CN102020029B - Device for synchronizing packaging wheel and swing arms of handkerchief paper packaging machine and design method - Google Patents
Device for synchronizing packaging wheel and swing arms of handkerchief paper packaging machine and design method Download PDFInfo
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- CN102020029B CN102020029B CN2010105558139A CN201010555813A CN102020029B CN 102020029 B CN102020029 B CN 102020029B CN 2010105558139 A CN2010105558139 A CN 2010105558139A CN 201010555813 A CN201010555813 A CN 201010555813A CN 102020029 B CN102020029 B CN 102020029B
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Abstract
The invention discloses a device for synchronizing a packaging wheel and swing arms of a handkerchief paper packaging machine and a design method. The device mainly comprises the packaging wheel (1), a swing arm mechanism (2) and a pull rod mechanism 3, wherein the packaging wheel (1) is arranged coaxially with the swing arm mechanism (2), and rotates at constant speed; the swing arm mechanism (2) reciprocally swings about the axis of the packaging wheel (1); and when the swing arm mechanism (2) reciprocally swings once, the pull rod mechanism 3 finishes reciprocally linear motion once relative to the swing arm mechanism (2), and simultaneously a supporting plate (401) swings along with the swing of the swing arm mechanism (2) in a direction the same as that of the swing arm mechanism (2). The invention also discloses the design method for the synchronization device. In the device and the design method, swing arms and the packaging wheel move in the same direction, and wheel grooves of the packaging wheel are synchronous and flush with push rods so as to avoid halt in production, greatly increase production speed and greatly improve the quality of product and the operating efficiency. The design method provided by the invention avoids much fieldwork such as the repeated adjustment of the angle of a crank and the like required by the adjustment of the synchronization of the packaging wheel and the swing arms, and simplifies mounting and debugging processes.
Description
Technical field
The present invention relates to tissue wrapping machine technical field, promptly adopt the present invention to through folding tissue quires compression, push synchronously again in the packaging wheel race of tissue wrapping machine and carry out coating and seal.
Background technology
[
0002] the improving constantly of Along with people's living standard, tissue is because the daily life requisite that becomes gradually easy to use and carry.The post-production of tissue generally will be passed through the Amscomatic flow process; Cut, embossing, operation such as folding, range upon range of accomplished by the tissue folder; Coating, seal and operation such as label is accomplished by the tissue wrapping machine; Coating is in the packaging wheel race of tissue wrapping machine, to carry out; Must will pass through the tissue folder before the coating and be transported to tissue quires on the supporting plate (general 7 ~ 10 tissues be folded) after folding again and push the packaging wheel race with the rotational synchronization of packaging wheel, this process is by packaging wheel and the completion of swing arm sync control device.
The packaging wheel of semi-automatic tissue wrapping machine is that rotate in the gap, and the time period packaging wheel of inserting when paper bag stops operating, and packaging wheel was rotated after insertion was accomplished.The advantage of this mode be paper bag when inserting if insert guide groove and packing race align just can not occur paper bag with wheel groove edge grazing wrinkling and discounting phenomenon.Shortcoming is exactly that speed can not improve, because the paper bag rigidity is bad, instantaneous execution requires bigger to the application force of paper bag, makes paper bag impaired easily, if any impression, dislocation, distortion etc.
Summary of the invention
The present invention provides a kind of packaging wheel of tissue wrapping machine and the scheme that the swing arm high-speed synchronous is packed continuously, with a kind of packaging wheel uniform rotation cireular frequency and the method for designing of swing arm pivot angle speed approximate identical (being packaging wheel and swing arm high-speed synchronous).
The device that a kind of packaging wheel of tissue wrapping machine and swing arm are synchronous comprises packaging wheel, swing arm, pull bar part three parts, and structural representation is as shown in Figure 1.
In Fig. 1, the mechanics of this sync control device mainly is made up of packaging wheel 1, oscillating arm mechanisms 2, drag link mechanism 3, packaging wheel 1 and oscillating arm mechanisms 2 same axle mountings; Packaging wheel 1 uniform rotation; Oscillating arm mechanisms 2 is reciprocally swinging around the axle center of packaging wheel 1, and drag link mechanism 3 is converted into the straight reciprocating motion of relative oscillating arm mechanisms 2, the moving 1/n circle of packaging wheel 1 revolution through the connecting rod mechanism be made up of crank 303, connecting rod 304 and rocking bar 305 with the circular movement of servomotor 209; N is packing race 102 quantity of packaging wheel 1; Oscillating arm mechanisms 2 reciprocally swingings once, drag link mechanism 3 is accomplished once the linear reciprocating motion of oscillating arm mechanisms 2 relatively, simultaneously supporting plate 401 along with the swing of oscillating arm mechanisms 2 with to swing; Make the tissue quires that is transported on the supporting plate 401 by oscillating arm mechanisms 2 compressions, and then pushed in the packing race 102 by drag link mechanism 3.
In this motion, press the resultant movement analysis: fixed frame is for to decide reference system, and swing arm 201 is a moving reference system.Rocking bar 306 swings do reciprocating linear motion pull bar 307 relative swing arms 201 in its guide rail 213, this is relative motion; Moving reference system (swing arm 201) is done around center O
1Swing up and down, this is a transport motion; So push pedal 312 is done synthetic motion with respect to fixed frame, this resultant movement is done in push pedal 312, and purpose is to walk around the paper bag to be packaged that straight line conveying is come, and advances packing race 102 to the paper bag through overdraft again.Successfully get into packing race 102 in order to reach paper bag, just require here advancing these time period swing arm 201 cireular frequencys of paper bag identical with packaging wheel 1 cireular frequency, promptly synchronous.Obviously; The swing arm 201 that four bars drive and the packaging wheel 1 of uniform circular motion are inaccessible fully synchronously; Because the cireular frequency of the cireular frequency of packaging wheel 1 uniform rotation and swing arm 201 swings only might instantaneously equate that identical in the certain hour section is impossible.
How to reach desirable synchronous effect?
Here only need paper feed porthole relative position in cireular frequency or the packing race 102 and the swing arm 201 of cireular frequency and swing arm 201 swings of research packaging wheel 1 uniform rotation.The change in location of push pedal 312 in whole wrapping cycle is time reference, be discussed be push pedal 312 time period and push away the paper front end face and begin (t apart from packing race 102 constantly for paper bag width 53mm
0), push away the paper front end face to push pedal 312 and finish (T) constantly for 2mm apart from packing race 102.
Guarantee that following two conditions just can reach good synchronous effect:
1, as time t=
1/
2During T, the cireular frequency (ω of packaging wheel uniform rotation
1t) the instantaneous cireular frequency (ω that equals the swing arm swing
2t).
2, as time t=t
0The time, the cireular frequency (ω of packaging wheel uniform rotation
1t) deduct the cireular frequency (ω of swing arm swing
2t0) minimum, i.e. △ ω=ω
1t-ω
2t0Minimum.
Pouring of these two conditions distinguished and can be realized through computing machine.Be set as parameter to position undetermined (the axle drive shaft 204 position X of swing arm 201, Y) and length (crank 205 length d, connecting rod 203 length L).Parameter changes every group of data in specialized range all can calculate △ ω, and minimum △ ω corresponding parameters group is institute and asks.
The present invention provides a kind of packaging wheel of tissue wrapping machine and the technical scheme that the swing arm high-speed synchronous is packed continuously; Swing arm and packaging wheel are moved in the same way; The race of packaging wheel aligns with push rod synchronously, and the tissue quires that is pushed the packaging wheel race by push rod can be not wrinkling with wheel groove edge grazing, even card contracts out existing mechanical breakdown; Pause in having avoided producing has improved speed of production, product design and operating efficiency greatly.Need adjust the lots of field work such as angle of crank when method of designing of the present invention has avoided regulating packaging wheel and swing arm synchronous repeatedly, simplify the Installation and Debugging process.
Description of drawings
Accompanying drawing 1 front view of the present invention
Accompanying drawing 2 oscillating arm mechanisms scheme drawings of the present invention
Accompanying drawing 3 drag link mechanism schematic perspective views of the present invention
Accompanying drawing 4 drag link mechanism back views of the present invention
Accompanying drawing 5 swing arms 201 of the present invention and packaging wheel 1 angular velocity varies figure
The variation diagram of accompanying drawing 6 push pedals 312 of the present invention and packing race 102 absolute locations
In the accompanying drawing: 1, packaging wheel, 101, axle, 102, the packing race, 2, oscillating arm mechanisms, 201, swing arm, 202, crossbeam, 203, connecting rod; 204, axle, 205, crank, 206, bearing carrier ring, 207, gear, 208, coupler, 209, motor; 210, U type paper groove, 211, pressing plate, 212, bar, 213, guide rail, 3, drag link mechanism, 301, bearing seat; 302, gear, 303, crank, 304, connecting rod, 305, rocking bar, 306, rocking bar, 307, pull bar; 308, bearing pin, 309, bearing, 310, bearing, 311, cross bar, 312, push pedal, 401, supporting plate.
The specific embodiment
One, structure detailed annotation
In Fig. 1, the mechanics of this sync control device mainly is made up of packaging wheel 1, oscillating arm mechanisms 2, drag link mechanism 3, packaging wheel 1 and oscillating arm mechanisms 2 same axle mountings; Packaging wheel 1 uniform rotation; Oscillating arm mechanisms 2 is reciprocally swinging around the axle center of packaging wheel 1, and drag link mechanism 3 is converted into the straight reciprocating motion of relative oscillating arm mechanisms 2, the moving 1/n circle of packaging wheel 1 revolution through the connecting rod mechanism be made up of crank 303, connecting rod 304 and rocking bar 305 with the circular movement of servomotor 209; N is packing race 102 quantity of packaging wheel 1; Oscillating arm mechanisms 2 reciprocally swingings once, drag link mechanism 3 is accomplished once the linear reciprocating motion of oscillating arm mechanisms 2 relatively, simultaneously supporting plate 401 along with the swing of oscillating arm mechanisms 2 with to swing; Make the tissue quires that is transported on the supporting plate 401 by oscillating arm mechanisms 2 compressions, and then pushed in the packing race 102 by drag link mechanism 3.
In Fig. 2; A pair of swing arm 201 is installed in parallel on the axle 101; Two guide rails 213 respectively have been installed in the kidney slot of swing arm 201, and swing arm 201 inboards are connected by bar 212, and crossbeam 202 and pressing plate 211 also are installed between the swing arm 201; U type paper groove 210 is fixed on the downside of pressing plate 211 and parallel with the upper and lower surfaces of guide rail 213; The external part of one end of connecting rod 203 and crossbeam 202 downsides is hinged, and the other end and crank 205 are hinged, and the other end of crank 205 is held tightly on axle 204; Gear 207 is fixed on the axle 204 and through bearing carrier ring 206 and is installed on the wallboard of tissue wrapping machine; Axle 204 the other end is connected with servomotor 209 on being installed in tissue wrapping machine wallboard through coupler 208, and the propulsive effort of motor 209 passes to crossbeam 202 through coupler 208, spools 204, crank 205 and connecting rod 203, and swing arm 201 is swung around axle 101.
In Fig. 3 and Fig. 4, gear 302 is installed through the bearing seat 301 that is fixed on the tissue wrapping machine wallboard, and meshes with gear 207; Crank 303 is fixed on gear 302 sides, and an end and the crank 303 of connecting rod 304 are hinged, and the other end and rocking bar 305 are hinged; Rocking bar 305 other ends and axle 101 are held tightly; A pair of rocking bar 306 lays respectively at the outside of swing arm 201 and holds tightly on axle 101, and an end of two pull bars 307 is hinged respectively through bearing pin 308 and two rocking bars 306, and the other end is hinged with the projecting shaft at cross bar 311 two ends respectively; The projecting shaft at cross bar 311 two ends has been installed surface alignment and the guiding that two pairs of antifriction-bearing boxs 310 are gone up lower guideway 213 respectively; Pair of bearings 309 be installed in cross bar 311 above, make cross bar 311 in the medial surface of guide rail 213 location, the push pedal 312 of L type is fixed in the middle of the cross bar 311.
Two, calculate synchronously
The swing of swing arm 201 is driven by oscillating arm mechanisms 2.Suppose that swing arm 201 center of oscillation are initial point,, and on packaging wheel 1 cylindrical, work that packaging wheel 1 diameter is known, therefore can assert that swing arm 201 fork length are known owing to swing arm 201 is swung around packaging wheel 1.The oscillating arm mechanisms 2 that drives swing arm 201 swings has only four unknown undetermined parameters, is respectively the position (being made as X, Y) of the relative initial point in center of crank 205 rotations, crank 205 radius of gyration r, connecting rod 203 length L.The cireular frequency of swing arm 201 swings changes with the variation of these four parameters fully.
The angular velocity varies rule near sinusoidal curve of swing arm 201 swings.The rotation of packaging wheel 1 is uniform rotation, and its cireular frequency is a certain value, like Fig. 5.If near swing arm 201 maximum angular rates; Velocity variations is milder; The relative velocity of swing arm 201 and packaging wheel 1 is very little in paper bag injects the time period, and single consideration swing arm 201 is approaching, best during this period of time with packaging wheel 1 rotating speed; But just be the midway location in swing arm 201 hunting ranges during this period of time, push pedal 312 can not be walked around and treat the into paper bag of packaging wheel 1.Therefore only realize the synchronous relatively of swing arm 201 and packaging wheel 1 in the paper feed as shown in Figure 5 time period.Variation such as Fig. 6 of push pedal 312 and packing race 102 absolute locations; Relative position was zero when paper feed began; Because swing arm cireular frequency 201 this moment is slow than packaging wheel 1 rotating speed, swing arm 201 moves down relatively, and swing arm 201 paper feed channel are packed race 102 relatively no longer toward moving down when swing arm 201 cireular frequencys equal packaging wheel 1 cireular frequency; When swing arm 201 cireular frequencys during greater than packaging wheel 1 cireular frequency, swing arm 201 paper feed channel pack relatively race 102 again near.Swing arm 201 paper feed channel were packed the deviation that race 102 has 1mm relatively when single line was depicted as swing arm 201 cireular frequencys and equals packaging wheel 1 cireular frequency above Fig. 6, the relative position when swing arm 201 paper feed channel are packed race 102 relatively and are returned to paper feed again and begin when the paper bag paper feed finishes.Swing arm 201 paper feed channel were packed the deviation that race 102 has 2mm relatively when single line was depicted as swing arm 201 cireular frequencys and equals packaging wheel 1 cireular frequency below Fig. 6, and swing arm 201 paper feed channel are packed the relative position deviation that race 102 also has 1.2mm relatively when the paper bag paper feed finishes.Both of these case is to there being four different parameters.Now purpose be when seeking one group of best parameter and making swing arm 201 cireular frequencys equal packaging wheel 1 cireular frequency swing arm 201 paper feed channel to pack the deviation of race 102 relatively minimum.
In computing machine, set up the kinematic model of oscillating arm mechanisms 2, measurement swing arm 201 paper feed channel when swing arm 201 cireular frequencys equal packaging wheel 1 cireular frequency are packed race 102 deviate △ 1 relatively.Setting the variation range of four parameters, is A ± a like crank length, changes between promptly from A-a to A+a, gets step-length and be b (b < a, and 2a/>b is an integer), can draw 2a/b+1 data.Other three parameters also can draw 2a/b+1 data equally.Such four combinations of parameters have (2a/b+1)<sup >4</sup>The group data.Calculate in batches also through computing machine and can draw (2a/b+1)<sup >4</sup>Individual deviate △ 1.Computing machine can also directly provide minimum △ 1 and cooresponding four parameters, and these group data are institute and ask.
Claims (1)
1. packaging wheel and synchronous method of swinging arm device that makes the tissue wrapping machine; Packaging wheel and swinging arm device are made up of packaging wheel (1), oscillating arm mechanisms (2), drag link mechanism (3); Packaging wheel (1) and the same axle mounting of oscillating arm mechanisms (2); Packaging wheel (1) uniform rotation, oscillating arm mechanisms (2) are around the axle center reciprocally swinging of packaging wheel (1), and drag link mechanism (3) is the connecting rod mechanism of being made up of first crank (303), first connecting rod (304) and first rocking bar (305); And the circular movement of servomotor (209) is converted into the linear reciprocating motion of relative oscillating arm mechanisms (2); The moving 1/n circle of packaging wheel (1) revolution, n is packing race (102) quantity of packaging wheel (1), oscillating arm mechanisms (2) reciprocally swinging is once; Drag link mechanism (3) is accomplished once the linear reciprocating motion of oscillating arm mechanisms (2) relatively; Supporting plate (401) with to swing, makes the tissue quires that is transported on the supporting plate (401) by oscillating arm mechanisms (2) compression along with the swing of oscillating arm mechanisms (2) simultaneously, and then is pushed in the packing race (102) by drag link mechanism (3); The concrete structure of oscillating arm mechanisms is: a pair of swing arm (201) is installed in parallel on the axle (101) of packaging wheel; Two guide rails (213) respectively have been installed in the kidney slot of said swing arm (201); Said swing arm (201) is inboard to be connected by bar (212); Crossbeam (202) and pressing plate (211) also are installed between the said a pair of swing arm (201); U type paper groove (210) is fixed on the downside of said pressing plate (211) and parallel with the upper and lower surfaces of said guide rail (213); The external part of one end of second connecting rod (203) and said crossbeam (202) downside is hinged; One end of the other end and second crank (205) is hinged; The other end of said second crank (205) is held tightly on an end of axle (204), and second gear (207) is fixed on axle (204) and goes up and be installed on the wallboard of tissue wrapping machine through bearing carrier ring (206), and the other end of said (204) is connected with said servomotor (209) on being installed in tissue wrapping machine wallboard through coupler (208); The propulsive effort of said servomotor (209) passes to said crossbeam (202) through said coupler (208), axle (204), second crank (205) and second connecting rod (203), makes axle (101) swing of said swing arm (201) around said packaging wheel; The concrete structure of drag link mechanism is: first gear (302) is installed through the bearing seat (301) that is fixed on the tissue wrapping machine wallboard; And mesh with said second gear (207); First crank (303) is fixed on said first gear (302) side; One end of first connecting rod (304) and said first crank (303) are hinged; One end of the other end and first rocking bar (305) is hinged; The axle (101) of the other end of said first rocking bar (305) and said packaging wheel is held tightly; A pair of second rocking bar (306) lays respectively at the outside of said swing arm (201) and holds tightly on the axle (101) in said packaging wheel, and an end of two pull bars (307) is hinged respectively through bearing pin (308) and two said second rocking bars (306), and the other end is hinged with the projecting shaft at cross bar (311) two ends respectively; The projecting shaft at said cross bar (311) two ends has been installed upper and lower surfaces location and the guiding that two pairs of antifriction-bearing boxs (310) carry out said guide rail (213) respectively; Pair of bearings (309) be installed in said cross bar (311) above, make said cross bar (311) in the medial surface of said guide rail (213) location, the push pedal of L type (312) is fixed in the middle of the said cross bar (311); It is characterized in that; With the change in location of push pedal (312) in whole wrapping cycle is that time reference compares the cireular frequency of packaging wheel (1) uniform rotation and the cireular frequency of swing arm (201) swing; It is the zero hour apart from packing race (102) for moment of paper bag width 53mm that wherein push pedal (312) pushes away the paper front end face, and it is the finish time apart from packing race (102) for the moment of 2mm that push pedal (312) pushes away the paper front end face;
Guarantee that simultaneously following two conditions just can reach good synchronous effect:
A, when the time was 1/2nd finish times, the cireular frequency of packaging wheel uniform rotation is instantaneous to equal the cireular frequency of swing arm swing;
B, when the time is the zero hour, it is minimum that the cireular frequency of packaging wheel uniform rotation deducts the cireular frequency difference of cireular frequency of swing arm swing;
The pouring of this two conditions distinguished through computing machine and realized; Position undetermined; Be swing arm (201), axle drive shaft (204) coordinate position, and swing arm fork length, second crank (205) length d, second connecting rod (203) length L is set as parameter, parameter changes in specialized range; Every group of data all can calculate the cireular frequency difference, and smallest angles speed difference corresponding parameters group is institute and asks;
The swing of swing arm (201) is driven by oscillating arm mechanisms (2); If swing arm (201) center of oscillation is an initial point; Because swing arm (201) is swung around packaging wheel (1); And on packaging wheel (1) cylindrical, work, and packaging wheel (1) diameter is known, so swing arm (201) fork length is known;
The oscillating arm mechanisms (2) that drives swing arm (201) swing has only four unknown undetermined parameters; Be respectively the coordinate position of axle drive shaft; Also be position X, the Y of the relative initial point in center of said second crank (205) rotation; Second crank (205) length d, second connecting rod (203) length L, the cireular frequency of swing arm (201) swing changes with the variation of these four parameters fully;
The angular velocity varies rule near sinusoidal curve of swing arm (201) swing; The rotation of packaging wheel (1) is uniform rotation, and its cireular frequency is a certain value, near swing arm (201) maximum angular rate; Velocity variations is milder; The relative velocity of swing arm (201) and packaging wheel (1) is very little in the tissue paper bag injects the time period, and single consideration swing arm (201) and packaging wheel (1) rotating speed are approaching, best during this period of time; But just be the midway location in swing arm (201) hunting range during this period of time, said push pedal (312) can not be walked around the paper bag of packaging wheel to be advanced (1); Therefore only realize the synchronous relatively of swing arm (201) and packaging wheel (1) in the paper feed time period; The relative position of said push pedal (312) and packing race (102) does; Relative position was zero when paper feed began; Because swing arm (201) cireular frequency this moment is slow than packaging wheel (1) cireular frequency rotating speed; Swing arm (201) moves down relatively, and when swing arm (201) cireular frequency equaled packaging wheel (1) cireular frequency, swing arm (201) paper feed channel was packed race (102) relatively no longer toward moving down; When swing arm (201) cireular frequency during greater than packaging wheel (1) cireular frequency, swing arm (201) paper feed channel pack relatively race (102) again near; Therefore there are two kinds of situation; Swing arm (201) paper feed channel was packed the deviation that race (102) has 1mm relatively when one, swing arm (201) cireular frequency equaled packaging wheel (1) cireular frequency, the relative position when swing arm (201) paper feed channel is packed race (102) relatively and is returned to paper feed again and begins when the paper bag paper feed finishes; Swing arm (201) paper feed channel was packed the deviation that race (102) has 2mm relatively when two, swing arm (201) cireular frequency equaled packaging wheel (1) cireular frequency, and swing arm (201) paper feed channel is packed the relative position deviation that race (102) also has 1.2mm relatively when the paper bag paper feed finishes; Both of these case be to should there being four different parameters, now purpose be when seeking one group of best parameter and making swing arm (201) cireular frequency equal packaging wheel (1) cireular frequency swing arm (201) paper feed channel to pack the deviation of race (102) relatively minimum;
In computing machine, set up the kinematic model of oscillating arm mechanisms (2), measurement swing arm (201) paper feed channel when swing arm (201) cireular frequency equals packaging wheel (1) cireular frequency is packed race (102) deviate relatively; Set the variation range of four parameters, establishing crank length is A ± a, changes between promptly from A-a to A+a, and getting step-length is b, b a, and 2a/b is integer, can draw 2a/b+1 data;
Other three parameters also can draw 2a/b+1 data equally, and such four combinations of parameters have (2a/b+1)
4Organize data, calculate in batches also through computing machine and can draw (2a/b+1)
4Individual deviate, computing machine can also directly provide minimum deviate and cooresponding four parameters, and these group data are institute and ask.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105558139A CN102020029B (en) | 2010-11-19 | 2010-11-19 | Device for synchronizing packaging wheel and swing arms of handkerchief paper packaging machine and design method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105558139A CN102020029B (en) | 2010-11-19 | 2010-11-19 | Device for synchronizing packaging wheel and swing arms of handkerchief paper packaging machine and design method |
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| CN102020029A CN102020029A (en) | 2011-04-20 |
| CN102020029B true CN102020029B (en) | 2012-02-29 |
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| CN103029869B (en) * | 2013-01-25 | 2015-01-28 | 银川利智信知识产权咨询服务有限公司 | Automatic clamping device for packaging paper for daily use |
| CN114260761A (en) * | 2022-01-21 | 2022-04-01 | 郑康勇 | Polishing device for machine-building |
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| ES2303247T3 (en) * | 2004-06-02 | 2008-08-01 | Ferag Ag | METHOD AND DEVICE FOR PACKING FLAT OBJECTS. |
| CN201447072U (en) * | 2009-05-16 | 2010-05-05 | 常德烟草机械有限责任公司 | Package-pushing device of pocket tissue packing machine |
| CN201424144Y (en) * | 2009-06-02 | 2010-03-17 | 常德烟草机械有限责任公司 | Packing wheel of handkerchief paper packing machine and swing arm synchronization control device |
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