Precise grabbing, pushing and fine-tuning mechanism and method suitable for paper financial products

Abstract

The invention discloses a precise grabbing, pushing and fine-tuning mechanism and method suitable for paper financial products, the precise grabbing, pushing and fine-tuning mechanism is matched with a plane paper rotating mechanism to achieve feeding and edge cutting of the paper financial products, and the precise grabbing, pushing and fine-tuning mechanism comprises a fine-tuning pushing paw mechanism and a mechanism frame; a linear transmission mechanism and a transmission mechanism guide rail are installed on the mechanism frame in parallel, one end of the fine-tuning pushing gripper mechanism is connected with the transmission mechanism guide rail, and the other end is connected with the linear transmission mechanism. Financial paper products are pushed forwards through advancing of the transmission mechanism and pushing of the clamping paws, the financial paper products are clamped and returned through advancing of the transmission mechanism and clamping of the clamping paws, and in addition, due to the characteristic of printing deformation of the financial paper products, the financial paper products are pushed and returned, and meanwhile the financial paper products are pushed and returned. And the pushing angle of the product can be finely adjusted through the fine adjustment pushing mechanism, and preparation is made for follow-up side edge cutting work.

Description

Technical Field

[0001] The present invention relates to the technical field of large-sheet flat paper conveying, and in particular to a precise grabbing, pushing and fine-tuning mechanism and method suitable for paper financial products. Background Art

[0002] The existing paper financial product printing industry adopts a "one-to-two" production method, that is, one cutting line matches two quality inspection and sorting machines. Although it can meet the needs of production technology, it has the problem of inflexible layout for manufacturers with small sites and limited locations.

[0003] In the field of paper financial products, since banknotes have cutting edges on the four sides, the waste edges need to be cut off by knife box cutting. The original trimming mechanism is a three-side knife box mechanism, which occupies a large area and is costly. The new "one-to-one" cutting line combines the side cutting and long strip cutting knife boxes into one. Since the product needs to be cut on both sides, a mechanism that can grab and pull back the paper is needed. Based on the particularity of financial products, the two sides are micro-trapezoidal after printing, and the paper financial products need to be moved back and forth for transportation when the waste edges on both sides are cut, as shown in patent CN103057998B "Long Strip Financial Product Conveying Device". This patent provides a conveying device for long strip financial products, which belongs to the field of paper financial product cutting and packaging production, but cannot meet the above requirements. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a precision grabbing, pushing and fine-tuning mechanism and method suitable for paper financial products, which can push paper financial products forward and grab them backward, and at the same time perform fine-tuning according to the shape of the paper financial products to prepare for subsequent side cutting work.

[0005] The present invention provides a precision grabbing, pushing and fine-tuning mechanism suitable for paper financial products. The precision grabbing, pushing and fine-tuning mechanism cooperates with a plane paper rotating mechanism to realize the feeding and trimming of paper financial products. The precision grabbing, pushing and fine-tuning mechanism comprises: a fine-tuning and pushing claw mechanism and a mechanism frame. A linear transmission mechanism and a transmission mechanism guide rail are installed in parallel on the mechanism frame. One end of the fine-tuning and pushing claw mechanism is connected to the transmission mechanism guide rail, and the other end is connected to the linear transmission mechanism. The fine-tuning and pushing claw mechanism comprises: a fine-tuning and pushing mechanism and a clamping and pushing claw. A group of two fine-tuning guide rail sliders are installed at each end of the fine-tuning and pushing mechanism. A fine-tuning welding frame and a set of servo fine-tuning electric cylinders are installed on each group of fine-tuning guide rail sliders. The front ends of the two fine-tuning welding frames are connected to the clamping and pushing claws. A group of upper and lower pushing cylinders and a clamping cylinder are installed at each end of the clamping and pushing claws. The product pushing claws are installed at the ends of the upper and lower pushing cylinders. The clamping cylinders are installed on the upper and lower pushing cylinders of the same group. The product clamping claws are installed at the ends of the clamping cylinders.

[0006] During the process of fine-tuning the angle of paper financial products, the linear transmission mechanism drives the fine-tuning push claw mechanism to move forward and backward. When the fine-tuning push claw mechanism moves forward, the two sets of servo fine-tuning electric cylinders move forward or backward, driving the fine-tuning welding frame and the clamping push claw at the front end thereof to swing, so as to fine-tune the angle between the clamping push claw and the linear transmission mechanism;

[0007] During the process of pushing and clamping and retrieving paper financial products, the linear transmission mechanism drives the fine-tuning pushing claw mechanism to move forward and backward. When the paper financial product moves forward, according to the upper and lower position relationship between the upper and lower pushing cylinders and the clamping cylinders, the product clamping claw and the product pushing claw are driven to push and clamp and retract the paper financial product.

[0008] Preferably, the mechanism frame is connected by solid carbon structural steel and is combined with the frame of the planar paper rotating mechanism to form a three-dimensional mechanism; the mechanism frame is also equipped with a linear transmission mechanism cable drag chain, a human-machine protection panel, and front and rear limit and zero point sensors;

[0009] The cable drag chain of the linear transmission mechanism is used to regulate the wiring harness and air pipe in the fine-tuning push gripper mechanism to ensure that they will not be damaged when running on the linear transmission mechanism;

[0010] The man-machine protection panel is used to separate the manual operation feeding part from the automated operation part, allowing only paper financial products to pass through;

[0011] The front and rear limit and zero point sensors are used to calibrate the reference zero point of the fine-tuning pushing gripper mechanism when it is moving, so as to prevent it from exceeding the set walking range when moving.

[0012] Preferably, the linear transmission mechanism includes: a servo motor, a linear transmission module, a module mounting seat, a linear module mounting plate, a connecting flange and a coupling, one end of the connecting flange is connected to the servo motor, and the other end of the connecting flange is connected to the linear transmission module, the servo motor and the linear transmission module are connected via the coupling, and the linear transmission module is mounted on the linear module mounting plate via the module mounting seat; the module mounting seat is in the form of a snap-fit, which is snap-fitted into the groove on the side of the linear transmission module and connected to the linear module mounting plate; the linear module mounting plate is connected to the mechanism frame, and together constitute the frame of the entire mechanism; a moving seat is provided on the linear transmission module, and the cargo picking anti-overload mechanism is mounted on the moving seat.

[0013] Preferably, the servo motor is a 1 kW motor with an absolute encoder; the linear transmission module is a module with a lead of 20 mm; and the transmission mechanism guide rail is a heavy-load ball linear guide rail.

[0014] Preferably, a picking up anti-overload mechanism is installed on the linear transmission mechanism, and the linear transmission mechanism is connected to the fine-tuning pushing claw mechanism through the picking up anti-overload mechanism; the picking up anti-overload mechanism includes: an overload protector, a rod end bearing, a linear transmission end connecting piece, a claw end connecting piece, a disengagement sensor connecting piece, a disengagement sensor sensing piece and a disengagement sensor, both ends of the overload protector are connected to the rod end bearing, and the rod end bearing is a left and right threaded mechanism, and the installation distance between the two ends of the bearing is adjusted by rotating the overload protector, one end of the rod end bearing is connected to the linear transmission end connecting piece, and a locking plate lock Tighten, the other end of the rod end bearing is installed on the moving seat on the linear transmission module and connected to the hand claw end connecting piece, and the locking piece is locked; the disengagement sensor connecting piece is installed on the fine-tuning pushing hand claw mechanism, the disengagement sensor is installed on the disengagement sensor connecting piece, the disengagement sensor sensing piece is installed on the moving seat on the linear transmission module, an opening is provided in the middle of the disengagement sensor sensing piece, the disengagement sensor is aligned with the opening, under normal working conditions, the disengagement sensor has no signal, when the overload protector is triggered, the disengagement sensor senses the signal and alarms.

[0015] Preferably, the fine-tuning pushing mechanism comprises: a fine-tuning mechanism base plate, transmission mechanism walking sliders are respectively installed at both ends of the fine-tuning mechanism base plate, the two transmission mechanism walking sliders are respectively connected to the transmission mechanism guide rail and the disengagement sensor connector, a group of fine-tuning guide rail sliders are respectively installed at both ends of the fine-tuning mechanism base plate, and the front ends of the two fine-tuning welding frames are respectively connected to the clamping and pushing claws through a group of oil-free lubricating bearings;

[0016] Under normal movement conditions, the clamping and pushing claw forms an angle of 90° with the direction of travel. During fine-tuning of the angle of paper financial products, the fine-tuning pushing mechanism is started, and the linear transmission mechanism drives the fine-tuning pushing claw mechanism to move forward and backward. When the fine-tuning pushing claw mechanism moves forward, the two sets of servo fine-tuning electric cylinders move forward or backward, driving the fine-tuning welding frame and the clamping and pushing claw at the front end thereof to swing, so that the angle between the clamping and pushing claw and the linear transmission mechanism is adjusted by ±90°, thereby achieving fine-tuning of the angle of paper financial products.

[0017] Preferably, the servo fine-tuning electric cylinder adopts a combined servo electric cylinder transmission, with a lead screw pitch of 2mm, a repeatability accuracy of ±0.02mm, and a single-side stroke of 25mm.

[0018] Preferably, the clamping and pushing claw comprises: a clamping and pushing claw mounting plate, a reinforcement frame, a fine-tuning connector, and a cylinder connecting plate. The reinforcement frame is mounted on the clamping and pushing claw mounting plate, and together with the clamping and pushing claw mounting plate, it forms a box-type frame mechanism. The fine-tuning connector is mounted on both sides of the clamping and pushing claw mounting plate, and is provided with oil-free bearings at the upper and lower ends. The fine-tuning connector is connected to the fine-tuning welding frame on the fine-tuning pushing claw mechanism, and cooperates with the servo fine-tuning electric cylinder to complete the angle fine-tuning of the clamping and pushing claw; the two sides of the clamping and pushing claw mounting plate A group of the upper and lower pushing cylinders and the clamping cylinders are respectively installed at the ends, and the product pushing claws are installed at the ends of the upper and lower pushing cylinders. Through the up and down movement of the upper and lower pushing cylinders, the product pushing claws are raised above the paper financial products without interfering with the movement of the paper financial products. When pushing, they are lowered below the paper financial products to scoop up the paper financial products to a certain height, which is convenient for subsequent pushing and clamping and retrieving; the clamping cylinder is installed on the upper and lower pushing cylinders of the same group and is connected to the cylinder connecting plate, and the product clamping claws are installed at the ends of the clamping cylinders;

[0019] During the process of pushing and clamping and retrieving paper financial products, the linear transmission mechanism drives the fine-tuning pushing claw mechanism to move forward and backward. When the paper financial product moves forward, the upper and lower pushing cylinders are in the lower position, and the clamping cylinder is in the upper position, driving the product pushing claw to push the paper financial product; when the paper financial product moves backward, the upper and lower pushing cylinders are in the lower position, and the clamping cylinder is in the lower position, driving the product clamping claw and the product pushing claw to clamp and retract the paper financial product.

[0020] Preferably, the upper and lower pushing cylinders are pushing cylinders with guide rods; the product clamping claws and the product pushing claws are both made of stainless steel, and are directly connected to the paper financial products during the pushing and clamping and retraction process, ensuring that the pushing and clamping and retraction will not cause damage to the paper financial products.

[0021] Based on the same inventive concept, the present invention also provides a precision grabbing, pushing and fine-tuning method applicable to paper financial products, which is used to implement the precision grabbing, pushing and fine-tuning mechanism, which cooperates with the plane paper rotating mechanism to realize the feeding and trimming of paper financial products, and the precision grabbing, pushing and fine-tuning mechanism comprises: a fine-tuning pushing claw mechanism and a mechanism frame, on which a linear transmission mechanism and a transmission mechanism guide rail are installed in parallel, one end of the fine-tuning pushing claw mechanism is connected to the transmission mechanism guide rail, and the other end is connected to the linear transmission mechanism; The fine-tuning pushing claw mechanism comprises: a fine-tuning pushing mechanism and a clamping pushing claw, wherein a group of two fine-tuning guide rail sliders are respectively installed at both ends of the fine-tuning pushing mechanism, a fine-tuning welding frame and a set of servo fine-tuning electric cylinders are installed on each group of fine-tuning guide rail sliders, and the front ends of the two fine-tuning welding frames are connected to the clamping pushing claws; a group of upper and lower pushing cylinders and a clamping cylinder are respectively installed at both ends of the clamping pushing claws, the end of the upper and lower pushing cylinders is installed with the product pushing claws, the clamping cylinder is installed on the upper and lower pushing cylinders of the same group, and the end of the clamping cylinder is installed with the product clamping claws;

[0022] The precise grabbing, pushing and fine-tuning method comprises:

[0023] During the process of fine-tuning the angle of paper financial products, the linear transmission mechanism drives the fine-tuning push claw mechanism to move forward and backward. When the fine-tuning push claw mechanism moves forward, the two sets of servo fine-tuning electric cylinders move forward or backward, driving the fine-tuning welding frame and the clamping push claw at the front end thereof to swing, so as to fine-tune the angle between the clamping push claw and the linear transmission mechanism;

[0024] During the process of pushing and clamping and retrieving paper financial products, the linear transmission mechanism drives the fine-tuning pushing claw mechanism to move forward and backward. When the paper financial product moves forward, according to the upper and lower position relationship between the upper and lower pushing cylinders and the clamping cylinders, the product clamping claw and the product pushing claw are driven to push and clamp and retract the paper financial product.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention pushes the financial paper product forward by the movement of the transmission mechanism and the pushing of the clamping claws, and clamps and returns the paper financial product by the movement of the transmission mechanism and the clamping of the clamping claws. In addition, due to the characteristics of printing deformation of paper financial products, while the product is pushed and returned, the pushing angle of the product can be fine-tuned by the fine-tuning pushing mechanism, so as to prepare for subsequent side cutting work. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of the structure of a precision grabbing, pushing and fine-tuning mechanism (top view) suitable for paper financial products provided by the present invention;

[0028] Figure 2 A structural schematic diagram of a precision grabbing, pushing and fine-tuning mechanism (bottom-up view) applicable to paper financial products provided by the present invention;

[0029] Figure 3 A schematic diagram of a large-sheet feeding and trimming production line for paper financial products provided by the present invention;

[0030] Figure 4 It is an overall schematic diagram of the precision grabbing, pushing and fine-tuning mechanism and the flat paper rotating mechanism provided by the present invention;

[0031] Figure 5 A schematic diagram of the structure of the linear transmission mechanism provided by the present invention;

[0032] Figure 6 A schematic diagram of the structure of the cargo pickup anti-overload mechanism provided by the present invention;

[0033] Figure 7 A schematic diagram of the structure of the fine-tuning pushing claw mechanism (top view) provided by the present invention;

[0034] Figure 8 A schematic structural diagram of the fine-tuning push claw mechanism (excluding the clamping push claw) provided by the present invention (bottom-up view);

[0035] Fig. 9 A schematic diagram of the structure of the clamping and pushing claw (left top view) provided by the present invention;

[0036] Fig.10 A schematic diagram of the structure of the clamping and pushing claw (viewed from the right side and viewed from above) provided by the present invention;

[0037] Fig.11 A schematic diagram of a process flow of a method for feeding and trimming paper financial products provided by the present invention;

[0038] In the figure: 1-fine-tuning push gripper; 2-mechanism frame; 3-linear transmission mechanism; 4-linear transmission mechanism cable drag chain; 5-man-machine protection panel; 6-front and rear limit and zero point sensors; 7-picking anti-overload mechanism; 8-transmission mechanism guide rail; 110-clamping push gripper; 120-fine-tuning mechanism base plate; 130-servo fine-tuning electric cylinder; 140-transmission mechanism walking slider; 150-fine-tuning welding frame; 160-fine-tuning guide rail slider; 111-clamping push gripper mounting plate; 112-strengthening frame; 113-fine-tuning connector; 114-upper and lower push cylinders; 115-clamping cylinder; 116-cylinder connecting plate; 117-product pushing gripper; 118-product clamping gripper; 301-servo motor; 302-linear transmission module; 303-module mounting seat; 304-linear module mounting plate; 305-connecting flange; 306-coupling; 701-overload protector; 702-rod end bearing; 703-linear transmission end connector; 704-claw end connector; 705-disconnection sensor connector; 706-disconnection sensor sensing sheet; 707-disconnection sensor; 9-precision grabbing and pushing fine-tuning mechanism; 10-flat paper rotating mechanism; 11-conveying panel; 12-support frame of production line; 13-slitting knife box. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0041] like Figure 1-4As shown, the embodiment of the present invention provides a precision grabbing and pushing fine-tuning mechanism suitable for paper financial products. The precision grabbing and pushing fine-tuning mechanism 9 cooperates with the plane paper rotating mechanism 10 to realize the feeding and trimming of paper financial products. The precision grabbing and pushing fine-tuning mechanism includes: a fine-tuning and pushing claw mechanism 1 and a mechanism frame 2. A linear transmission mechanism 3 and a transmission mechanism guide rail 8 are installed in parallel on the mechanism frame 2. One end of the fine-tuning and pushing claw mechanism 1 is connected to the transmission mechanism guide rail 8, and the other end is connected to the linear transmission mechanism 3; the fine-tuning and pushing claw mechanism 1 includes: a fine-tuning and pushing mechanism and a clamping and pushing claw 110 A group of two fine-tuning guide rail sliders 160 are installed at each end of the fine-tuning pushing mechanism, a fine-tuning welding frame 150 and a set of servo fine-tuning electric cylinders 130 are installed on each group of fine-tuning guide rail sliders 160, and the front ends of the two fine-tuning welding frames 150 are connected to the clamping and pushing claws 110; a group of upper and lower pushing cylinders 114 and a clamping cylinder 115 are installed at both ends of the clamping and pushing claws 110, and a product pushing claw 117 is installed at the end of the upper and lower pushing cylinders 114, and the clamping cylinder 115 is installed on the same group of upper and lower pushing cylinders 114, and a product clamping claw 118 is installed at the end of the clamping cylinder 115.

[0042] During the process of fine-tuning the angle of paper financial products, the linear transmission mechanism 3 drives the fine-tuning push claw mechanism 1 to move forward and backward. When the fine-tuning push claw mechanism 1 moves forward, the two sets of servo fine-tuning electric cylinders 130 move forward or backward, driving the fine-tuning welding frame 150 and the clamping push claw 110 at the front end to swing, and fine-tuning the angle between the clamping push claw 110 and the linear transmission mechanism 3;

[0043] During the process of pushing and clamping and retrieving paper financial products, the linear transmission mechanism 3 drives the fine-tuning pushing claw mechanism 1 to move forward and backward. When the paper financial product moves forward, according to the upper and lower position relationship between the upper and lower pushing cylinders 114 and the clamping cylinders 115, the product clamping claws 118 and the product pushing claws 117 are driven to push and clamp and retract the paper financial products.

[0044] like Figure 3-4 As shown, the mechanism frame 2 is connected by solid carbon structural steel and is combined with the frame of the flat paper rotating mechanism 10 to form a three-dimensional mechanism. The overall structural support is stable and will not produce shaking and vibration. The mechanism frame 2 is also equipped with a linear transmission mechanism cable drag chain 4, a human-machine protection panel 5, and front and rear limit and zero point sensors 6.

[0045] The cable drag chain 4 of the linear transmission mechanism is used to standardize the wiring harness and air pipe in the fine-tuning push gripper mechanism 1 to ensure that they will not be damaged when running on the linear transmission mechanism. The fine-tuning push gripper mechanism 1 has equipment such as cylinders, electric cylinders and sensors. Since there are flexible cables such as motors, the cable drag chain 4 needs to be adapted. By verifying the product, the number of times the drag chain can be used can reach 5 million times.

[0046] The man-machine protection panel 5 is used to separate the manual operation feeding part from the automated operation part, allowing only paper financial products to pass through.

[0047] The front and rear limit and zero point sensors 6 are used to calibrate the reference zero point of the fine-tuning pushing gripper mechanism 1 when it is moving, to prevent it from exceeding the set walking range during movement, to prevent the device from exceeding the set walking range during movement in terms of control logic, to calibrate the reference zero point of the fine-tuning pushing gripper when it is moving, and to ensure accuracy during the walking process.

[0048] like Figure 5 As shown, in the embodiment of the present invention, the linear transmission mechanism 3 includes: a servo motor 301, a linear transmission module 302, a module mounting seat 303, a linear module mounting plate 304, a connecting flange 305 and a coupling 306, one end of the connecting flange 305 is connected to the servo motor 301, and the other end of the connecting flange 305 is connected to the linear transmission module 302, the servo motor 301 and the linear transmission module 302 are connected via a coupling 306, and the linear transmission module 302 is mounted on the linear module mounting plate 304 via the module mounting seat 303; the module mounting seat 303 is in the form of a snap-fit, which is snap-fitted into the groove on the side of the linear transmission module 302 and connected to the linear module mounting plate 304; the linear module mounting plate 304 is connected to the mechanism frame 2, and together constitutes the frame of the entire mechanism, making the frame mechanism more stable and reliable; a moving seat is provided on the linear transmission module 302, and a picking anti-overload mechanism 7 is installed on the moving seat.

[0049] In the embodiment of the present invention, the servo motor 301 uses a motor with an absolute encoder of 1kw power; the linear transmission module 302 uses a module with a lead of 20mm; the transmission mechanism guide rail 8 uses a heavy-duty ball linear guide. The linear transmission mechanism 3 adopts a combination of a guide slider and a precision ball screw servo motor, and is assisted by a cable drag chain 4, a limit sensor 6 and an overload mechanism 7. Since the mechanism is an inverted installation form, a heavy-duty ball linear guide is selected for the guide slider, which not only ensures stable operation but also ensures the safety factor of the hoisting load. The power transmission device adopts a servo motor plus a precision ball screw operation mode, which can ensure the accuracy of product push. The cable drag chain 4 of the linear transmission mechanism 3 evenly arranges the cable air pipes of the transmission device, ensuring the feasibility and smoothness of the operation of the transmission mechanism; the setting of the overload mechanism 7 can prevent damage to the product when the equipment is stuck or fails, and is a kind of protection device. The servo motor 301 uses a 1kw motor with an absolute encoder. In this control mode, it can accurately feedback the product position. At the same time, it is equipped with a high-precision linear transmission module 302, which uses a module with a lead of 20mm. While ensuring high operating efficiency, its repeated positioning accuracy can reach ±0.05mm, meeting the operation requirements of the production line.

[0050] like Figure 6 As shown, in the embodiment of the present invention, a picking up anti-overload mechanism 7 is installed on the linear transmission mechanism 3, and the linear transmission mechanism 3 is connected to the fine-tuning pushing claw mechanism 1 through the picking up anti-overload mechanism 7; the picking up anti-overload mechanism 7 includes: an overload protector 701, a rod end bearing 702, a linear transmission end connecting piece 703, a claw end connecting piece 704, a disengagement sensor connecting piece 705, a disengagement sensor sensing piece 706 and a disengagement sensor 707, both ends of the overload protector 701 are connected to the rod end bearing 702, and the rod end bearing 702 is a left and right threaded mechanism. The installation distance between the two ends of the bearing is adjusted by rotating the overload protector 701, and one end of the rod end bearing 702 is connected to the linear transmission end Part 703 is connected, the locking plate is locked, the other end of the rod end bearing 702 is installed on the moving seat on the linear transmission module 302 and connected to the gripper end connecting piece 704, and the locking piece is locked; the disengagement sensor connecting piece 705 is installed on the fine-tuning pushing gripper mechanism 1, the disengagement sensor 707 is installed on the disengagement sensor connecting piece 705, the disengagement sensor sensing piece 706 is installed on the moving seat on the linear transmission module 302, and an opening is provided in the middle of the disengagement sensor sensing piece 706, and the disengagement sensor 707 is aligned with the opening. Under normal working conditions, the disengagement sensor 707 has no signal. When the overload protector 701 is triggered, the disengagement sensor 707 senses the signal and alarms.

[0051] like Figure 7-8 As shown, in the embodiment of the present invention, the fine-tuning pushing mechanism includes: a fine-tuning mechanism substrate 120, transmission mechanism walking sliders 140 are respectively installed at both ends of the fine-tuning mechanism substrate 120, the two transmission mechanism walking sliders 140 are respectively connected to the transmission mechanism guide rail 8 and the disengagement sensor connector 705, a group of fine-tuning guide rail sliders 160 are respectively installed at both ends of the fine-tuning mechanism substrate 120, and the front ends of the two fine-tuning welding frames 150 are respectively connected to the clamping and pushing claws 110 through a group of oil-free lubricated bearings.

[0052] Under normal movement conditions, the clamping and pushing claw 110 forms an angle of 90° with the direction of travel. During fine-tuning of the angle of paper financial products, the fine-tuning pushing mechanism is started, and the linear transmission mechanism 3 drives the fine-tuning pushing claw mechanism 1 to move forward and backward. When the fine-tuning pushing claw mechanism 1 moves forward, the two sets of servo fine-tuning electric cylinders 130 move forward or backward, driving the fine-tuning welding frame 150 and the clamping and pushing claw 110 at its front end to swing, so that the angle between the clamping and pushing claw 110 and the linear transmission mechanism 3 is adjusted by ±90°, thereby achieving fine-tuning of the angle of paper financial products.

[0053] In the embodiment of the present invention, the servo fine-tuning electric cylinder 130 adopts a combined servo electric cylinder transmission, the lead screw pitch is 2mm, the repeatability is ±0.02mm, and it can provide precise adjustment performance for the product, and its single-sided stroke is 25mm. The fine-tuning push claw mechanism 1 is connected to the transmission mechanism guide rail 8 through the transmission mechanism walking slider 140, and the linear transmission mechanism 3 of the power part and the fine-tuning push claw mechanism 1 are connected through the pick-up anti-overload mechanism 7. Due to the particularity of paper financial products, when a jam occurs during the linear transmission process, it is required to trigger the disconnection performance of the overload protector after exceeding a certain load, and feedback to the host computer through the sensor to ensure the safety of paper financial products in the first place. Under normal movement, the clamping push claw is at an angle of 90° with the direction of travel. According to the program setting of the host computer, when the waste edges on both sides are cut off, the fine-tuning push mechanism is started, and the clamping push claw can be adjusted by ±90°. The single-sided stroke of the servo fine-tuning motor is 25mm.

[0054] like Figure 9-10 As shown, in the embodiment of the present invention, the clamping and pushing claw 110 includes: a clamping and pushing claw mounting plate 111, a reinforcement frame 112, a fine-tuning connector 113, and a cylinder connecting plate 116. The reinforcement frame 112 is mounted on the clamping and pushing claw mounting plate 111, and together with the clamping and pushing claw mounting plate 111, it forms a box-type frame mechanism. The fine-tuning connector 113 is mounted on both sides of the clamping and pushing claw mounting plate 111, and is provided with oil-free bearings at the upper and lower ends. The fine-tuning connector 113 is connected to the fine-tuning welding frame 150 on the fine-tuning and pushing claw mechanism 1, and cooperates with the servo fine-tuning electric cylinder 130 to complete the angle fine-tuning of the clamping and pushing claw 110; A group of up and down pushing cylinders 114 and clamping cylinders 115 are respectively installed at both ends of the gripper mounting plate 111. A product pushing gripper 117 is installed at the end of the up and down pushing cylinder 114. The up and down movement of the up and down pushing cylinder 114 makes the product pushing gripper 117 rise above the paper financial product without interfering with the movement of the paper financial product. When pushing, it descends under the paper financial product and scoops up the paper financial product to a certain height to facilitate subsequent pushing and clamping and retrieval; the clamping cylinder 115 is installed on the same group of up and down pushing cylinders 114 and is connected to the cylinder connecting plate 116. A product clamping gripper 118 is installed at the end of the clamping cylinder 115.

[0055] During the process of pushing and clamping and retrieving paper financial products, the linear transmission mechanism 3 drives the fine-tuning pushing claw mechanism 1 to move forward and backward. When the paper financial product moves forward, the upper and lower pushing cylinders 114 are in the lower position, and the clamping cylinder 115 is in the upper position, driving the product pushing claw 117 to push the paper financial product; when the paper financial product moves backward, the upper and lower pushing cylinders 114 are in the lower position, and the clamping cylinder 115 is in the lower position, driving the product clamping claw 118 and the product pushing claw 117 to clamp and retract the paper financial product.

[0056] In the embodiment of the present invention, the upper and lower pushing cylinders 114 are pushing cylinders with guide rods; the product clamping claws 118 and the product pushing claws 117 are both made of stainless steel, and are directly connected to the paper financial products during the pushing and clamping and retraction process, ensuring that the pushing and clamping and retraction will not cause damage to the paper financial products.

[0057] Based on the same inventive concept, an embodiment of the present invention further provides a precision grabbing, pushing and fine-tuning method applicable to paper financial products, which is used to implement a precision grabbing, pushing and fine-tuning mechanism 9 applicable to paper financial products. The precision grabbing, pushing and fine-tuning mechanism 9 cooperates with a plane paper rotating mechanism 10 to achieve the feeding and trimming of paper financial products. The precision grabbing, pushing and fine-tuning mechanism includes: a fine-tuning and pushing claw mechanism 1 and a mechanism frame 2, on which a linear transmission mechanism 3 and a transmission mechanism guide rail 8 are installed in parallel, one end of the fine-tuning and pushing claw mechanism 1 is connected to the transmission mechanism guide rail 8, and the other end is connected to the linear transmission mechanism 3; the fine-tuning and pushing claw mechanism 1 includes: a fine-tuning and pushing claw mechanism 1 and a mechanism frame 2, on which a linear transmission mechanism 3 and a transmission mechanism guide rail 8 are installed in parallel, one end of the fine-tuning and pushing claw mechanism 1 is connected to the transmission mechanism guide rail 8, and the other end is connected to the linear transmission mechanism 3; the fine-tuning and pushing claw mechanism 1 includes: a fine-tuning and pushing claw mechanism 1 and a mechanism frame 2, on which a linear transmission mechanism 3 and a transmission mechanism guide rail 8 are installed in parallel, and ... the fine-tuning and pushing claw mechanism 1 includes: a fine-tuning and pushing claw mechanism 1 and a fine-tuning and pushing claw mechanism 1. In summary: a fine-tuning pushing mechanism and a clamping pushing claw 110, a group of two fine-tuning guide rail sliders 160 are installed at each end of the fine-tuning pushing mechanism, a fine-tuning welding frame 150 and a set of servo fine-tuning electric cylinders 130 are installed on each group of fine-tuning guide rail sliders 160, and the front ends of the two fine-tuning welding frames 150 are connected to the clamping pushing claw 110; a group of upper and lower pushing cylinders 114 and a clamping cylinder 115 are installed at both ends of the clamping pushing claw 110, a product pushing claw 117 is installed at the end of the upper and lower pushing cylinders 114, the clamping cylinder 115 is installed on the same group of upper and lower pushing cylinders 114, and a product clamping claw 118 is installed at the end of the clamping cylinder 115.

[0058] Precision crawling and pushing fine-tuning methods include:

[0059] During the process of fine-tuning the angle of paper financial products, the linear transmission mechanism 3 drives the fine-tuning push claw mechanism 1 to move forward and backward. When the fine-tuning push claw mechanism 1 moves forward, the two sets of servo fine-tuning electric cylinders 130 move forward or backward, driving the fine-tuning welding frame 150 and the clamping push claw 110 at the front end to swing, and fine-tuning the angle between the clamping push claw 110 and the linear transmission mechanism 3;

[0060] During the process of pushing and clamping and retrieving paper financial products, the linear transmission mechanism 3 drives the fine-tuning pushing claw mechanism 1 to move forward and backward. When the paper financial product moves forward, according to the upper and lower position relationship between the upper and lower pushing cylinders 114 and the clamping cylinders 115, the product clamping claws 118 and the product pushing claws 117 are driven to push and clamp and retract the paper financial products.

[0061] like Figure 3-4 As shown, the precision grabbing, pushing and fine-tuning mechanism 9 of the embodiment of the present invention cooperates with the flat paper rotating mechanism 10 to realize the feeding and trimming production line of paper financial products.

[0062] like Fig.11 As shown, based on a precision grabbing, pushing and fine-tuning mechanism suitable for paper financial products provided in an embodiment of the present invention, an embodiment of the present invention further provides a feeding and trimming method for paper financial products, including:

[0063] S1. The main equipment of the paper financial product large-sheet feeding and trimming production line is powered, and the paper financial product that has reached the designated position is pushed to the working area of ​​the plane paper rotating mechanism 10 through the precision grabbing and pushing fine-tuning mechanism 9. The precision grabbing and pushing fine-tuning mechanism 9 withdraws from the working area. After the plane paper rotating mechanism 10 has finished working, the precision grabbing and pushing fine-tuning mechanism 9 is used to fine-tune the angle, and the upper and lower pushing cylinders 114 fall down to push the paper financial product to the cutting area of ​​the slitting knife box 13 to cut the waste edge on the right side;

[0064] S2. After the right side waste edge is cut, the clamping and pushing claw 110 falls down to clamp the paper financial product, and the precision grabbing and pushing fine-tuning mechanism 9 pulls the paper financial product back to the working area of ​​the plane paper rotating mechanism 10. The precision grabbing and pushing fine-tuning mechanism 9 withdraws out of the working area. After the plane paper rotating mechanism 10 finishes working, the precision grabbing and pushing fine-tuning mechanism 9 performs angle fine-tuning, and the upper and lower pushing cylinders 114 fall down to push the paper financial product to the cutting area of ​​the slitting knife box 13 to cut the left side waste edge;

[0065] S3. After cutting the waste edge on the left side, the clamping and pushing claw 110 falls down to clamp the paper financial product. The precision grabbing and pushing fine-tuning mechanism 9 pulls the product back to the working area of ​​the plane paper rotating mechanism 10. The precision grabbing and pushing fine-tuning mechanism 9 withdraws out of the working area and returns to the zero point of the equipment operation. After the plane paper rotating mechanism 10 completes its operation, other pushing mechanisms perform subsequent work.

[0066] Compared with the prior art, the present invention has the following advantages:

[0067] The precision grabbing, pushing and fine-tuning mechanism of the present invention uses a guide rail slider and a servo motor linear module to push and move the pushing action; a special double-cylinder grabbing claw is used to grab and retreat the product; due to the particularity of paper financial products, the product posture needs to be fine-tuned during the paper pushing process, and precision fine-tuning is performed by means of double servo electric cylinders and adjusting bearings. The present invention realizes forward pushing and backward grabbing of paper financial products, and at the same time, fine-tuning is performed according to the shape of the paper financial products, preparing for subsequent side cutting work.

[0068] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A precision grabbing, pushing and fine-tuning mechanism suitable for paper financial products, characterized in that: The precision grabbing and pushing fine-tuning mechanism cooperates with the plane paper rotating mechanism to realize the feeding and trimming of paper financial products. The precision grabbing and pushing fine-tuning mechanism comprises: a fine-tuning and pushing claw mechanism (1) and a mechanism frame (2). A linear transmission mechanism (3) and a transmission mechanism guide rail (8) are installed in parallel on the mechanism frame (2). One end of the fine-tuning and pushing claw mechanism (1) is connected to the transmission mechanism guide rail (8), and the other end is connected to the linear transmission mechanism (3). The fine-tuning and pushing claw mechanism (1) comprises: a fine-tuning and pushing mechanism and a clamping and pushing claw (110). A set of two fine-tuning guide rail sliders ( 160), a fine-tuning welding frame (150) and a set of servo fine-tuning electric cylinders (130) are installed on each set of fine-tuning guide rail sliders (160), and the front ends of the two fine-tuning welding frames (150) are connected to the clamping and pushing claws (110); a set of upper and lower pushing cylinders (114) and a clamping cylinder (115) are respectively installed at both ends of the clamping and pushing claws (110), and the ends of the upper and lower pushing cylinders (114) are installed with the product pushing claws (117), and the clamping cylinders (115) are installed on the same set of upper and lower pushing cylinders (114), and the ends of the clamping cylinders (115) are installed with the product clamping claws (118); During the process of fine-tuning the angle of the paper financial product, the linear transmission mechanism (3) drives the fine-tuning push claw mechanism (1) to move forward and backward. When the fine-tuning push claw mechanism (1) moves forward, the two sets of servo fine-tuning electric cylinders (130) move forward or backward, driving the fine-tuning welding frame (150) and the clamping push claw (110) at the front end thereof to swing, thereby fine-tuning the angle between the clamping push claw (110) and the linear transmission mechanism (3); In the process of pushing and clamping and retrieving the paper financial product, the linear transmission mechanism (3) drives the fine-tuning pushing claw mechanism (1) to move forward and backward. When the paper financial product moves forward, according to the upper and lower positional relationship between the upper and lower pushing cylinders (114) and the clamping cylinders (115), the product clamping claw (118) and the product pushing claw (117) are driven to push and clamp and retract the paper financial product.

2. The precision grabbing, pushing and fine-tuning mechanism according to claim 1 is characterized in that: The mechanism frame (2) is connected by solid carbon structural steel and is combined with the frame of the planar paper rotating mechanism to form a three-dimensional mechanism; the mechanism frame (2) is also equipped with a linear transmission mechanism cable drag chain (4), a human-machine protection panel (5) and front and rear limit and zero point sensors (6); The linear transmission mechanism cable drag chain (4) is used to regulate the wiring harness and air pipe in the fine-tuning pushing gripper mechanism (1) to ensure that they will not be damaged when running on the linear transmission mechanism; The man-machine protection panel (5) is used to separate the manual operation feeding part from the automated operation part, and only allows paper financial products to pass through; The front and rear limit and zero point sensors (6) are used to calibrate the reference zero point of the fine-tuning pushing claw mechanism (1) when it is moving, so as to prevent it from exceeding the set walking range when moving.

3. The precision grabbing, pushing and fine-tuning mechanism according to claim 1 is characterized in that: The linear transmission mechanism (3) comprises: a servo motor (301), a linear transmission module (302), a module mounting seat (303), a linear module mounting plate (304), a connecting flange (305) and a coupling (306), wherein one end of the connecting flange (305) is connected to the servo motor (301), and the other end of the connecting flange (305) is connected to the linear transmission module (302). The servo motor (301) and the linear transmission module (302) are connected via the coupling (306). The movable module (302) is mounted on the linear module mounting plate (304) via the module mounting seat (303); the module mounting seat (303) is in the form of a snap-fit, which is snap-fitted into a groove on the side of the linear transmission module (302) and connected to the linear module mounting plate (304); the linear module mounting plate (304) is connected to the mechanism frame (2) to form the frame of the entire mechanism; a movable seat is provided on the linear transmission module (302), and the cargo picking anti-overload mechanism (7) is installed on the movable seat.

4. The precision grabbing, pushing and fine-tuning mechanism according to claim 3 is characterized in that: The servo motor (301) is a motor with a power of 1 kW and an absolute encoder; the linear transmission module (302) is a module with a lead of 20 mm; and the transmission mechanism guide rail (8) is a heavy-load ball linear guide rail.

5. The precision grabbing, pushing and fine-tuning mechanism according to claim 3 is characterized in that: The linear transmission mechanism (3) is provided with a pick-up anti-overload mechanism (7), and the linear transmission mechanism (3) is connected to the fine-tuning push gripper mechanism (1) via the pick-up anti-overload mechanism (7); the pick-up anti-overload mechanism (7) comprises: an overload protector (701), a rod end bearing (702), a linear transmission end connecting piece (703), a gripper end connecting piece (704), a disengagement sensor connecting piece (705), a disengagement sensor sensing piece (706) and a disengagement sensor (707); both ends of the overload protector (701) are connected to the rod end bearing (702); the rod end bearing (702) is a left-right threaded mechanism; the installation distance between the two ends of the bearing is adjusted by rotating the overload protector (701); one end of the rod end bearing (702) is connected to the linear transmission end connecting piece (703); Then, the locking plate is locked, the other end of the rod end bearing (702) is mounted on the moving seat on the linear transmission module (302) and connected to the hand claw end connecting piece (704), and the locking plate is locked; the disengagement sensor connecting piece (705) is mounted on the fine-tuning pushing hand claw mechanism (1), the disengagement sensor (707) is mounted on the disengagement sensor connecting piece (705), the disengagement sensor sensing piece (706) is mounted on the moving seat on the linear transmission module (302), an opening is provided in the middle of the disengagement sensor sensing piece (706), and the disengagement sensor (707) is aligned with the opening. Under normal working conditions, the disengagement sensor (707) has no signal. When the overload protector (701) is triggered, the disengagement sensor (707) senses a signal and alarms.

6. The precision grabbing, pushing and fine-tuning mechanism according to claim 5, characterized in that: The fine-tuning pushing mechanism comprises: a fine-tuning mechanism substrate (120), transmission mechanism walking sliders (140) are respectively installed at both ends of the fine-tuning mechanism substrate (120), the two transmission mechanism walking sliders (140) are respectively connected to the transmission mechanism guide rail (8) and the disengagement sensor connector (705), a group of fine-tuning guide rail sliders (160) are respectively installed at both ends of the fine-tuning mechanism substrate (120), and the front ends of the two fine-tuning welding frames (150) are respectively connected to the clamping and pushing claws (110) through a group of oil-free lubricating bearings; Under normal movement conditions, the clamping and pushing claw (110) forms an angle of 90° with the direction of travel. During the process of fine-tuning the angle of a paper financial product, the fine-tuning and pushing mechanism is started, and the linear transmission mechanism (3) drives the fine-tuning and pushing claw mechanism (1) to move forward and backward. When the fine-tuning and pushing claw mechanism (1) moves forward, the two sets of servo fine-tuning electric cylinders (130) move forward or backward, driving the fine-tuning welding frame (150) and the clamping and pushing claw (110) at the front end thereof to swing, so that the angle between the clamping and pushing claw (110) and the linear transmission mechanism (3) is adjusted by ±90°, thereby achieving fine-tuning of the angle of the paper financial product.

7. The precision grabbing, pushing and fine-tuning mechanism according to claim 6, characterized in that: The servo fine-tuning electric cylinder (130) adopts a combined servo electric cylinder transmission, with a lead screw pitch of 2mm, a repeatability accuracy of ±0.02mm, and a single-side stroke of 25mm.

8. The precision grabbing, pushing and fine-tuning mechanism according to claim 6, characterized in that: The clamping and pushing claw (110) comprises: a clamping and pushing claw mounting plate (111), a reinforcement frame (112), a fine-tuning connector (113), and a cylinder connecting plate (116); the reinforcement frame (112) is mounted on the clamping and pushing claw mounting plate (111), and together with the clamping and pushing claw mounting plate (111) form a box-type frame mechanism; the fine-tuning connector (113) is mounted on both sides of the clamping and pushing claw mounting plate (111), and is provided with oil-free bearings at the upper and lower ends; the fine-tuning connector (113) is connected to the fine-tuning welding frame (150) on the fine-tuning and pushing claw mechanism (1), and cooperates with the servo fine-tuning electric cylinder (130) to complete the angle fine-tuning of the clamping and pushing claw (110); the clamping and pushing claw A group of the upper and lower pushing cylinders (114) and the clamping cylinders (115) are respectively installed at both ends of the claw mounting plate (111). The product pushing claws (117) are installed at the ends of the upper and lower pushing cylinders (114). The product pushing claws (117) are raised above the paper financial products by the up and down movement of the upper and lower pushing cylinders (114) without interfering with the movement of the paper financial products. When pushing, the product pushing claws (117) are lowered below the paper financial products to scoop up the paper financial products to a certain height, which is convenient for subsequent pushing and clamping and retrieving. The clamping cylinders (115) are installed on the same group of the upper and lower pushing cylinders (114) and are connected to the cylinder connecting plate (116). The product clamping claws (118) are installed at the ends of the clamping cylinders (115). In the process of pushing and clamping and retrieving the paper financial product, the linear transmission mechanism (3) drives the fine-tuning pushing claw mechanism (1) to move forward and backward. When the paper financial product moves forward, the upper and lower pushing cylinders (114) are in the lower position and the clamping cylinder (115) is in the upper position, driving the product pushing claw (117) to push the paper financial product; when the paper financial product moves backward, the upper and lower pushing cylinders (114) are in the lower position and the clamping cylinder (115) is in the lower position, driving the product clamping claw (118) and the product pushing claw (117) to clamp and retract the paper financial product.

9. The precision grabbing, pushing and fine-tuning mechanism according to claim 8, characterized in that: The upper and lower pushing cylinders (114) are pushing cylinders with guide rods; the product clamping claws (118) and the product pushing claws (117) are both made of stainless steel and are directly connected to the paper financial product during the pushing and clamping and retracting process, ensuring that the pushing and clamping and retracting process will not cause contamination to the paper financial product.

10. A precision grabbing, pushing and fine-tuning method applicable to paper financial products, used to implement the precision grabbing, pushing and fine-tuning mechanism according to any one of claims 1 to 9, characterized in that: The precision grabbing and pushing fine-tuning mechanism cooperates with the plane paper rotating mechanism to realize the feeding and trimming of paper financial products. The precision grabbing and pushing fine-tuning mechanism comprises: a fine-tuning and pushing claw mechanism (1) and a mechanism frame (2). A linear transmission mechanism (3) and a transmission mechanism guide rail (8) are installed in parallel on the mechanism frame (2). One end of the fine-tuning and pushing claw mechanism (1) is connected to the transmission mechanism guide rail (8), and the other end is connected to the linear transmission mechanism (3). The fine-tuning and pushing claw mechanism (1) comprises: a fine-tuning and pushing mechanism and a clamping and pushing claw (110). A set of two fine-tuning guide rail sliders ( 160), a fine-tuning welding frame (150) and a set of servo fine-tuning electric cylinders (130) are installed on each set of fine-tuning guide rail sliders (160), and the front ends of the two fine-tuning welding frames (150) are connected to the clamping and pushing claws (110); a set of upper and lower pushing cylinders (114) and a clamping cylinder (115) are respectively installed at both ends of the clamping and pushing claws (110), and the ends of the upper and lower pushing cylinders (114) are installed with the product pushing claws (117), and the clamping cylinders (115) are installed on the same set of upper and lower pushing cylinders (114), and the ends of the clamping cylinders (115) are installed with the product clamping claws (118); The precise grabbing, pushing and fine-tuning method comprises: During the process of fine-tuning the angle of the paper financial product, the linear transmission mechanism (3) drives the fine-tuning push claw mechanism (1) to move forward and backward. When the fine-tuning push claw mechanism (1) moves forward, the two sets of servo fine-tuning electric cylinders (130) move forward or backward, driving the fine-tuning welding frame (150) and the clamping push claw (110) at the front end thereof to swing, thereby fine-tuning the angle between the clamping push claw (110) and the linear transmission mechanism (3); In the process of pushing and clamping and retrieving the paper financial product, the linear transmission mechanism (3) drives the fine-tuning pushing claw mechanism (1) to move forward and backward. When the paper financial product moves forward, according to the upper and lower positional relationship between the upper and lower pushing cylinders (114) and the clamping cylinders (115), the product clamping claw (118) and the product pushing claw (117) are driven to push and clamp and retract the paper financial product.

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