adjacent to it; the outer contour of the support member 6 matches the outer contour of the placement hole 23, and a gap is left between the support member 6 and the inner wall of the placement hole 23. The lower end surface of the sliding platform 21 is provided with a plurality of guide sliders 24 for guiding, the guide sliders 24 are fixedly connected to the sliding platform 21 and sleeved on the outer layer of the guide rod 8; the lower end surface of the guide slider 24 is arranged parallel to the upper end surface of the fuselage frame 1. The locking assembly 3 includes a locking knob 31 and a locking block 32, the locking block 32 is fixedly connected to the fuselage frame 1; the locking knob 31 is threadedly connected to the sliding platform 21, and the locking block 32 is provided with a threaded hole for inserting the locking knob 31; the end of the locking knob 31 passes through the sliding platform 21 and extends into the locking block 32.

[0035] The lifting assembly 5 also includes a support platform 54, a vertical guide frame 55, a first pulley 57, a second pulley 58, a limit slider 511 and a transmission belt 59; the mounting platform 41 is provided with a support platform 54 fixedly connected thereto, and the support platform 54 is provided with a vertical guide frame 55 fixedly connected thereto; the screw rod 52 is mounted on both ends of the vertical guide frame 55 through bearings, and a limit slot 510 is provided in the vertical guide frame 55; the end of the lifting slider 53 facing the limit slot 510 is provided with a limit slider 511 fixedly connected thereto, and the limit slider 511 is arranged in the limit slot 510 and meshes with the thread on the screw rod 52; the support platform 54 is provided with a drive motor 51 fixedly connected thereto, and the motor shaft of the drive motor 51 is provided with a first pulley 57; the end of the screw rod 52 is provided with a second pulley 58 rotating synchronously therewith, and the outer layers of the first pulley 57 and the second pulley 58 are sleeved with a transmission belt 59. The first pulley 57 and the second pulley 58 are arranged on the lower end surface of the supporting platform 54, and the mounting platform 41 is provided with a waist-shaped through hole 42 for making way; when the driving motor 51 is working, it drives the screw rod 52 to rotate, and when the screw rod 52 rotates, it drives the lifting slider 53 to move up and down.

[0036] The sliding assembly 4 also includes a guide rail 43, a rodless cylinder 44 and a connecting slider 45. The lower end surface of the fuselage frame 1 is provided with a pair of guide rails 43, and the guide rails 43 are provided with a mounting platform 41 that can slide relative to them; the side of the guide rail 43 is provided with a rodless cylinder 44 arranged parallel to it, and the outer layer of the cylinder body of the rodless cylinder 44 is sleeved with a connecting slider 45, and the edge of the connecting slider 45 is fixedly connected to the mounting platform 41; when the rodless cylinder 44 is working, it controls the axial movement of the connecting slider 45 relative to it. A buffer 9 is provided at the edge of the mounting platform 41, and a limit baffle 10 is provided at the end of the fuselage frame 1 close to the guide rail 43, and the buffer 9 is arranged toward the limit baffle 10; a spare station 11 is provided at the end of the fuselage frame 1 away from the limiting mechanism 2, and the spare station 11 is arranged side by side and adjacent to the limiting mechanism 2, and the spare station 11 is arranged at the end of the opening groove 14; a mechanical arm 12 for sucking up paper towels is provided on the side of the fuselage frame 1, and a suction piece 13 for sucking up paper towels is provided at the end of the mechanical arm 12. The limiting mechanism 2 includes a sliding platform 21 and a plurality of limiting assemblies 22 arranged on the sliding platform 21, each of the limiting assemblies 22 being arranged perpendicular to each other; a positioning device 7 is provided directly above the limiting assemblies 22, the positioning device 7 includes a positioning cylinder 71, a mounting rod 72, a mounting plate 73 and an open shaft sleeve 74, the mounting rod 72 is fixedly mounted on the fuselage frame 1, and an open shaft sleeve 74 is provided on the top of the mounting rod 72; the open shaft sleeve 74 is sleeved and mounted on the mounting rod 72, and a fastener 75 for fixing the open shaft sleeve 74 and the mounting rod 72 is provided between the open shaft sleeve 74 and the mounting rod 72; the upper end surface of the open shaft sleeve 74 is provided with a mounting plate 73 fixedly connected thereto, the mounting plate 73 is provided with a positioning cylinder 71 fixedly connected thereto, and a pressing member 76 is provided on the piston shaft of the positioning cylinder 71; when the piston shaft of the positioning cylinder 71 is extended, the pressing member 76 is arranged directly opposite to the paper napkin in the limiting assembly 22.

[0037] The specific operation process of this embodiment is as follows: when the operator needs to load the paper, the locking assembly 3 is opened in advance, and the locking knob 31 is turned to disengage the locking block 32, and the sliding platform 21 is in an unlocked state. The sliding platform 21 is pushed away from the opening slot 14, and the limiting mechanism 2 can move closer to the front of the fuselage frame 1, so that the operator can place the stacked napkins into the limiting mechanism 2; after placing the napkins, the limiting mechanism 2 is pushed back to the top of the opening slot 14, and then the locking knob 31 is turned to keep the sliding platform 21 fixed to the fuselage frame 1. Then, the positioning device 7 is opened, and the piston shaft of the positioning cylinder 71 is extended so that the pressing member 76 is directly above the paper napkins; then the lifting assembly 5 starts to work, and the driving motor 51 drives the first pulley 57 to rotate when working, and the first pulley 57 drives the second pulley 58 to rotate through the transmission belt 59, and the second pulley 58 rotates synchronously with the screw rod 52; because the outer layer of the screw rod 52 is provided with a limit slider 511 threadedly connected thereto, and the limit slider 511 is set in the limit slot 510; then the rotation of the screw rod 52 can drive the limit slider 511 to move up and down, and then the lifting slider 53 will drive the support member 6 to move up and down accurately. The lifting assembly 5 controls the support member 6 to rise, and the top of the paper napkins is limited by the positioning device 7, so the stacked paper napkins will be pressed up and down, which does not take up space and reduces the number of times the operator loads materials. Then the lifting component 5 controls the support member 6 to descend a certain distance, so that the topmost paper napkin will be away from the pressing member 76; then the positioning cylinder 71 controls the pressing member 76 to shrink and reset, thereby making way for the robotic arm 12; then the lifting component 5 controls the support member 6 to rise slowly, thereby slowly lifting the paper napkin, so that the robotic arm 12 can continue to grab the paper napkins in sequence through the suction member 13.

[0038] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A device for grabbing paper articles, comprising a body frame (1), characterized in that: The upper end surface of the fuselage frame (1) is provided with a limiting mechanism (2) capable of horizontally moving relative to the fuselage frame (1), and a locking assembly (3) for fixing the limiting mechanism (2) and the fuselage frame (1) is provided between the limiting mechanism (2) and the fuselage frame (1); the interior of the fuselage frame (1) is provided with a sliding assembly (4) capable of moving relative to the fuselage frame, and the sliding assembly (4) comprises a mounting platform (41), and a lifting assembly (5) is provided on the mounting platform (41); the lifting assembly (5) comprises a driving motor (51), a screw rod (52) and a lifting slider (53), and when the driving motor (51) drives the screw rod (52) to rotate, the lifting slider (53) moves up and down relative to the mounting platform (41); the top end of the lifting slider (53) is provided with a support member (6) fixedly connected to the lifting slider (53), and the support member (6) extends into the limiting mechanism (2); the fuselage frame (1) is provided with an opening groove (14) for making way, and a positioning device (7) is provided above the limiting mechanism (2).

2. The device for grabbing paper articles according to claim 1, characterized in that: The fuselage frame (1) is provided with guide rods (8) arranged in pairs, and the guide rods (8) are provided with a limiting mechanism (2) capable of sliding relative to the guide rods; the limiting mechanism (2) comprises a sliding platform (21) and a plurality of limiting components (22) arranged on the sliding platform (21); a placement hole (23) is provided in the middle of the sliding platform (21), a support member (6) is inserted into the placement hole (23), and the limiting components (22) are evenly distributed around the placement hole (23); the limiting components (22) comprise angle steels (221) arranged in pairs, and a positioning member (222) for fixing is provided between two of the angle steels (221); and a locking component (3) is provided between the sliding platform (21) and the fuselage frame (1).

3. The device for grabbing paper articles according to claim 2, characterized in that: Each of the limiting components (22) is arranged perpendicularly to each other, and each of the limiting components (22) and the sliding platform (21) are arranged perpendicularly to each other; the support member (6) comprises strip rods (61) arranged perpendicularly to each other, and each of the strip rods (61) and its adjacent angle steel (221) are arranged parallel to each other; the outer contour of the support member (6) matches the outer contour of the placement hole (23), and a gap is left between the support member (6) and the inner wall of the placement hole (23).

4. The device for grabbing paper articles according to claim 2, characterized in that: The lower end surface of the sliding platform (21) is provided with a plurality of guide sliders (24) for guiding. The guide sliders (24) are fixedly connected to the sliding platform (21) and sleeved on the outer layer of the guide rod (8); the lower end surface of the guide slider (24) and the upper end surface of the fuselage frame (1) are arranged parallel to each other.

5. The device for grabbing paper articles according to claim 2, characterized in that: The locking assembly (3) comprises a locking knob (31) and a locking block (32); the locking block (32) is fixedly connected to the fuselage frame (1); the locking knob (31) is threadedly connected to the sliding platform (21); the locking block (32) is provided with a threaded hole for inserting the locking knob (31); the end of the locking knob (31) passes through the sliding platform (21) and extends into the locking block (32).

6. The device for grabbing paper articles according to claim 1, characterized in that: The lifting assembly (5) further comprises a support platform (54), a vertical guide frame (55), a first pulley (57), a second pulley (58), a limit slider (511) and a transmission belt (59); the mounting platform (41) is provided with a support platform (54) fixedly connected thereto, and the support platform (54) is provided with a vertical guide frame (55) fixedly connected thereto; the screw rod (52) is mounted at both ends of the vertical guide frame (55) through bearings, and a limit slot (510) is provided in the vertical guide frame (55); the lifting slider (5 3) A limiting slider (511) fixedly connected to the limiting slot (510) is provided at the end facing the limiting slot (510), and the limiting slider (511) is arranged in the limiting slot (510) and meshes with the thread on the screw rod (52); a driving motor (51) fixedly connected to the supporting platform (54) is provided, and a first pulley (57) is provided on the motor shaft of the driving motor (51); a second pulley (58) rotating synchronously with the screw rod (52) is provided at the end of the screw rod (52), and a transmission belt (59) is installed on the outer layer of the first pulley (57) and the second pulley (58).

7. The device for grabbing paper articles according to claim 6, characterized in that: The first pulley (57) and the second pulley (58) are arranged on the lower end surface of the supporting platform (54), and the mounting platform (41) is provided with a waist-shaped through hole (42) for making way; when the driving motor (51) is working, it drives the screw rod (52) to rotate, and when the screw rod (52) rotates, it drives the lifting slider (53) to move up and down.

8. The device for grabbing paper articles according to claim 1, characterized in that: The sliding assembly (4) also includes a guide rail (43), a rodless cylinder (44) and a connecting slider (45); the lower end surface of the fuselage frame (1) is provided with a pair of guide rails (43); the guide rails (43) are provided with a mounting platform (41) that can slide relative to the guide rails; the side of the guide rail (43) is provided with a rodless cylinder (44) arranged parallel to the guide rails; the outer layer of the cylinder body of the rodless cylinder (44) is sleeved with a connecting slider (45); the edge of the connecting slider (45) is fixedly connected to the mounting platform (41); when the rodless cylinder (44) is in operation, the connecting slider (45) is controlled to move axially relative to the rodless cylinder (44).

9. The device for grabbing paper articles according to claim 8, characterized in that: A buffer (9) is provided at the edge of the mounting platform (41); a limit baffle (10) is provided at the end of the fuselage frame (1) close to the guide track (43), and the buffer (9) is arranged toward the limit baffle (10); a spare station (11) is provided at the end of the fuselage frame (1) away from the limit mechanism (2), and the spare station (11) is arranged side by side and adjacent to the limit mechanism (2), and the spare station (11) is arranged at the end of the opening groove (14); a mechanical arm (12) for sucking up paper napkins is provided on the side of the fuselage frame (1), and a suction member (13) for sucking up paper napkins is provided at the end of the mechanical arm (12).

10. The device for grabbing paper articles according to claim 1, characterized in that: The limiting mechanism (2) comprises a sliding platform (21) and a plurality of limiting assemblies (22) arranged on the sliding platform (21), each of the limiting assemblies (22) being arranged perpendicular to each other; a positioning device (7) is arranged directly above the limiting assemblies (22), the positioning device (7) comprising a positioning cylinder (71), a mounting rod (72), a mounting plate (73) and an open shaft sleeve (74); the mounting rod (72) is fixedly mounted on the fuselage frame (1), and an open shaft sleeve (74) is arranged on the top of the mounting rod (72); the open shaft sleeve The open shaft sleeve (74) is sleeved and mounted on the mounting rod (72), and a fastener (75) is provided between the open shaft sleeve (74) and the mounting rod (72) to fix the two. The upper end surface of the open shaft sleeve (74) is provided with a mounting plate (73) fixedly connected thereto, and the mounting plate (73) is provided with a positioning cylinder (71) fixedly connected thereto, and a pressing member (76) is provided on the piston shaft of the positioning cylinder (71); when the piston shaft of the positioning cylinder (71) is extended, the pressing member (76) is arranged opposite to the paper in the limiting assembly (22).

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