Automatic multi-specification paper taking mechanism
By combining solenoid valve control with paper clamping components and color sensors, the problem of insufficient adaptability of existing paper picking structures has been solved, enabling automatic picking and placing of multiple paper sizes without paper falling, thus improving the automation level of enterprises.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-13
- Publication Date
- 2026-03-20
AI Technical Summary
The existing paper dispensing structure is too simple to adapt to various paper dispensing environments, and the problem of paper falling off has not been effectively solved.
It adopts a combination of electromagnetic valve control, combined with paper clamping assembly and color sensor. The sensor detects the paper position and status to realize paper picking of multiple specifications. After the paper is clamped, the air blowing assembly separates the paper from the next layer of glass to ensure smooth paper removal.
It enables automatic picking and placing of paper of various sizes, reduces labor costs, improves the efficiency of automated processes in enterprises, and ensures that the paper does not fall during the picking process.
Smart Images
Figure CN224014843U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model mainly applies to the field of the paper taking and placing between the glass of dust-free room in semiconductor industry, can adapt to the paper taking mechanism of many specifications, and the cooperative action with the glass taking hand of many specifications realizes the automatic taking and placing of glass and its paper. BACKGROUND
[0002] The current situation is that the paper taking structure is single and cannot be applied to various specifications of paper taking environment, and the use range of the structure is optimized, and the adaptability is stronger. The utility model realizes the taking and placing of various specifications through the control of electromagnetic valve combination, increases the paper clamping assembly and color sensor, the paper clamping assembly clamps the paper and well handles the problem of paper falling, and the system is fed back through the detection signal feedback of color sensor, whether the paper taken and placed is the last layer is realized. SUMMARY
[0003] This utility model can realize the automatic picking and placing of paper between glass products in cleanrooms, saving labor costs for companies, realizing automated process operation, and improving corporate image. The purpose of this utility model can be achieved through the following technical solution: an automatic multi-specification paper picking mechanism, including a robotic arm, characterized in that the robotic arm is connected to a paper picking rack by a flange, the paper picking rack is composed of a solenoid valve group, profile, connecting clamp, and carbon fiber square tube, and an overpressure sensor, color sensor, position sensor, long distance sensor, suction cup assembly, air blowing assembly and paper clamping assembly are installed on the carbon fiber square tube; the solenoid valve group has 4 solenoid valves (29), of which the first one controls 2 cylinders (20) in area A, the second one controls 2 grippers (24) in area A, and the third one is used to control The fourth cylinder in zone B controls the gripper in zone B. One solenoid valve 2 (28) controls the air blowing assembly, and two solenoid valves 3 (30) control the five suction cup assemblies respectively. The first solenoid valve controls the three suction cup assemblies in zone A, and the second solenoid valve controls the two suction cup assemblies in zone B. When the first solenoid valve 1 (29), the first and second solenoid valves 3 (30), and solenoid valve 2 (28) are combined, paper in zone A can be gripped. When all solenoid valves 1 (29), 3 (30), and 2 (28) are combined simultaneously, paper in zones A+B can be gripped. The suction cup assembly consists of 5 groups, the air blowing assembly consists of 2 groups, and the paper clamping assembly consists of 3 groups, which are installed at intervals on the carbon fiber square tube. There are 3 overpressure sensors, 1 color sensor, 1 seat sensor, and 1 long-distance sensor. All the sensors are mounted on the carbon fiber square tube (7) by a sensor mounting plate. The air-blowing assembly consists of an adapter plate, an air-blowing base, an air-blowing fixing plate, and a speed control valve. The adapter plate is mounted on a carbon fiber square tube. The upper end of the air-blowing fixing plate is connected to the adapter plate, and the lower end is connected to the air-blowing base. The air-blowing base is a closed cavity, connected to the speed control valve, which is connected to an air compressor pipe. An air outlet is opened on the front side of the air-blowing base. The paper-clamping assembly consists of a cylinder, an adapter plate, a cylinder mounting plate, a gripper adapter plate, a gripper, a clamping block, and a clamping connecting plate. The cylinder mounting plate is mounted on the carbon fiber square tube by the adapter plate. The cylinder is mounted on the cylinder mounting plate, and the piston end of the cylinder is connected to the gripper adapter plate. The gripper adapter plate is mounted with a gripper. One side of the gripper has a pin at the top and bottom, connecting to a clamping connecting plate. The other end of the clamping connecting plate is connected to the clamping block. The clamping connecting plate is driven by a cylinder controlled by a solenoid valve. Compared with existing technologies, the advantages of this invention are: 1. The long-distance sensor can identify whether the top layer is glass or paper. The paper-picking mechanism only performs the paper-picking action after the top glass layer is removed. 2. After the paper is picked up, the air blower continuously blows air to separate the paper from the next layer of glass, facilitating smooth paper removal. 3. After paper is picked up, the color detection sensor determines whether it is the last layer and sends a feedback signal to the system. If not, the above actions are repeated to achieve automatic feeding by the system.4. After the sensor determines that the paper is sucked in place, the cylinder and the claw are sequentially actuated to clamp the paper, preventing the paper from falling when the paper taking mechanism is actuated. BRIEF DESCRIPTION OF DRAWINGS
[0004] Figure 1 It is a schematic diagram of the overall structure of the present application.
[0005] Figure 2 It is a schematic diagram of the paper taking frame structure of the present application.
[0006] Figure 3 It is a schematic diagram of the color sensor and sensor mounting plate structure of the present application.
[0007] Figure 4.1 It is a schematic diagram of the paper clamping open paper clamping assembly structure of the present application.
[0008] Figure 4.2 It is a schematic diagram of the paper clamping closed paper clamping assembly structure of the present application.
[0009] Figure 5 It is a schematic diagram of the air blowing assembly structure of the present application.
[0010] Figure 6 It is a schematic diagram of the electromagnetic valve group of the present application. DETAILED DESCRIPTION
[0011] The specific embodiments of the present application are described in detail below with reference to the accompanying drawings, so that those skilled in the art can more clearly understand how to practice the present application. Although the present application is described in conjunction with its preferred specific embodiments, these embodiments are merely illustrative and not limiting the scope of the present application.
[0012] The automatic multi-specification paper taking mechanism in the figure comprises a mechanical hand 1, characterized in that the mechanical hand is connected with a paper taking frame 3 through a flange 2, the paper taking frame is composed of an electromagnetic valve group 4, a profiled material 5, a connecting clamp plate 6, a carbon fiber square tube 7, an overpressure sensor 8, a color sensor 9, a sheet sensor 10, a long distance sensor 11, a sucking disc assembly 12, a blowing assembly 13 and a paper clamping assembly 14 are installed on the carbon fiber square tube; four electromagnetic valves in the electromagnetic valve group 4, wherein the first one controls two air cylinders (20) in area A, the second one controls two air claws (24) in area A, the third one is used for controlling air cylinders (20) in area B, the fourth one is used for controlling air claws (24) in area B, one electromagnetic valve two (28) is used for controlling the blowing assembly, two electromagnetic valves three (30) are respectively used for controlling five sucking disc assemblies, the first one is used for controlling three sucking disc assemblies in area A, the second one is used for controlling two sucking disc assemblies in area B, when the first one in the electromagnetic valve one (29) and the first and second ones in the electromagnetic valve three (30) and the electromagnetic valve two (28) are combined, the paper in area A can be grabbed, when all the electromagnetic valve one (29) and the electromagnetic valve three (30) and the electromagnetic valve two (28) are simultaneously combined, the paper in area A+B can be grabbed; the sucking disc assembly is five groups, the blowing assembly is two groups, the paper clamping assembly is three groups, which are installed on the carbon fiber square tube at intervals; the overpressure sensor has three, the color sensor has one, the sheet sensor has one, the long distance sensor has one, all the sensors are installed on the carbon fiber square tube (7) through a sensor mounting plate 27; the blowing assembly is composed of a switching plate 15, a blowing seat 16, a blowing fixing plate 17 and a speed regulating valve 18, the switching plate is installed on the carbon fiber square tube, the upper end of the blowing fixing plate is connected with the switching plate, the lower end is connected with the blowing seat, the blowing seat is a closed cavity, the blowing seat is connected with the speed regulating valve, the speed regulating valve is connected with an air pressure pipe (not shown in the figure), an exhaust hole 19 is formed on the front side of the blowing seat; the paper clamping assembly is composed of an air cylinder 20, a switching plate 21, an air cylinder mounting plate 22, an air claw switching plate 23, an air claw 24, a clamping block 25 (optimus glue), a clamping connecting plate 26, the air cylinder mounting plate is installed on the carbon fiber square tube through the switching plate, the air cylinder mounting plate is installed with the air cylinder, the top end of the piston of the air cylinder is connected with the air claw switching plate, the air claw switching plate is installed with the air claw, one side of the air claw (the air claw is provided with a standard air cylinder) is connected with a clamping connecting plate through an upper and lower shaft pin (not shown in the figure), the other end of the clamping connecting plate is connected with the clamping block, the clamping connecting plate is driven by the air cylinder (the air claw is provided with a standard air cylinder) controlled by the electromagnetic valve group 4.
[0013] Figure 1The overall structure of the machine hand, workpiece and automatic paper taking mechanism is shown in the schematic diagram. A layer of paper is placed between each layer of glass, and the paper protrudes from the glass by about 40mm. When taking the paper in the A area, the long distance sensor detects that the upper layer of glass has been taken away, and then the machine hand drives the automatic paper taking mechanism to act. One of the solenoid valves is powered to control the suction cup assembly in the A area to suck the paper, and the paper is separated by a certain distance. When the seat sensor detects that the paper is in place, the A area cylinder and air claw act in succession to clamp the paper. When taking the paper in the A+B area, the long distance sensor detects that the upper layer of glass has been taken away, and then the machine hand drives the automatic paper taking mechanism to act. All solenoid valves are powered to control the suction cup assembly in the A+B area to suck the paper, and the paper is separated by a certain distance. When the seat sensor detects that the paper is in place, the A+B area cylinder and air claw act in succession to clamp the paper. The automatic paper taking mechanism and the glass taking gripper cooperate to realize the automatic taking and placing of glass and its cushion paper.
[0014] After the air claw clamps the paper, the air blowing seat blows air to separate the paper from the lower layer of glass, facilitating the smooth taking of the paper.
[0015] Working schematic of the paper clamping assembly Figure 4.1 Figure 4.2 Figure 4.1 Pre-clamping state Figure 4.2 Clamping state (the piston of the cylinder 20 is pushed out, the solenoid valve 29 drives the air claw 24 installed on the air claw adapter plate 23, opens the fingers of the air claw 24 (the air claw is equipped with standard cylinders), and clamps the paper. The clamping connecting plate 26 and the clamping block 20 (super strong glue) on the fingers are connected through shaft pins and bolts (not shown in the figure).
[0016] Figure 6 Schematic diagram of the solenoid valve group: 4 solenoid valves 29, of which the first one controls the cylinder 20 (2) in the A area, the second one controls the air claw 24 (2) in the A area, the third one controls the cylinder 20 in the B area, and the fourth one controls the air claw 24 in the B area.
[0017] 1 solenoid valve 28 is used to control the air blowing combination.
[0018] 2 solenoid valves 30 are used to control 5 suction cup combinations, the first one is used to control 3 suction cup combinations in the A area, and the second one is used to control 2 suction cup combinations in the B area.
[0019] When the first one in the solenoid valve 29, the first and second ones in the solenoid valve 30 and the solenoid valve 28 are combined, the paper in the A area can be grabbed. When all the solenoid valves 29 and 30 and the solenoid valve 28 are simultaneously combined, the paper in the A+B area can be grabbed.
[0020] It should be pointed out that, for the utility model fully described, there can be a variety of changes and modified embodiments, and are not limited to the specific examples of the above embodiments. The above examples are only as a description of the utility model, but not limit the utility model. In short, the protection scope of the utility model should include those changes or substitutions and modifications obvious to those skilled in the art, and subject to the appended claims.
Claims
1. An automatic multi-specification paper feeding mechanism, including a robotic arm, characterized in that, The robotic arm is connected to a paper-picking rack via a flange. The paper-picking rack consists of a solenoid valve assembly, profiles, connecting clamps, and carbon fiber square tubing. An overpressure sensor, color sensor, position sensor, long-distance sensor, suction cup assembly, air blowing assembly, and paper-gripping assembly are installed on the carbon fiber square tubing. The solenoid valve assembly comprises four solenoid valves (29), of which the first controls two cylinders (20) in area A, the second controls two grippers (24) in area A, the third controls cylinders in area B, and the fourth controls grippers in area B. One solenoid valve is also present. Two (28) are used to control the air blowing combination. Two three (30) are used to control five suction cup combinations respectively. The first one is used to control the three suction cup combinations in area A, and the second one is used to control the two suction cup combinations in area B. When the first one in solenoid valve one (29), the first and second ones in solenoid valve three (30), and solenoid valve two (28) are combined, the paper in area A can be gripped. When all the solenoid valve one (29), solenoid valve three (30), and solenoid valve two (28) are combined at the same time, the paper in areas A+B can be gripped.
2. The automatic multi-specification paper feeding mechanism according to claim 1, characterized in that, The suction cup assembly consists of 5 sets, the air blowing assembly consists of 2 sets, and the paper clamping assembly consists of 3 sets, which are installed at intervals on the carbon fiber square tube.
3. The automatic multi-specification paper feeding mechanism according to claim 1, characterized in that, There are 3 overpressure sensors, 1 color sensor, 1 seat sensor, and 1 long-distance sensor. All the sensors are mounted on the carbon fiber square tube (7) by a sensor mounting plate.
4. An automatic multi-specification paper feeding mechanism according to claim 1 or 2, characterized in that, The air blowing assembly consists of an adapter plate, an air blowing seat, an air blowing fixing plate, and a speed control valve. The adapter plate is installed on the carbon fiber square tube. The upper end of the air blowing fixing plate is connected to the adapter plate, and the lower end is connected to the air blowing seat. The air blowing seat is a closed cavity. The air blowing seat is connected to the speed control valve, and the speed control valve is connected to the air compressor pipe. An air discharge hole is opened on the front side of the air blowing seat.
5. The automatic multi-specification paper feeding mechanism according to claim 1 or 2, characterized in that, The paper clamping assembly consists of a cylinder, an adapter plate, a cylinder mounting plate, a gripper adapter plate, a gripper, a clamping block, and a clamping connecting plate. The cylinder mounting plate is mounted on the carbon fiber square tube by the adapter plate. The cylinder is mounted on the cylinder mounting plate. The piston top of the cylinder is connected to the gripper adapter plate. The gripper adapter plate is mounted with a gripper. There is a shaft pin on the upper and lower sides of one side of the gripper, which is connected to a clamping connecting plate. The other end of the clamping connecting plate is connected to the clamping block. The clamping connecting plate is driven by a cylinder controlled by a solenoid valve.