A system and method for curling certificates

Abstract

This invention relates to the field of smart terminal technology, specifically providing a system and method for grasping curled certificates, including a module base, a certificate storage module, a certificate up / down module, a certificate left / right movement module, a certificate back / forward movement module, and a rubber roller. The module base is used to mount the certificate storage module, the certificate up / down module, the certificate left / right movement module, the certificate back / forward movement module, and the rubber roller. The certificate storage module moves up and down within the module base. The certificate up / down module moves up and down within the module base, driving the certificate up and down. The certificate left / right movement module moves left and right relative to the certificate up / down module, delivering the certificate grasped on the right side to the rubber roller side. The certificate back / forward movement module moves back and forth relative to the certificate left / right movement module, feeding the certificate into the rubber roller. Compared with existing technologies, this invention can solve the problems of certificate grasping and insertion, reduce the failure rate of terminal equipment, and increase market share and customer reputation.

Description

Technical Field

[0001] This invention relates to the field of smart terminal technology, specifically providing a system and method for capturing curled certificates. Background Technology

[0002] While smart terminal devices are becoming increasingly widespread and have achieved automated office operations in sectors like banking and government services, the issuance of certificates and other documents still requires manual processing. Terminal devices for these documents are not yet mature or fully functional, and are prone to malfunctions. This is especially true when grabbing certificates, feeding paper, and turning pages, as these actions are complex and influenced by numerous factors.

[0003] Firstly, there's the issue of certificate retrieval. To minimize page-flipping, certificates are often laid flat in the storage compartment. Due to the cover, the unfolded certificate isn't as flat as an A4 sheet of paper; it has a small bulge at the bottom. The more certificates there are, the more ridge-like it becomes, with the slope decreasing as the number of certificates decreases. This variation hinders certificate retrieval. Secondly, there's the influence of the environment. Certificates vary in condition depending on factors like temperature and humidity. In winter, the hall where terminals are located is often air-conditioned or heated, creating a dry environment where certificates tend to curl upwards at the edges. In summer, with higher humidity, certificates curl downwards. Therefore, if the device has poor certificate compatibility, it will affect the device's operation, causing certificates to become stuck and unable to be retrieved. Summary of the Invention

[0004] This invention addresses the shortcomings of the prior art by providing a highly practical system for capturing curled certificates.

[0005] A further technical objective of this invention is to provide a reasonably designed, safe, and applicable method for capturing curled certificates.

[0006] The technical solution adopted by this invention to solve its technical problem is:

[0007] A gripping system for curled certificates includes a module base, a certificate storage module, a certificate up-down module, a certificate left-right movement module, a certificate front-back movement module, and a rubber roller.

[0008] The module base is used to install the certificate storage module, the certificate up and down module, the certificate left and right movement module, the certificate front and back movement module, and the rubber roller;

[0009] The certificate storage module is used to move up and down on the module base;

[0010] The certificate upper and lower module is used to move up and down on the module base, thereby driving the certificate to move up and down;

[0011] The certificate left and right movement module is used to move left and right relative to the certificate up and down module to send the certificate grabbed on the right to the rubber roller side on the left.

[0012] The certificate forward and backward motion module is used to move back and forth relative to the certificate left and right motion module to feed the certificate into the rubber roller.

[0013] Furthermore, in the certificate left and right movement module and the original document front and back movement module, the center of the paper guide active rocker arm is connected to the base of the lever shaft, one end of the paper guide active rocker arm is connected to the spatial linkage, and the other end is the power source of the spatial linkage mechanism;

[0014] When the front and rear motion module moves forward, the paper guide main rocker shaft will contact one end of the paper guide main rocker, thereby pushing the paper guide main rocker to rotate. At this time, it will drive the spatial connecting rod. The other end of the spatial connecting rod is connected to the lever connecting rod pin. The other end of the lever connecting rod is fixed on the lever shaft. The lever shaft and the lever shaft base rotate relative to each other. The lever connecting rod is pushed by the spatial connecting rod, thereby driving the lever shaft to rotate. The lever piece fixed on the lever shaft rotates along with it.

[0015] The paper guide mechanism reset spring is connected between the lever shaft base and the paper guide main rocker arm, and works with the rocker arm limit post to automatically reset without external force.

[0016] Furthermore, in the certificate front and rear movement module, there is a certificate front and rear movement base, which is connected to the certificate left and right movement module base by belt transmission to achieve relative movement. The suction cup rocker arm is pin connected to the certificate front and rear movement base and rotates with each other. The adaptive rocker arm shaft is a rotating shaft, and the paper guide active rocker arm shaft is a power component used to push the paper guide mechanism. It has a linear bearing on the upper part.

[0017] An adaptive pendulum return spring is connected between the suction cup pendulum and the certificate's forward and backward moving base. It is used to reset the attitude of the suction cup pendulum, so that the certificate maintains a horizontal attitude after adsorption is completed.

[0018] Furthermore, after receiving the certificate printing command, the certificate storage module will rise, causing the stacked certificates inside to touch the certificate suction cup. After the certificate suction cup is activated, the certificate storage module will descend, lose its force, and the suction cup swing arm will return to a horizontal state under the action of the swing arm return spring.

[0019] Then, the certificate left-right movement module moves to the left, conveying the certificate to the front of the rubber roller. At this time, the certificate front-back movement module needs to move forward to place the certificate under the rubber roller. At this time, the guiding mechanism starts to play its role. When the module base moves forward to deliver the certificate, the paper guide main rocker shaft touches the paper guide main rocker, causing the paper guide main rocker to rotate along the central axis, and then drives the spatial connecting rod, and finally drives the levers on both sides of the lever shaft to rotate clockwise. The rotation process is simultaneous with the certificate front-back movement module's certificate delivery process, which will press the severely curled certificate under the rubber roller.

[0020] Furthermore, when the active side of the paper guide crank is parallel to the forward direction of the certificate front and rear moving base, the end of the lever also reaches the lowest position in front of the rubber roller. The certificate front and rear moving base continues to feed the certificate, while the lever's posture remains unchanged until the certificate front and rear moving base reaches the specified position. Then, the certificate front and rear moving module returns to its original position, and the paper guide mechanism is simultaneously reset under the action of the paper guide mechanism reset spring and the crank limit post, until the next certificate feeding action.

[0021] A method for gripping curled certificates: First, a certificate storage module, a certificate top-bottom module, a certificate left-right movement module, a certificate front-back movement module, and a rubber roller are installed on the module base.

[0022] The certificate storage module moves up and down on the module base;

[0023] The certificate upper and lower modules move up and down on the module base, causing the certificate to move up and down;

[0024] The certificate left and right movement module moves left and right relative to the certificate up and down module to send the certificate grabbed on the right to the rubber roller side on the left.

[0025] The certificate forward and backward movement module moves back and forth relative to the certificate left and right movement module to feed the certificate into the rubber roller.

[0026] Furthermore, in the certificate left and right movement module and the original document front and back movement module, the center of the paper guide active rocker arm is connected to the base of the lever shaft, one end of the paper guide active rocker arm is connected to the spatial linkage, and the other end is the power source of the spatial linkage mechanism;

[0027] When the front and rear motion module moves forward, the paper guide main rocker shaft will contact one end of the paper guide main rocker, thereby pushing the paper guide main rocker to rotate. At this time, it will drive the spatial connecting rod. The other end of the spatial connecting rod is connected to the lever connecting rod pin. The other end of the lever connecting rod is fixed on the lever shaft. The lever shaft and the lever shaft base rotate relative to each other. The lever connecting rod is pushed by the spatial connecting rod, thereby driving the lever shaft to rotate. The lever piece fixed on the lever shaft rotates along with it.

[0028] The paper guide mechanism reset spring is connected between the lever shaft base and the paper guide main rocker arm, and works with the rocker arm limit post to automatically reset without external force.

[0029] Furthermore, in the certificate front and rear movement module, there is a certificate front and rear movement base, which is connected to the certificate left and right movement module base by belt transmission to achieve relative movement. The suction cup rocker arm is pin connected to the certificate front and rear movement base and rotates with each other. The adaptive rocker arm shaft is a rotating shaft, and the paper guide active rocker arm shaft is a power component used to push the paper guide mechanism. It has a linear bearing on the upper part.

[0030] An adaptive pendulum return spring is connected between the suction cup pendulum and the certificate's forward and backward moving base. It is used to reset the attitude of the suction cup pendulum, so that the certificate maintains a horizontal attitude after adsorption is completed.

[0031] Furthermore, after receiving the certificate printing command, the certificate storage module will rise, causing the stacked certificates inside to touch the certificate suction cup. After the certificate suction cup is activated, the certificate storage module will descend, lose its force, and the suction cup swing arm will return to a horizontal state under the action of the swing arm return spring.

[0032] Then, the certificate left-right movement module moves to the left, conveying the certificate to the front of the rubber roller. At this time, the certificate front-back movement module needs to move forward to place the certificate under the rubber roller. At this time, the guiding mechanism starts to play its role. When the module base moves forward to deliver the certificate, the paper guide main rocker shaft touches the paper guide main rocker, causing the paper guide main rocker to rotate along the central axis, and then drives the spatial connecting rod, and finally drives the levers on both sides of the lever shaft to rotate clockwise. The rotation process is simultaneous with the certificate front-back movement module's certificate delivery process, which will press the severely curled certificate under the rubber roller.

[0033] Furthermore, when the active side of the paper guide crank is parallel to the forward direction of the certificate front and rear moving base, the end of the lever also reaches the lowest position in front of the rubber roller. The certificate front and rear moving base continues to feed the certificate, while the lever's posture remains unchanged until the certificate front and rear moving base reaches the specified position. Then, the certificate front and rear moving module returns to its original position, and the paper guide mechanism is simultaneously reset under the action of the paper guide mechanism reset spring and the crank limit post, until the next certificate feeding action.

[0034] Compared with the prior art, the system and method for capturing curled certificates of the present invention have the following outstanding advantages:

[0035] This invention solves the problems of certificate capture and entry, reduces the failure rate of terminal equipment, saves costs, and increases market share and customer reputation. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Appendix Figure 1 This is a schematic diagram of a system for capturing curled certificates;

[0038] Appendix Figure 2 This is a detailed diagram of the certificate gripping and spatial linkage paper guiding mechanism in a gripping system for curled certificates;

[0039] Appendix Figure 3 This is a certificate grasping and stress analysis diagram in a certificate grasping system for curled certificates;

[0040] Appendix Figure 4 This is a motion diagram of a spatial linkage paper guide mechanism in a gripping system for curled certificates.

[0041] The markings in the attached diagram represent:

[0042] a. Module base, b. Certificate storage module, c. Certificate up and down module, d. Certificate left and right movement module, e. Certificate front and back movement module, f. Rubber roller;

[0043] d0, Certificate left and right movement module base; d1-e, Module movement motor; d2, Paper guide main rocker arm; d3, Rocker arm limit post; d4, Spatial link; d5, Toggle link link; d6, Toggle shaft; d7, Toggle shaft base; d8, Toggle arm; d9, Toggle wheel; d10, Paper guide mechanism reset tension spring.

[0044] e0, Certificate front and rear moving base; e1, Paper guide active rocker shaft; e2, Adaptive rocker return spring; e3, Suction cup rocker; e4, Certificate adsorption suction cup; e5, Adaptive rocker shaft. Detailed Implementation

[0045] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] The following is a preferred embodiment:

[0047] like Figure 1-4As shown, a gripping system for curled certificates in this embodiment includes a module base a, a certificate storage module b, a certificate up-down module c, a certificate left-right movement module d, a certificate front-back movement module e, and a rubber roller f.

[0048] Among them, module base a is used to install certificate storage module b, certificate up and down module c, certificate left and right movement module d, certificate front and back movement module e, and rubber roller f;

[0049] Module b is used to move up and down on module base a;

[0050] The certificate module c is used to move up and down on the module base a, thereby moving the certificate up and down.

[0051] The certificate left and right movement module d is used to move left and right relative to the certificate up and down module c, so as to send the certificate grabbed on the right side to the rubber roller f side on the left side;

[0052] The certificate forward and backward motion module e is used to move forward and backward relative to the certificate left and right motion module d to feed the certificate into the rubber roller f.

[0053] The certificate storage module b rises and, upon reaching the designated position, the suction cups adsorb and pick up the certificate. Then, the certificate up-down module c rises, the certificate left-right movement module d moves to the left, and the certificate reaches the front of the rubber roller f. The certificate back-to-back movement module e moves forward to send the certificate into the rubber roller f.

[0054] In the left and right movement module d of the certificate and the front and back movement module e of the original, the center of the rocker arm of the paper guide active rocker arm d2 is connected to the base of the lever shaft d7. One end of the paper guide active rocker arm d2 is connected to the spatial link d4, and the other end is the power source of the spatial link mechanism.

[0055] When the front and rear motion module e moves forward, the paper guide main rocker shaft e1 will contact one end of the paper guide main rocker d2, thereby pushing the paper guide main rocker d2 to rotate. At this time, it will drive the spatial connecting rod d4. The other end of the spatial connecting rod d2 is pin-connected to the lever connecting rod d5. The other end of the lever connecting rod d5 is fixed on the lever shaft d6. The lever shaft d6 rotates relative to the lever shaft base d7. The lever connecting rod d5 is pushed by the spatial connecting rod d4, thereby driving the lever shaft d6 to rotate. The lever d8 fixed on the lever shaft d4 also rotates.

[0056] The paper guide mechanism reset spring d10 is connected between the lever shaft base d7 and the paper guide active rocker d2, and works with the rocker limit post d3 to automatically reset without external force.

[0057] The front and rear motion module e of the certificate includes a front and rear motion base e0, which moves relative to the left and right motion module base d0 of the certificate via belt transmission. d1 is the power motor for belt transmission. The suction cup rocker arm e3 is pin-connected to the front and rear motion base e0 of the certificate and rotates with each other. e5 is a rotating shaft. The paper guide main rocker arm shaft e1 is a power component used to push the paper guide mechanism. It has a linear bearing to reduce the sliding friction between it and the paper guide main rocker arm d2.

[0058] The adaptive swing arm return spring e2 is connected between the suction cup swing arm e3 and the certificate front and rear moving base e0, and is used for the attitude reset of the suction cup swing arm e3, so that the certificate maintains a horizontal attitude after adsorption is completed.

[0059] After receiving the certificate printing command, the certificate storage module b will rise, causing the stacked certificates inside to touch the certificate suction cup e4. Since the stacked certificates are not horizontal, but the slope on both sides increases with the number of certificates, the vertical suction cup with completely fixed transmission will cause uneven suction. The suction cup near the middle of the certificate will have a larger compression, while the suction cup near the outer edge of the certificate will have no compression at all. This will cause the paper guiding and certificate suction to fail. Therefore, the designed swing arm structure is used to ensure that the posture of the two suction cups is consistent with the posture of the certificate before the suction cups are compressed and suctioned.

[0060] Although it can ensure contact between the suction cup and the certificate, the actual force and compression on the two suction cups are different. According to the force analysis, F1 / F2=S2 / S1. The ratio of the torques is related to whether the forces on the two sides are balanced. In order to reduce the difference in torques on the two sides, the shaft is selected as low as possible to ensure the balance of compression.

[0061] After the certificate adsorption suction cup e4 is completed, the certificate storage module b will descend and lose its force, and the suction cup swing arm e3 will return to a horizontal state under the action of the swing arm return spring e2.

[0062] Then, the certificate left-right movement module d moves to the left, conveying the certificate to the front of the rubber roller f. At this time, the certificate front-back movement module e needs to move forward to place the certificate under the rubber roller f. At this time, the guiding mechanism starts to play its role. When the module base e0 feeds the certificate forward, the paper guide main rocker shaft e1 touches the paper guide main rocker d2, causing the paper guide main rocker d2 to rotate along the central axis, and then drive the spatial connecting rod d4, and finally drive the levers d8 on both sides of the lever shaft d6 to rotate clockwise. The rotation process is simultaneous with the certificate feeding process of the certificate front-back movement module e0, which will press the severely curled certificate under the rubber roller f.

[0063] When the active side of the paper guide rocker d2 is parallel to the forward direction of the certificate front and rear motion base e0, the end of the lever d8 also reaches the lowest position in front of the rubber roller f. The certificate front and rear motion base e0 continues to feed the certificate, while the posture of the lever d8 remains unchanged until the certificate front and rear motion base e0 reaches the specified position. Then, the certificate front and rear motion module e returns to its original position, and the paper guide mechanism is also reset under the action of the paper guide mechanism reset spring d10 and the rocker limit post d3 until the next certificate feeding action.

[0064] Based on the above system, in this embodiment, a method for grasping curled certificates is as follows: First, a certificate storage module b, a certificate up-down module c, a certificate left-right movement module d, a certificate front-back movement module e, and a rubber roller f are installed on the module base a.

[0065] Among them, the securities storage module b moves up and down on the module base a;

[0066] The upper and lower modules c of the certificate move up and down on the module base a, which in turn causes the certificate to move up and down.

[0067] The certificate left and right movement module d moves left and right relative to the certificate up and down module c, sending the certificate grabbed on the right to the rubber roller f on the left.

[0068] The certificate forward and backward motion module e moves back and forth relative to the certificate left and right motion module d, feeding the certificate into the rubber roller f.

[0069] The certificate storage module b rises and, upon reaching the designated position, the suction cups adsorb and pick up the certificate. Then, the certificate up-down module c rises, the certificate left-right movement module d moves to the left, and the certificate reaches the front of the rubber roller f. The certificate back-to-back movement module e moves forward to send the certificate into the rubber roller f.

[0070] In the left and right movement module d of the certificate and the front and back movement module e of the original, the center of the rocker arm of the paper guide active rocker arm d2 is connected to the base of the lever shaft d7. One end of the paper guide active rocker arm d2 is connected to the spatial link d4, and the other end is the power source of the spatial link mechanism.

[0071] When the front and rear motion module e moves forward, the paper guide main rocker shaft e1 will contact one end of the paper guide main rocker d2, thereby pushing the paper guide main rocker d2 to rotate. At this time, it will drive the spatial connecting rod d4. The other end of the spatial connecting rod d2 is pin-connected to the lever connecting rod d5. The other end of the lever connecting rod d5 is fixed on the lever shaft d6. The lever shaft d6 rotates relative to the lever shaft base d7. The lever connecting rod d5 is pushed by the spatial connecting rod d4, thereby driving the lever shaft d6 to rotate. The lever d8 fixed on the lever shaft d4 also rotates.

[0072] The paper guide mechanism reset spring d10 is connected between the lever shaft base d7 and the paper guide active rocker d2, and works with the rocker limit post d3 to automatically reset without external force.

[0073] The front and rear motion module e of the certificate includes a front and rear motion base e0, which moves relative to the left and right motion module base d0 of the certificate via belt transmission. d1 is the power motor for belt transmission. The suction cup rocker arm e3 is pin-connected to the front and rear motion base e0 of the certificate and rotates with each other. e5 is a rotating shaft. The paper guide main rocker arm shaft e1 is a power component used to push the paper guide mechanism. It has a linear bearing to reduce the sliding friction between it and the paper guide main rocker arm d2.

[0074] The adaptive swing arm return spring e2 is connected between the suction cup swing arm e3 and the certificate front and rear moving base e0, and is used for the attitude reset of the suction cup swing arm e3, so that the certificate maintains a horizontal attitude after adsorption is completed.

[0075] After receiving the certificate printing command, the certificate storage module b will rise, causing the stacked certificates inside to touch the certificate suction cup e4. Since the stacked certificates are not horizontal, but the slope on both sides increases with the number of certificates, the vertical suction cup with completely fixed transmission will cause uneven suction. The suction cup near the middle of the certificate will have a larger compression, while the suction cup near the outer edge of the certificate will have no compression at all. This will cause the paper guiding and certificate suction to fail. Therefore, the designed swing arm structure is used to ensure that the posture of the two suction cups is consistent with the posture of the certificate before the suction cups are compressed and suctioned.

[0076] Although it can ensure contact between the suction cup and the certificate, the actual force and compression on the two suction cups are different. According to the force analysis, F1 / F2=S2 / S1. The ratio of the torques is related to whether the forces on the two sides are balanced. In order to reduce the difference in torques on the two sides, the shaft is selected as low as possible to ensure the balance of compression.

[0077] After the certificate adsorption suction cup e4 is completed, the certificate storage module b will descend and lose its force, and the suction cup swing arm e3 will return to a horizontal state under the action of the swing arm return spring e2.

[0078] Then, the certificate left-right movement module d moves to the left, conveying the certificate to the front of the rubber roller f. At this time, the certificate front-back movement module e needs to move forward to place the certificate under the rubber roller f. At this time, the guiding mechanism starts to play its role. When the module base e0 feeds the certificate forward, the paper guide main rocker shaft e1 touches the paper guide main rocker d2, causing the paper guide main rocker d2 to rotate along the central axis, and then drive the spatial connecting rod d4, and finally drive the levers d8 on both sides of the lever shaft d6 to rotate clockwise. The rotation process is simultaneous with the certificate feeding process of the certificate front-back movement module e0, which will press the severely curled certificate under the rubber roller f.

[0079] When the active side of the paper guide rocker d2 is parallel to the forward direction of the certificate front and rear motion base e0, the end of the lever d8 also reaches the lowest position in front of the rubber roller f. The certificate front and rear motion base e0 continues to feed the certificate, while the posture of the lever d8 remains unchanged until the certificate front and rear motion base e0 reaches the specified position. Then, the certificate front and rear motion module e returns to its original position, and the paper guide mechanism is also reset under the action of the paper guide mechanism reset spring d10 and the rocker limit post d3 until the next certificate feeding action.

[0080] The specific embodiments described above are merely specific examples of the present invention. The patent protection scope of the present invention includes, but is not limited to, the specific embodiments described above. Any technical solution that conforms to the technical claims of the present invention and any appropriate changes or substitutions made by a person skilled in the art should fall within the patent protection scope of the present invention.

[0081] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A system for capturing curled certificates, characterized in that, Includes a module base, a certificate storage module, a certificate upper and lower module, a certificate left and right movement module, a certificate front and back movement module, and a rubber roller; The module base is used to install the certificate storage module, the certificate up and down module, the certificate left and right movement module, the certificate front and back movement module, and the rubber roller; The certificate storage module is used to move up and down on the module base; The certificate upper and lower module is used to move up and down on the module base, thereby driving the certificate to move up and down; The certificate left and right movement module is used to move left and right relative to the certificate up and down module to send the certificate grabbed on the right to the rubber roller side on the left. The certificate forward and backward motion module is used to move forward and backward relative to the certificate left and right motion module to feed the certificate into the rubber roller. In the left and right movement module of the certificate and the front and back movement module of the original, the center of the rocker arm of the paper guide active rocker arm is connected to the base of the lever shaft. One end of the paper guide active rocker arm is connected to the spatial linkage, and the other end is the power source of the spatial linkage mechanism. When the front and rear motion module moves forward, the paper guide main rocker shaft will contact one end of the paper guide main rocker, thereby pushing the paper guide main rocker to rotate. At this time, it will drive the spatial connecting rod. The other end of the spatial connecting rod is connected to the lever connecting rod pin. The other end of the lever connecting rod is fixed on the lever shaft. The lever shaft and the lever shaft base rotate relative to each other. The lever connecting rod is pushed by the spatial connecting rod, thereby driving the lever shaft to rotate. The lever piece fixed on the lever shaft rotates along with it. The paper guide mechanism reset spring is connected between the lever shaft base and the paper guide main rocker arm, and works with the rocker arm limit post to automatically reset without external force. The front and rear motion module of the certificate includes a front and rear motion base of the certificate, which is connected to the left and right motion module base of the certificate by belt transmission to achieve relative motion. The suction cup rocker arm is pin connected to the front and rear motion base of the certificate and rotates with each other. The adaptive rocker arm shaft is a rotating shaft. The paper guide active rocker arm shaft is a power component used to push the paper guide mechanism and has a linear bearing on the upper part. An adaptive pendulum return spring is connected between the suction cup pendulum and the certificate's forward and backward moving base. It is used to reset the attitude of the suction cup pendulum, so that the certificate maintains a horizontal attitude after adsorption is completed.

2. The system for capturing curled certificates according to claim 1, characterized in that, After receiving the certificate printing command, the certificate storage module will rise, causing the stacked certificates inside to touch the certificate suction cup. After the certificate suction cup is activated, the certificate storage module will descend, lose its load, and the suction cup swing arm will return to a horizontal state under the action of the swing arm return spring. Then, the certificate left-right movement module moves to the left, conveying the certificate to the front of the rubber roller. At this time, the certificate front-back movement module needs to move forward to place the certificate under the rubber roller. At this time, the guiding mechanism starts to play its role. When the module base moves forward to deliver the certificate, the paper guide main rocker shaft touches the paper guide main rocker, causing the paper guide main rocker to rotate along the central axis, and then drives the spatial connecting rod, and finally drives the levers on both sides of the lever shaft to rotate clockwise. The rotation process is simultaneous with the certificate front-back movement module's certificate delivery process, which will press the severely curled certificate under the rubber roller.

3. The system for capturing curled certificates according to claim 2, characterized in that, When the active side of the paper guide crank is parallel to the forward direction of the certificate front and rear moving base, the end of the lever also reaches the lowest position in front of the rubber roller. The certificate front and rear moving base continues to feed the certificate, while the lever's posture remains unchanged until the certificate front and rear moving base reaches the specified position. Then, the certificate front and rear moving module returns to its original position, and the paper guide mechanism is simultaneously reset under the action of the paper guide mechanism reset spring and the crank limit post, until the next certificate feeding action.

4. A method for capturing curled certificates, characterized in that, First, the certificate storage module, certificate up and down module, certificate left and right movement module, certificate front and back movement module, and rubber roller are installed on the module base; The certificate storage module moves up and down on the module base; The certificate upper and lower modules move up and down on the module base, causing the certificate to move up and down; The certificate left and right movement module moves left and right relative to the certificate up and down module to send the certificate grabbed on the right to the rubber roller side on the left. The certificate forward and backward movement module moves forward and backward relative to the certificate left and right movement module to feed the certificate into the rubber roller; In the left and right movement module of the certificate and the front and back movement module of the original, the center of the rocker arm of the paper guide active rocker arm is connected to the base of the lever shaft. One end of the paper guide active rocker arm is connected to the spatial linkage, and the other end is the power source of the spatial linkage mechanism. When the front and rear motion module moves forward, the paper guide main rocker shaft will contact one end of the paper guide main rocker, thereby pushing the paper guide main rocker to rotate. At this time, it will drive the spatial connecting rod. The other end of the spatial connecting rod is connected to the lever connecting rod pin. The other end of the lever connecting rod is fixed on the lever shaft. The lever shaft and the lever shaft base rotate relative to each other. The lever connecting rod is pushed by the spatial connecting rod, thereby driving the lever shaft to rotate. The lever piece fixed on the lever shaft rotates along with it. The paper guide mechanism reset spring is connected between the lever shaft base and the paper guide main rocker arm, and works with the rocker arm limit post to automatically reset without external force. The front and rear motion module of the certificate includes a front and rear motion base of the certificate, which is connected to the left and right motion module base of the certificate by belt transmission to achieve relative motion. The suction cup rocker arm is pin connected to the front and rear motion base of the certificate and rotates with each other. The adaptive rocker arm shaft is a rotating shaft. The paper guide active rocker arm shaft is a power component used to push the paper guide mechanism and has a linear bearing on the upper part. An adaptive pendulum return spring is connected between the suction cup pendulum and the certificate's forward and backward moving base. It is used to reset the attitude of the suction cup pendulum, so that the certificate maintains a horizontal attitude after adsorption is completed.

5. The method for capturing curled certificates according to claim 4, characterized in that, After receiving the certificate printing command, the certificate storage module will rise, causing the stacked certificates inside to touch the certificate suction cup. After the certificate suction cup is activated, the certificate storage module will descend, lose its load, and the suction cup swing arm will return to a horizontal state under the action of the swing arm return spring. Then, the certificate left-right movement module moves to the left, conveying the certificate to the front of the rubber roller. At this time, the certificate front-back movement module needs to move forward to place the certificate under the rubber roller. At this time, the guiding mechanism starts to play its role. When the module base moves forward to deliver the certificate, the paper guide main rocker shaft touches the paper guide main rocker, causing the paper guide main rocker to rotate along the central axis, and then drives the spatial connecting rod, and finally drives the levers on both sides of the lever shaft to rotate clockwise. The rotation process is simultaneous with the certificate front-back movement module's certificate delivery process, which will press the severely curled certificate under the rubber roller.

6. The method for capturing curled certificates according to claim 5, characterized in that, When the active side of the paper guide crank is parallel to the forward direction of the certificate front and rear moving base, the end of the lever also reaches the lowest position in front of the rubber roller. The certificate front and rear moving base continues to feed the certificate, while the lever's posture remains unchanged until the certificate front and rear moving base reaches the specified position. Then, the certificate front and rear moving module returns to its original position, and the paper guide mechanism is simultaneously reset under the action of the paper guide mechanism reset spring and the crank limit post, until the next certificate feeding action.

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