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

Abstract

The utility model discloses a precise grabbing, pushing and fine-tuning mechanism suitable for paper financial products, the precise grabbing, pushing and fine-tuning mechanism is matched with a plane paper rotating mechanism to realize feeding and trimming 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 paper financial 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 paper financial products, the paper financial products are pushed and returned, and meanwhile, the paper financial 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] This utility model relates to the field of large sheet paper conveying technology, specifically to a precision gripping, pushing and fine-tuning mechanism suitable for paper financial products. Background Technology

[0002] The current paper-based financial product printing industry adopts a "one-to-two" production method, that is, one cutting line is matched with two quality inspection and sorting machines. Although this can meet the needs of the production process, it has the problem of inflexible layout for manufacturers with limited space.

[0003] In the field of paper financial products, banknote paper has cutting edges on all four sides, which need to be removed by a cutting box to remove waste edges. The original cutting mechanism is a three-sided cutting box mechanism, which occupies a large area and is costly. The new "one-to-one" cutting line combines the cutting box for cutting side edges and the cutting box for cutting long strips into one machine. Since the product needs to be cut on two sides, a mechanism that can grab and pull back the paper is required. Furthermore, due to the special nature of financial products, the two sides are slightly trapezoidal after printing, and the paper financial product needs to be moved back and forth to be transported when removing waste edges on both sides. 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 it cannot meet the above requirements. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this utility model provides a precision gripping, pushing, and fine-tuning mechanism suitable for paper financial products. It pushes the paper financial products forward and grips them backward, while simultaneously fine-tuning them according to their shape to prepare for subsequent side cutting.

[0005] This utility model provides a precision gripping and pushing fine-tuning mechanism suitable for paper financial products. The precision gripping and pushing fine-tuning mechanism cooperates with a planar paper rotation mechanism to realize the feeding and trimming of paper financial products. The precision gripping and pushing fine-tuning mechanism includes: a fine-tuning pushing gripper mechanism and a mechanism frame. A linear transmission mechanism and a transmission mechanism guide rail are installed parallel to each other on the mechanism frame. One end of the fine-tuning pushing gripper mechanism is connected to the transmission mechanism guide rail, and the other end is connected to the linear transmission mechanism. The fine-tuning pushing gripper mechanism includes: a fine-tuning pushing mechanism and a clamping pushing gripper. Two sets of two fine-tuning guide rail sliders are installed at each end of the fine-tuning pushing mechanism. Each set of fine-tuning guide rail sliders is equipped with a fine-tuning welding frame and a set of servo fine-tuning electric cylinders. The front ends of the two fine-tuning welding frames are connected to the clamping pushing gripper. A set of upper and lower pushing cylinders and a clamping cylinder are respectively installed at both ends of the clamping pushing gripper. The product pushing gripper is installed at the end of the upper and lower pushing cylinders, and the clamping cylinder is installed on the same set of upper and lower pushing cylinders. The product clamping gripper is installed at the end of the clamping cylinder.

[0006] Preferably, the mechanism frame is made of solid carbon structural steel and is combined with the frame of the planar paper rotation mechanism to form a three-dimensional mechanism; the mechanism frame is also equipped with a linear transmission mechanism cable drag chain, a human-machine protective panel, and front and rear limit and zero point sensors.

[0007] Preferably, the linear transmission mechanism includes: a servo motor, a linear transmission module, a module mounting base, 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. The linear transmission module is mounted on the linear module mounting plate via the module mounting base. The module mounting base is a snap-fit ​​type, snapping into a groove on the side of the linear transmission module and connecting to the linear module mounting plate. The linear module mounting plate is connected to the mechanism frame, together forming the frame of the entire mechanism. The linear transmission module is provided with a movable seat, and the overload protection mechanism for picking up goods is mounted on the movable seat.

[0008] Preferably, the servo motor is a 1kW motor with an absolute encoder; the linear transmission module is a 20mm lead module; and the transmission mechanism guide rail is a heavy-duty ball linear guide rail.

[0009] Preferably, the linear transmission mechanism is equipped with a picking-up overload prevention mechanism, and the linear transmission mechanism is connected to the fine-tuning push gripper mechanism through the picking-up overload prevention mechanism; the picking-up overload prevention mechanism includes: an overload protector, a rod end bearing, a linear transmission end connector, a gripper end connector, a disengagement sensor connector, a disengagement sensor sensor plate, and a disengagement sensor. Both ends of the overload protector are connected to the rod end bearing, which is a left-right threaded mechanism. 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 connector, and a locking plate is used for locking. The other end of the rod end bearing is mounted on the movable seat on the linear transmission module and connected to the gripper end connector, and locked by a locking plate; the disengagement sensor connector is mounted on the fine-tuning push gripper mechanism, the disengagement sensor is mounted on the disengagement sensor connector, and the disengagement sensor sensing plate is mounted on the movable seat on the linear transmission module. The disengagement sensor sensing plate has an opening in the middle, and the disengagement sensor is aligned with the opening. Under normal operating conditions, the disengagement sensor has no signal. When the overload protector is triggered, the disengagement sensor senses the signal and alarms.

[0010] Preferably, the fine-tuning pushing mechanism includes: a fine-tuning mechanism base plate, with a transmission mechanism walking slider installed at both ends of the fine-tuning mechanism base plate, the two transmission mechanism walking sliders being connected to the transmission mechanism guide rail and the disengagement sensor connector respectively, a set of fine-tuning guide rail sliders being installed at each end of the fine-tuning mechanism base plate, and the front ends of the two fine-tuning welding frames being connected to the clamping and pushing gripper through a set of oil-free lubricated bearings respectively.

[0011] Preferably, the servo fine-tuning electric cylinder adopts a combined servo electric cylinder drive, with a lead screw pitch of 2mm, a repeatability of ±0.02mm, and a single-sided stroke of 25mm.

[0012] Preferably, the clamping and pushing gripper includes: a clamping and pushing gripper mounting plate, a reinforcing frame, a fine-tuning connector, and a cylinder connecting plate. The reinforcing frame is mounted on the clamping and pushing gripper mounting plate, forming a box-type frame mechanism together with the clamping and pushing gripper mounting plate. The fine-tuning connector is mounted on both sides of the clamping and pushing gripper mounting plate and is equipped with oil-free bearings at its upper and lower ends. The fine-tuning connector is connected to the fine-tuning welding frame on the fine-tuning pushing gripper mechanism, and works with the servo fine-tuning electric cylinder to complete the angle fine-tuning of the clamping and pushing gripper. The clamping and pushing gripper mounting plate has two... Each end is equipped with a set of up-and-down pushing cylinders and a set of clamping cylinders. The product pushing gripper is installed at the end of the up-and-down pushing cylinder. By moving the up-and-down pushing cylinder up and down, the product pushing gripper rises above the paper financial product without interfering with its movement. During pushing, it descends below the paper financial product, lifting it to a certain height for easy subsequent advancement and clamping and retraction. The clamping cylinder is installed on the same set of up-and-down pushing cylinders and connected to the cylinder connecting plate. The product clamping gripper is installed at the end of the clamping cylinder.

[0013] Preferably, the upper and lower pushing cylinders are push cylinders with guide rods; both the product gripper and the product pushing gripper are made of stainless steel, and are directly connected to the paper financial products during the pushing and gripping retraction process, ensuring that the pushing and gripping retraction will not cause damage to the paper financial products.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] This invention uses the movement of the transmission mechanism and the pushing of the gripper to push the financial paper product forward. The transmission mechanism and the gripper then clamp and retract the paper financial product. In addition, due to the printing deformation characteristics of the paper financial product, the pushing angle of the product can be finely adjusted by the fine-tuning mechanism while the product is being pushed and retracted, in preparation for subsequent side cutting work. Attached Figure Description

[0016] Figure 1 A top view schematic diagram of a precision gripping, pushing and fine-tuning mechanism for paper financial products provided by this utility model;

[0017] Figure 2 A schematic diagram of the structure of a precision gripping and pushing fine-tuning mechanism (bottom view) for paper financial products provided by this utility model;

[0018] Figure 3 A schematic diagram of a large-sheet feeding and trimming production line for paper financial products provided by this utility model;

[0019] Figure 4A schematic diagram of the precision gripping and pushing fine-tuning mechanism and the planar paper rotation mechanism provided by this utility model;

[0020] Figure 5 A schematic diagram of the linear transmission mechanism provided by this utility model;

[0021] Figure 6 A schematic diagram of the structure of the overload prevention mechanism for picking up goods provided by this utility model;

[0022] Figure 7 A top view schematic diagram of the fine-tuning push gripper mechanism provided by this utility model;

[0023] Figure 8 A schematic diagram of the micro-adjustment push gripper mechanism (excluding the clamping push gripper) provided by this utility model (bottom view);

[0024] Figure 9 A schematic diagram of the structure of the clamping and pushing gripper (left top view) provided by this utility model;

[0025] Figure 10 A schematic diagram of the structure of the clamping and pushing gripper (top right view) provided by this utility model;

[0026] In the diagram: 1-Fine-tuning push gripper; 2-Mechanism frame; 3-Linear transmission mechanism; 4-Linear transmission mechanism cable chain; 5-Human machine protection panel; 6-Front and rear limit and zero-point sensors; 7-Overload protection mechanism for picking up goods; 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-Reinforcing frame; 113-Fine-tuning connector; 114-Up and down push cylinder; 115-Clamping cylinder; 116-Cylinder connecting plate; 117-Product pushing gripper; 118-Product clamping gripper; 301-Servo motor; 302-Linear drive module; 303-Module mounting base; 304-Linear module mounting plate; 305-Connecting flange; 306-Coupling; 701-Overload protector; 702-Rod end bearing; 703-Linear drive end connector; 704-Gripper end connector; 705-Disengagement sensor connector; 706-Disengagement sensor element; 707-Disengagement sensor; 9-Precision gripping and pushing fine-tuning mechanism; 10-Planar paper rotation mechanism; 11-Conveying panel; 12-Production line support frame; 13-Strip cutting box. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0028] The present invention will now be described in further detail with reference to the accompanying drawings.

[0029] like Figures 1-4 As shown, this utility model embodiment provides a precision gripping and pushing fine-tuning mechanism suitable for paper financial products. The precision gripping and pushing fine-tuning mechanism 9 cooperates with the planar paper rotation mechanism 10 to realize the feeding and trimming of paper financial products. The precision gripping and pushing fine-tuning mechanism includes: a fine-tuning pushing gripper 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 pushing gripper 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 pushing gripper mechanism 1 includes: a fine-tuning pushing mechanism and a clamping pushing gripper 11. 0. Two sets of fine-tuning guide rail sliders 160 are installed at each end of the fine-tuning pushing mechanism. Each set of fine-tuning guide rail sliders 160 is equipped with a fine-tuning welding frame 150 and a set of servo fine-tuning electric cylinders 130. The front ends of the two fine-tuning welding frames 150 are connected to the clamping pushing gripper 110. A set of up-and-down pushing cylinders 114 and a clamping cylinder 115 are installed at each end of the clamping pushing gripper 110. A product pushing gripper 117 is installed at the end of the up-and-down pushing cylinder 114. The clamping cylinder 115 is installed on the same set of up-and-down pushing cylinders 114. A product clamping gripper 118 is installed at the end of the clamping cylinder 115.

[0030] During the process of fine-tuning the angle of paper financial products, the linear transmission mechanism 3 drives the fine-tuning push gripper mechanism 1 to move back and forth. When the fine-tuning push gripper 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 its front end clamping push gripper 110 to swing, and fine-tuning the angle between the clamping push gripper 110 and the linear transmission mechanism 3.

[0031] During the process of pushing and clamping paper financial products, the linear transmission mechanism 3 drives the fine-tuning push gripper mechanism 1 to move back and forth. When the paper financial product moves forward, according to the vertical position relationship between the upper and lower push cylinders 114 and the clamping cylinders 115, the product clamping gripper 118 and the product push gripper 117 are driven to push and clamp the paper financial product.

[0032] like Figures 3-4As shown, the mechanism frame 2 is made of solid carbon steel and is combined with the frame of the flat paper rotation mechanism 10 to form a three-dimensional mechanism. The overall structure is stable and will not shake or vibrate. The mechanism frame 2 is also equipped with a linear drive mechanism cable chain 4, a human-machine protective panel 5, and front and rear limit and zero point sensors 6.

[0033] The linear drive mechanism cable chain 4 is used to standardize the wiring harness and air pipes in the fine-tuning push gripper mechanism 1, ensuring that they do not break during operation on the linear drive mechanism. The fine-tuning push gripper mechanism 1 contains devices such as cylinders, electric cylinders, and sensors. Due to the presence of flexible cables such as motors, the cable chain 4 needs to be adapted. Through product verification, the cable chain can be used up to 5 million times.

[0034] The human-machine protection panel 5 is used to separate the manual feeding section from the automated operation section, allowing only paper financial products to pass through.

[0035] The front and rear limit and zero point sensors 6 are used to calibrate the reference zero point of the fine-tuning push gripper mechanism 1 when it moves, to prevent it from exceeding the set walking range during movement. In terms of control logic, this prevents the device from exceeding the set walking range during movement and calibrates the reference zero point of the fine-tuning push gripper when it moves, thus ensuring accuracy during the walking process.

[0036] like Figure 5 As shown in the embodiment of this utility model, the linear transmission mechanism 3 includes: a servo motor 301, a linear transmission module 302, a module mounting base 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 by the coupling 306. The linear transmission module 302 is mounted on the linear module mounting plate 304 through the module mounting base 303. The module mounting base 303 is a snap-fit ​​type, which is snapped 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, together forming the frame of the entire mechanism, making the frame mechanism more stable and reliable. The linear transmission module 302 is provided with a movable seat, and the overload protection mechanism 7 is installed on the movable seat.

[0037] In this embodiment of the invention, the servo motor 301 is a 1kW motor with an absolute encoder; the linear transmission module 302 is a module with a lead of 20mm; and the transmission mechanism guide rail 8 is a heavy-duty ball linear guide. The linear transmission mechanism 3 adopts a combination of guide rail slider and precision ball screw servo motor, supplemented by cable drag chain 4, limit sensor 6, and overload mechanism 7. Since the mechanism is installed in an inverted manner, a heavy-duty ball linear guide is selected for the guide rail slider, ensuring stable operation while also guaranteeing the safety factor of the lifting load. The power transmission device uses a servo motor and precision ball screw operation mode to ensure the accuracy of product pushing. The cable drag chain 4 of the linear transmission mechanism 3 evenly arranges the cables and air pipes of the transmission device, ensuring the smooth and feasible operation of the transmission mechanism; the overload mechanism 7 is a protective device to prevent damage to the product in case of equipment jamming or malfunction. Servo motor 301 is a 1kW motor with an absolute encoder. In this control mode, it can provide accurate feedback on the product position. It is also equipped with a high-precision linear transmission module 302 with a lead of 20mm. While ensuring high operating efficiency, its repeatability can reach ±0.05mm, which meets the operating requirements of the production line.

[0038] like Figure 6 As shown in this embodiment of the present invention, a picking-up overload prevention mechanism 7 is installed on the linear transmission mechanism 3. The linear transmission mechanism 3 is connected to the fine-tuning push gripper mechanism 1 through the picking-up overload prevention mechanism 7. The picking-up overload prevention mechanism 7 includes: an overload protector 701, a rod end bearing 702, a linear transmission end connector 703, a gripper end connector 704, a disengagement sensor connector 705, a disengagement sensor sensing plate 706, and a disengagement sensor 707. The two 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. Connector 703 is connected and locked with a locking plate. The other end of the rod end bearing 702 is mounted on the movable seat on the linear transmission module 302 and connected to the gripper end connector 704, and locked with a locking plate. The disengagement sensor connector 705 is mounted on the fine-tuning push gripper mechanism 1. The disengagement sensor 707 is mounted on the disengagement sensor connector 705. The disengagement sensor sensing plate 706 is mounted on the movable seat on the linear transmission module 302. The disengagement sensor sensing plate 706 has an opening in the middle. 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.

[0039] like Figures 7-8As shown in the embodiment of this utility model, the fine-tuning pushing mechanism includes: a fine-tuning mechanism base plate 120, with transmission mechanism walking sliders 140 respectively installed at both ends of the fine-tuning mechanism base plate 120, the two transmission mechanism walking sliders 140 being connected to the transmission mechanism guide rail 8 and the disengagement sensor connector 705 respectively, a set of fine-tuning guide rail sliders 160 being installed at each end of the fine-tuning mechanism base plate 120, and the front ends of the two fine-tuning welding frames 150 being connected to the clamping and pushing gripper 110 respectively through a set of oil-free lubricated bearings.

[0040] Under normal operating conditions, the gripping and pushing claw 110 forms a 90° angle with the direction of travel. During the process of fine-tuning the angle of the paper financial product, the fine-tuning pushing mechanism is activated. The linear transmission mechanism 3 drives the fine-tuning pushing claw mechanism 1 to move back and forth. 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 gripping and pushing claw 110 at its front end to swing, so that the angle between the gripping and pushing claw 110 and the linear transmission mechanism 3 is adjusted by ±90°, thereby realizing the fine-tuning of the angle of the paper financial product.

[0041] In this embodiment of the invention, the servo micro-adjustment electric cylinder 130 adopts a combined servo electric cylinder transmission with a lead screw pitch of 2mm and a repeatability of ±0.02mm, providing precise adjustment performance for the product. Its single-sided stroke is 25mm. The micro-adjustment push gripper mechanism 1 is connected to the transmission mechanism guide rail 8 through the transmission mechanism walking slider 140. The linear transmission mechanism 3 of the power part and the micro-adjustment push gripper mechanism 1 are connected through the picking overload protection mechanism 7. Due to the special nature of paper financial products, when jamming occurs during linear transmission, the overload protector needs to be triggered to disconnect after exceeding a certain load, and the feedback is sent to the host computer through the sensor to ensure the safety of the paper financial products as soon as possible. Under normal movement, the gripping push gripper forms a 90° angle with the direction of travel. According to the program settings of the host computer, when the waste edges on both sides are cut off, the micro-adjustment push mechanism is activated, which can adjust the gripping push gripper by ±90°. The single-sided stroke of the servo micro-adjustment motor is 25mm.

[0042] like Figures 9-10As shown in the embodiment of this utility model, the clamping and pushing gripper 110 includes: a clamping and pushing gripper mounting plate 111, a reinforcing frame 112, a fine-tuning connector 113, and a cylinder connecting plate 116. The reinforcing frame 112 is mounted on the clamping and pushing gripper mounting plate 111, and together with the clamping and pushing gripper 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 gripper mounting plate 111, and is equipped 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 pushing gripper mechanism 1, and works with the servo fine-tuning electric cylinder 130 to complete the angle fine-tuning of the clamping and pushing gripper 110; the clamping and pushing gripper... A set of up-and-down pushing cylinders 114 and a clamping cylinder 115 are respectively installed at both ends of the feeding gripper mounting plate 111. The product pushing gripper 117 is installed at the end of the up-and-down pushing cylinder 114. By moving the up-and-down pushing cylinder 114 up and down, the product pushing gripper 117 rises above the paper financial product without interfering with the movement of the paper financial product. When pushing, it falls below the paper financial product, lifting the paper financial product to a certain height, which facilitates subsequent pushing and clamping and retraction. The clamping cylinder 115 is installed on the same set of up-and-down pushing cylinders 114 and connected to the cylinder connecting plate 116. The product clamping gripper 118 is installed at the end of the clamping cylinder 115.

[0043] During the process of pushing and clamping the paper financial product, the linear transmission mechanism 3 drives the fine-tuning push gripper mechanism 1 to move back and forth. When the paper financial product moves forward, the up-down push cylinder 114 is in the lower position and the clamping cylinder 115 is in the upper position, which drives the product push gripper 117 to push the paper financial product. When the paper financial product moves backward, the up-down push cylinder 114 is in the lower position and the clamping cylinder 115 is in the lower position, which drives the product clamping gripper 118 and the product push gripper 117 to clamp and retract the paper financial product.

[0044] In this embodiment of the utility model, the upper and lower pushing cylinder 114 is a pushing cylinder with a guide rod; the product clamping gripper 118 and the product pushing gripper 117 are both made of stainless steel and are directly connected to the paper financial product during the pushing and clamping retraction process, ensuring that the pushing and clamping retraction will not cause damage to the paper financial product.

[0045] like Figures 3-4 As shown, the precision gripping and pushing fine-tuning mechanism 9 of this utility model embodiment cooperates with the planar paper rotation mechanism 10 to realize the feeding and trimming production line for paper financial products. The process includes:

[0046] S1. The main equipment of the paper financial product large sheet feeding and edge trimming production line is powered. The paper financial product that has reached the designated position is pushed to the working area of ​​the flat paper rotating mechanism 10 through the precision gripping and pushing fine adjustment mechanism 9. The precision gripping and pushing fine adjustment mechanism 9 retracts to the outside of the working area. After the flat paper rotating mechanism 10 finishes its work, the angle is finely adjusted by the precision gripping and pushing fine adjustment mechanism 9. The up and down pushing cylinder 114 falls down and pushes the paper financial product to the cutting area of ​​the cutting knife box 13 to cut the waste edge on the right side.

[0047] S2. After cutting off the waste edge on the right side, the gripping and pushing gripper 110 drops down to hold the paper financial product. The precision gripping and pushing fine-tuning mechanism 9 pulls the paper financial product back to the working area of ​​the flat paper rotating mechanism 10. The precision gripping and pushing fine-tuning mechanism 9 then retracts out of the working area. After the flat paper rotating mechanism 10 finishes its work, the angle is finely adjusted by the precision gripping and pushing fine-tuning mechanism 9. The up and down pushing cylinder 114 drops down to push the paper financial product to the cutting area of ​​the cutting knife box 13 to cut off the waste edge on the left side.

[0048] S3. After cutting off the waste edge on the left side, the gripping and pushing claw 110 drops down to clamp the paper financial product. The precision gripping and pushing fine-tuning mechanism 9 pulls the product back to the working area of ​​the flat paper rotating mechanism 10. The precision gripping and pushing fine-tuning mechanism 9 retracts outside the working area and returns to the zero point of the equipment operation. After the flat paper rotating mechanism 10 has finished operating, other pushing mechanisms will carry out subsequent work.

[0049] Compared with the prior art, the present invention has the following advantages:

[0050] This invention relates to a precision gripping and pushing fine-tuning mechanism. The pushing action utilizes a guide rail slider and a servo motor linear module for movement. A dedicated dual-cylinder gripper grasps and retracts the product. Due to the unique characteristics of paper financial products, fine-tuning of the product's posture is necessary during the paper pushing process, achieved through dual servo cylinders and adjusting bearings. This invention enables forward pushing and backward gripping of paper financial products, while simultaneously fine-tuning according to the product's shape to prepare for subsequent side-cutting.

[0051] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A precision grasping, pushing, and fine-tuning mechanism suitable for paper-based financial products, characterized in that, The precision gripping and pushing fine-tuning mechanism cooperates with the planar paper rotation mechanism to realize the feeding and trimming of paper financial products. The precision gripping and pushing fine-tuning mechanism includes: a fine-tuning pushing gripper 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 pushing gripper 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 pushing gripper mechanism (1) includes: a fine-tuning pushing mechanism and a clamping pushing gripper (110). Two sets of fine-tuning guide rail sliders are installed at each end of the fine-tuning pushing mechanism. 160), each set of fine-tuning guide rail sliders (160) is equipped with a fine-tuning welding frame (150) and a set of servo fine-tuning electric cylinders (130), the front ends of the two fine-tuning welding frames (150) are connected to the clamping push gripper (110); a set of up-and-down pushing cylinders (114) and clamping cylinders (115) are respectively installed at both ends of the clamping push gripper (110), the product push gripper (117) is installed at the end of the up-and-down pushing cylinders (114), the clamping cylinder (115) is installed on the same set of up-and-down pushing cylinders (114), and the product clamping gripper (118) is installed at the end of the clamping cylinder (115).

2. The precision gripping and pushing fine-tuning mechanism according to claim 1, characterized in that, The mechanism frame (2) is made of solid carbon structural steel and is combined with the frame of the flat 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 protective panel (5) and front and rear limit and zero point sensors (6).

3. The precision gripping and pushing fine-tuning mechanism according to claim 1, characterized in that, The linear transmission mechanism (3) includes: a servo motor (301), a linear transmission module (302), a module mounting base (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 the coupling (306). The moving module (302) is mounted on the linear module mounting plate (304) via the module mounting base (303); the module mounting base (303) is a snap-fit ​​type, which is snapped into the groove on the side of the linear drive 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; the linear drive module (302) is provided with a movable seat, and the overload protection mechanism (7) is mounted on the movable seat.

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

5. The precision gripping and pushing fine-tuning mechanism according to claim 3, characterized in that, The linear transmission mechanism (3) is equipped with a picking-up overload prevention mechanism (7). The linear transmission mechanism (3) is connected to the fine-tuning push gripper mechanism (1) through the picking-up overload prevention mechanism (7). The picking-up overload prevention mechanism (7) includes: an overload protector (701), a rod end bearing (702), a linear transmission end connector (703), a gripper end connector (704), a disengagement sensor connector (705), a disengagement sensor sensor plate (706), and a disengagement sensor (707). The overload protector (701) is connected to the rod end bearing (702) at both ends. 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 connector (703). Then, the locking plate is locked, and the other end of the rod end bearing (702) is installed on the movable seat on the linear transmission module (302) and connected to the gripper end connector (704). The locking plate is locked. The disengagement sensor connector (705) is installed on the fine-tuning push gripper mechanism (1). The disengagement sensor (707) is installed on the disengagement sensor connector (705). The disengagement sensor sensing plate (706) is installed on the movable seat on the linear transmission module (302). The disengagement sensor sensing plate (706) has an opening in the middle. 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.

6. The precision gripping and pushing fine-tuning mechanism according to claim 5, characterized in that, The fine-tuning push mechanism includes: a fine-tuning mechanism base plate (120), with a transmission mechanism walking slider (140) installed at both ends of the fine-tuning mechanism base plate (120), the two transmission mechanism walking sliders (140) being connected to the transmission mechanism guide rail (8) and the disengagement sensor connector (705) respectively, and a set of fine-tuning guide rail sliders (160) being installed at each end of the fine-tuning mechanism base plate (120), and the front ends of the two fine-tuning welding frames (150) being connected to the clamping push gripper (110) through a set of oil-free lubricated bearings respectively.

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

8. The precision gripping and pushing fine-tuning mechanism according to claim 6, characterized in that, The clamping and pushing gripper (110) includes: a clamping and pushing gripper mounting plate (111), a reinforcing frame (112), a fine-tuning connector (113), and a cylinder connecting plate (116). The reinforcing frame (112) is mounted on the clamping and pushing gripper mounting plate (111) and together with the clamping and pushing gripper mounting plate (111) forms a box-type frame mechanism. The fine-tuning connector (113) is mounted on both sides of the clamping and pushing gripper mounting plate (111) and is equipped 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 pushing gripper mechanism (1) and works with the servo fine-tuning electric cylinder (130) to complete the angle fine-tuning of the clamping and pushing gripper (110). A set of up-and-down pushing cylinders (114) and a set of clamping cylinders (115) are respectively installed at both ends of the claw mounting plate (111). The product pushing gripper (117) is installed at the end of the up-and-down pushing cylinder (114). By moving the up-and-down pushing cylinder (114) up and down, the product pushing gripper (117) rises above the paper financial product without interfering with the movement of the paper financial product. When pushing, it falls below the paper financial product and lifts the paper financial product to a certain height, which is convenient for subsequent pushing and clamping and retraction. The clamping cylinder (115) is installed on the same set of up-and-down pushing cylinders (114) and connected to the cylinder connecting plate (116). The product clamping gripper (118) is installed at the end of the clamping cylinder (115).

9. The precision gripping and pushing fine-tuning mechanism according to claim 8, characterized in that, The upper and lower push cylinder (114) is a push cylinder with a guide rod; the product gripper (118) and the product pusher (117) are both made of stainless steel and are directly connected to the paper financial product during the pushing and gripping retraction process, so as to ensure that the pushing and gripping retraction will not cause damage to the paper financial product.

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