Paper lifting equipment that is easy for the robot to grab

Abstract

The present invention belongs to the technical field of mechanical equipment for printing banknotes, and in particular, is a paper lifting device that is convenient for a manipulator to grab. It includes a lifting mechanism, a paper rubbing part and a paper lifting part. The relative positions of the paper rubbing part and the paper lifting part are fixed. The lifting mechanism drives the paper rubbing part and the paper lifting part to rise and fall. The paper rubbing part includes a paper rubbing mechanism and a propulsion mechanism. The working surface of the paper rubbing mechanism is arranged longitudinally. The paper rubbing mechanism is connected to the propulsion mechanism, and the propulsion mechanism drives the paper rubbing mechanism to move horizontally. The paper lifting part is arranged below the paper rubbing mechanism, and the paper lifting part can extend to the bottom of the rubbed paper. It can replace manual work to realize the automation of grabbing large sheets of banknote paper, and can be applied to banknote production links such as paper stacking and paper counting, effectively reducing labor intensity and improving production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical equipment for printing banknotes, in particular to a paper picking device which is convenient for a robot to grab. Background Art

[0002] In the banknote printing workshop, especially in the many processes of large-sheet banknote production, it is often necessary to move a certain amount of paper, such as the paper stacking process before printing, the paper counting process, etc., all of which require a certain amount of paper to be moved to the workbench or paper counting machine. At present, the moving work needs to be done manually by operators, which is heavy and labor-intensive, affecting production efficiency. Since banknote printing paper is a special paper, it is thinner, has higher strength and toughness, and is more expensive. However, when using a manipulator, the manipulator needs to be able to accurately grab the paper. Once there is a misalignment, it will cause paper damage. There is an urgent need for a grabbing auxiliary device to reduce the damage caused by misalignment when the manipulator grabs the paper. Summary of the invention

[0003] The present invention provides a paper lifting device which is convenient for a robot to grab, and can assist the robot to conveniently grab the paper on a paper pile, thereby reducing paper waste.

[0004] The present invention solves the technical problem through the following technical solutions:

[0005] A paper lifting device that is convenient for a robot to grab, comprises a lifting mechanism, a paper rubbing part and a paper lifting part, wherein the relative positions of the paper rubbing part and the paper lifting part are fixed, and the lifting mechanism drives the paper rubbing part and the paper lifting part to rise and fall, and the paper rubbing part comprises a paper rubbing mechanism and a propulsion mechanism, wherein the working surface of the paper rubbing mechanism is arranged longitudinally, the paper rubbing mechanism is connected to the propulsion mechanism, and the propulsion mechanism drives the paper rubbing mechanism to move laterally; the paper lifting part is arranged below the paper rubbing mechanism, and the paper lifting part can extend below the rubbed paper.

[0006] The above-mentioned paper lifting device that is easy for a robot to grab, the paper rubbing mechanism includes a longitudinally arranged rubbing paper board and a lifting mechanism, the working surface of the rubbing paper board is attached with a silicone layer, the rubbing paper board is connected to the lifting mechanism, the lifting mechanism drives the rubbing paper board to rise and fall, and the propulsion mechanism is connected to the shell of the lifting mechanism.

[0007] The above-mentioned paper lifting device that is easy for a robot to grab, the paper lifting part includes a plug plate and a paper inserting drive, the working end of the plug plate is located below the working surface of the paper picking mechanism, the driving end of the plug plate is connected to the paper inserting drive, and the paper inserting drive drives the plug plate to move horizontally.

[0008] The above-mentioned paper lifting device which is convenient for a robot to grab, has a connecting seat between the inserting plate and the paper inserting drive, and paper lifting boards are symmetrically provided on both sides of the connecting seat.

[0009] The above-mentioned paper lifting device that is easy for a robot to grab, the lifting paper board includes a lifting paper board and a telescopic cylinder, the telescopic cylinder drives the two lifting paper boards to perform telescopic movement toward the connecting seat; the working side of the lifting paper board is on the same side as the plug board.

[0010] The above-mentioned paper lifting device that is convenient for a robot to grasp has a wedge-shaped cross section along the AA direction of the paper lifting paper, and a wedge-shaped cross section along the BB direction of the paper lifting paper.

[0011] Compared with the prior art, the paper picking mechanism in the present invention can gradually pick up the paper on the paper stack, and then insert the paper inserting board into the middle of the right side of the paper, and then the lifting board enters the front and rear ends of the right side of the paper above the paper inserting board, thereby lifting the right side of the paper, thereby providing space for the robot arm to grab from the front and back sides of the paper. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the working state of the present invention;

[0013] Figure 2 is a top view of the present invention;

[0014] Figure 3 It is a structural schematic diagram of the paper lifting board of the present invention;

[0015] Figure 4 yes Figure 3 A schematic diagram of the structure of the present invention in the AA direction;

[0016] Figure 5 yes Figure 4 A schematic structural diagram of the present invention along the BB direction;

[0017] The symbols in the attached drawings indicate: 1. lifting mechanism, 2. paper lifting part, 3. paper rubbing mechanism, 4. pushing mechanism, 5. rubbing paper board, 6. lifting mechanism, 7. silicone layer, 8. plug board, 9. paper plugging drive, 10. connecting seat, 11. paper lifting board, 12. telescopic cylinder, 13. paper stack. DETAILED DESCRIPTION

[0018] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention.

[0019] See attached Figure 1 To Attachment Figure 5The present invention includes a lifting mechanism 1, a paper rubbing part and a paper lifting part 2. The relative positions of the paper rubbing part and the paper lifting part 2 are fixed. The lifting mechanism 1 drives the paper rubbing part and the paper lifting part 2 to rise and fall. The paper rubbing part includes a paper rubbing mechanism 3 and a propulsion mechanism 4. The working surface of the paper rubbing mechanism 3 is arranged longitudinally. The paper rubbing mechanism 3 is connected to the propulsion mechanism 4. The propulsion mechanism 4 drives the paper rubbing mechanism 3 to move horizontally. The paper lifting part 2 is arranged below the paper rubbing mechanism 3, and the paper lifting part can extend to the bottom of the rubbed paper. When in use, the present invention is installed to the working position of the manipulator, and then the paper stack 13 is pushed to the working position. Through the above arrangement, the propulsion mechanism 4 pushes the paper rubbing mechanism 3 horizontally, and the paper rubbing mechanism 3 can be attached to the side of the paper stack 13, and then the longitudinal edges of a certain number of papers are rubbed upwards. Then the paper lifting part extends to the bottom of the rubbed paper and lifts one side of the paper longitudinally, so that the manipulator can extend to the bottom of the two sides of the paper transversely for easy grasping. After the robot grabs the paper on the upper layer, the lifting mechanism can drive the paper picking part and the paper lifting part to descend to a certain height to match the paper picking part and the paper lifting part to pick up the paper on the next layer.

[0020] In order to facilitate the paper picking mechanism 3 to pick up the edge of the paper smoothly, the paper picking mechanism 3 includes a longitudinally arranged pick-up board 5 and a lifting mechanism 6. The working surface of the pick-up board 5 is attached with a silicone layer 7. The pick-up board 5 is connected to the lifting mechanism 6. The lifting mechanism 6 drives the pick-up board 5 to rise and fall. The pushing mechanism 4 is connected to the shell of the lifting mechanism 6. When the pushing mechanism 4 pushes the working surface of the pick-up board 5 to be close to the middle position of the right side of the paper stack 13, the lifting mechanism 6 then drives the pick-up board 5 to move upward, so that the middle part of the right edge of a certain number of papers is tilted upward, so that the paper lifting part extends under the right side edge of the tilted paper.

[0021] The paper lifting part includes a plugging plate 8 and a paper inserting drive 9. The working end of the plugging plate 8 is located below the working surface of the paper picking mechanism 3. The driving end of the plugging plate 8 is connected to the paper inserting drive 9. The paper inserting drive 9 drives the plugging plate 8 to move horizontally. After the paper picking board 5 picks up the right side of a certain amount of paper, the paper inserting drive 9 can drive the plugging plate 8 to move leftward, so as to insert the plugging plate 8 to the middle part below the picked up paper.

[0022] A connection seat 10 is provided between the inserting plate 8 and the paper inserting drive 9, and lifting boards are symmetrically provided on both sides of the connection seat 10. Since the strength of the banknote paper is relatively large, when the inserting plate 8 is inserted to the middle part below the paper, the right front end and the right rear end of the paper above the inserting plate 8 will also leave the paper below the inserting plate 8, and then the lifting board will move to the bottom of the lifted paper, thereby lifting the right side of the entire paper.

[0023] The lifting paper board includes a lifting paper board 11 and a telescopic cylinder 12. The telescopic cylinder 12 drives the two lifting paper boards 11 to perform longitudinal telescopic movement toward the connecting seat 10; the working side of the lifting paper board 11 is on the same side as the plug board 8. Under normal conditions, the cylinder rod is extended, and the spacing between the lifting paper boards 11 exceeds the longitudinal dimension of the paper. When the plug board 8 is inserted under the lifted paper, the telescopic cylinder 12 is retracted, and the two lifting paper boards 11 are extended to the right front end and the right rear end under the paper, so that the right side of the paper is completely lifted, so that the paper on the two lifting paper boards 11 is guaranteed to be the same, preventing the robot from grabbing at different layers, and avoiding paper damage caused by the robot grabbing.

[0024] See attached Figure 2 To Attachment Figure 4 In order to facilitate the insertion of the lifting paper board 11 between the sheets of paper, the AA-direction cross section of the lifting paper board 11 is wedge-shaped, and the BB-direction cross section of the lifting paper board 11 is wedge-shaped. When the end of the lifting paper board 11 with a smaller thickness is inserted between the sheets of paper, and then with the advancement of the telescopic cylinder 12, the thicker end of the lifting paper board 11 is inserted between the sheets of paper, so that the gap between the sheets of paper is increased, which makes it easier for the robot to grab. Preferably, the thickness of the lifting paper board 11 matches the thickness of the inserting paper board and the robot, so that when the robot grabs, the right side of the sheet of paper is lifted to the same height, which makes it easier for the robot to grab the sheet of paper and the same size, which helps to improve the accuracy of the robot grabbing. The high accuracy of the robot grabbing also improves the accuracy of the robot's material placement.

[0025] During operation, the manipulator grabs the paper on the paper stack layer by layer from the front and back ends of the paper stack, pushes the paper stack to the working position first, and the pushing mechanism drives the rubbing cardboard close to the right side of the paper on the upper layer of the paper stack, and then the lifting mechanism drives the rubbing cardboard to rise. Under the action of friction, the right side of the paper on the upper layer of the paper stack is rubbed up, and then the inserting cardboard is inserted under the rubbed paper. Since the inserting cardboard has a certain thickness, the paper above the inserting cardboard is pried up. However, under the action of gravity, the front and back ends of the right side of the pried up banknote paper will sag. In order to prevent the manipulator from reaching under the pried up paper, after the inserting card is inserted, the lifting cardboard extends from the front and back sides of the paper to the bottom of the pried up paper. Since the lifting cardboard is wedge-shaped, the working end of the lifting cardboard is very thin and can be inserted into the front and back ends of the paper close to the inserting cardboard. Then the lifting cardboard continues to be inserted under the paper until the thicker side of the lifting cardboard lifts the front and back ends of the right side of the paper, ensuring that the two ends of the paper close to the inserting cardboard are lifted to prevent misalignment. At the same time, the middle parts of the front and rear sides of the paper above the inserting paper board can be further lifted, thereby providing sufficient grasping space for the robot arm and reducing the damage to the paper caused by the grasping of the robot arm.

[0026] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A paper picking device that is convenient for a robot to grab, characterized in that: The invention comprises a lifting mechanism (1), a paper picking portion and a paper lifting portion (2), wherein the relative positions of the paper picking portion and the paper lifting portion (2) are fixed, and the lifting mechanism (1) drives the paper picking portion and the paper lifting portion (2) to rise and fall, and the paper picking portion comprises a paper picking mechanism (3) and a propulsion mechanism (4), and the working surface of the paper picking mechanism (3) is arranged longitudinally, and the paper picking mechanism (3) is connected to the propulsion mechanism (4), and the propulsion mechanism (4) drives the paper picking mechanism (3) to move transversely; the paper lifting portion (2) is arranged below the paper picking mechanism (3), and the paper lifting portion (2) can extend below the paper picked up; A paper picking section is also provided, the paper picking section comprising a plugging plate (8) and a paper inserting drive (9), the working end of the plugging plate (8) being located below the working surface of the paper picking mechanism (3), the driving end of the plugging plate (8) being connected to the paper inserting drive (9), and the paper inserting drive (9) driving the plugging plate (8) to move horizontally; A connecting seat (10) is provided between the inserting plate (8) and the paper inserting drive (9), and paper lifting parts are symmetrically provided on both sides of the connecting seat (10); The paper lifting part comprises a paper lifting board (11) and a telescopic cylinder (12), wherein the telescopic cylinder (12) drives the two paper lifting boards (11) to perform telescopic movement toward the connecting seat (10); the working side of the paper lifting board (11) is on the same side as the plug board (8).

2. The paper lifting device for facilitating robot gripping as claimed in claim 1, characterized in that: The paper rubbing mechanism (3) comprises a longitudinally arranged rubbing paper board (5) and a lifting mechanism (6); a working surface of the rubbing paper board (5) is provided with a silicone layer (7); the rubbing paper board (5) is connected to the lifting mechanism (6); the lifting mechanism (6) drives the rubbing paper board (5) to rise and fall; and the propulsion mechanism (4) is connected to a shell of the lifting mechanism (6).

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