CN106364957A - Device used for supplying two kinds of paper discs - Google Patents
Device used for supplying two kinds of paper discs Download PDFInfo
- Publication number
- CN106364957A CN106364957A CN201510430031.5A CN201510430031A CN106364957A CN 106364957 A CN106364957 A CN 106364957A CN 201510430031 A CN201510430031 A CN 201510430031A CN 106364957 A CN106364957 A CN 106364957A
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- China
- Prior art keywords
- mechanical arm
- paper
- extraction
- guide rail
- motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
- B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/40—Type of handling process
- B65H2301/41—Winding, unwinding
- B65H2301/417—Handling or changing web rolls
- B65H2301/418—Changing web roll
- B65H2301/4181—Core or mandrel supply
Abstract
The invention discloses a device used for supplying two kinds of paper discs. The device comprises a support frame. Two transverse fixed guide rails are arranged at the top of the support frame in parallel. Longitudinal movable guide rails are movably arranged on the transverse fixed guide rails. Movable guide rail sliding blocks are movably arranged on the longitudinal movable guide rails and fixedly connected with mechanical arms through connection blocks. The mechanical arms are connected with extraction discs through extraction disc support seats. The motion of the extraction discs at three degrees of freedom is achieved by controlling transverse horizontal motion of the longitudinal movable guide rails in the X-axis direction, the longitudinal horizontal motion of the mechanical arms in the Y-axis direction and the up-down motion of the extraction discs in the Z-axis direction, and the motion that the extraction discs grab, convey and unload the cigarette paper discs and the tipping paper discs between trays and caching devices is achieved by controlling the rotation motion of the mechanical arms round the Y axis. The device used for supplying the two kinds of paper discs is compact in structure, small in size, capable of reducing the equipment occupied space, convenient to operate and high in automation degree.
Description
Technical field
The present invention relates to a kind of tobacco processing equipment and in particular to a kind of for supply two kinds of paper discs device.
Background technology
Along with the technological progress in the fields such as machining and electrical control, the speed of production of cigarette machine is gradually lifted, and up to two
Ten thousand per minute, is calculated with conventional paper disc diameter, need to change within every seven minutes a coiling cigarette paper, every ten four minutes need to change a disk
Cork paper, was no longer desirable for high-speed production by the mode manually supplying paper disc in the past.
At present, the supply of cigarette paper has been realized in the transformation from artificial paper supply to machine automatic paper feeding, and its method is to supply paper disc
Should be independent from cigarette machine, by special equipment paper supply, the bob-me paper supplying machine that such as Germany produces, the rf20 that Italy produces supplies
Paper machine, domestic yf71 and yf73 paper supplying machine；Chinese patent literature cn1507408a disclose a kind of for by reel supply to
The method and apparatus of machine, mainly applies to cigarette-packaging machine.These equipment above-mentioned all pertain only to supply a kind of paper disc.
In order to reduce the labor intensity of workman further, the supply of cork paper also need to be changed to machine and automatically supply, but roll up for one
Cigarette machine is equipped with the high cost of two paper supplying machines, and it is big to take up room.Chinese patent literature cn1982182b discloses a kind of being used for
Apparatus and method and the automation cell of paper disc is manipulated, it can supply two kinds of paper discs, the equipment of correlation simultaneously in automation cell
Model bd-sistem cigarette machine material station.The feature of this equipment is to be immovable in vertical z-axis direction, works as z-axis
Guide rail needs to take more space when moving along x and y direction, causes this material station volume big, not compact；And its equipment
Two paper disc conversion equipments being related to using being arranged in juxtaposition form in front and back, when rear end paper disc conversion equipment need to being grasped due to fault
When making, need to enter and carry out inside material station, operation inconvenience.
Content of the invention
The technical problem to be solved is to provide a kind of device for supplying two kinds of paper discs, and it can be cigarette machine supply
Cigarette paper and cork paper, improve the automatization level producing.
For solving above-mentioned technical problem, the technical solution that the present invention is used for the device of two kinds of paper discs of supply is:
Including support frame, the top of support frame is set side by side with two and laterally fixes guide rail 1,6, laterally fixes guide rail 1,6
On be movably set with longitudinal movement rail 5；Longitudinal movement rail 5 can be realized along the x-axis direction on guide rail 1,6 laterally fixing
Transverse horizontal motion；Moving guide rail slide block is movably set with longitudinal movement rail 5, moving guide rail slide block passes through contiguous block 10
It is fixedly connected mechanical arm 3；Mechanical arm 3 can realize longitudinal horizontal movement along the y-axis direction on longitudinal movement rail 5；And
Mechanical arm 3 is capable of the rotary motion around y-axis；Mechanical arm 3 connects extraction disk 7 by extraction disk bearing 18；Mechanical arm 3
By its upper and lower stretching motion, up and down motion along the z-axis direction realized by drive extraction disk 7；It is provided with paper disc on extraction disk 7 to grab
Take device, for capturing the paper disc of two kinds of different inner diameters specifications；The bottom of support frame is provided with two pallets, Medicated cigarette paper disc 9
It is stacked at respectively on two pallets with tipping paper disk 8；It is provided with two buffer storages 2,4 in support frame；By controlling longitudinally
Moving guide rail 5 transverse horizontal motion along the x-axis direction, mechanical arm 3 longitudinal horizontal movement along the y-axis direction, and extraction disk
7 up and down motions along the z-axis direction, realize the motion of extraction disk 7 three degree of freedom, and by control machinery arm 3 around y-axis
Rotary motion, realizes extraction disk 7 and captures between pallet and buffer storage 2,4, transmits and unload Medicated cigarette paper disc 9 and cork paper
The action of disk 8.
Described mechanical arm 3 includes mechanical arm bearing 13, and mechanical arm bearing 13 is fixedly installed the first screw mandrel 14；First screw mandrel
14 the first swivel nut a is fixedly installed on motor cabinet 15；Motor 12 is provided with motor cabinet 15, motor 12 passes through Timing Belt
Dynamic drive mechanism connects the first swivel nut a and the second screw mandrel 16；The rotation of motor 12 can drive the first swivel nut a and the second screw mandrel
16 rotate with speed in the same direction；Second swivel nut b of the second screw mandrel 16 is fixedly connected expansion link 17；First swivel nut a exists
Along the axial translation of the first screw mandrel 14 in rotary course, and drive motor seat 15 and the second screw mandrel 16 are realized propping up with respect to mechanical arm
The motion of seat 13；Meanwhile, the second screw mandrel 16 makes the second swivel nut b along the axial translation of the second screw mandrel 16 in rotary course,
And drive the motion that expansion link 17 realizes with respect to motor cabinet 15, and the displacement of the second swivel nut b is the two of the first swivel nut a
Times, realize two-stage and stretch.
The end of described expansion link 17 is articulated and connected extraction disk 7 by extraction disk bearing 18；When mechanical arm 3 rotates, extraction disk 7
Can be freely rotatable, thus automatically keeping horizontality under gravitational equilibrium effect.
Described mechanical arm bearing 13 is fixedly connected one-level slide block 21, and one-level slide block 21 is flexibly connected one-level guide rail 22, one-level guide rail
22 can translate with respect to one-level slide block 21；One-level guide rail 22 is fixedly connected motor cabinet 15；During work, motor cabinet 15 and
Level guide rail 22 moves together on one-level slide block 21, thus to motor cabinet 15 and the first swivel nut a with respect to mechanical arm bearing 13
Motion guided and positioned；Described motor cabinet 15 is fixedly connected slide block assembly bearing 23, and slide block assembly bearing 23 is fixing even
Connect two grades of slide blocks 20, then one-level guide rail 22 is connected with the first swivel nut a；Two grades of slide blocks 20 two grades of guide rails 19 of flexible connection, two grades
Guide rail 19 can translate with respect to two grades of slide blocks 20；Two grades of guide rails 19 are fixedly connected expansion link 17；During work, expansion link 17
Move on two grades of slide blocks 20 together with two grades of guide rails 19, thus to expansion link 17 and the second swivel nut b with respect to motor cabinet 15
Motion guided and positioned.
The paper disc grabbing device of described extraction disk 7 includes 27, three extraction 28, three bullets of pawl of 25, two connecting rods of three cranks
24, six profile of tooth posts of spring 29,30, cylinder 26, three cranks 25 circumferentially distributed on extraction disk 7, each crank 25
Fixing end by rotary shaft connect extraction disk 7；Rotary shaft connects the fixing end extracting pawl 28, and the free end extracting pawl 28 sets
It is equipped with internal tooth form post 29 and external tooth form post 30, three internal tooth form posts 29 are concyclic, for capturing the less tipping paper disk of internal diameter 8；
Three external tooth form posts 30 are concyclic, the Medicated cigarette paper disc 9 larger for capturing internal diameter；When the free end stress of crank 25, crank
25 can rotate around its fixing end；The free end of one of crank 25 connects cylinder 26, and cylinder 26 can be crank 25
Free end persistently provides reverse rotational force；Two connecting rods 27 are sequentially connected adjacent crank 25, to realize the connection of three cranks 25
Dynamic；One end of the free end connecting spring 24 of each crank 25, the other end of spring 24 is fixedly connected on extraction disk 7；Bullet
Spring 24 persistently can provide revolving force for the free end of crank 25, so that crank 25 is rotated around its fixing end, and drive extraction pawl
28 free end, around the fixing end rotation extracting pawl 28, makes three internal tooth form posts 29 and the straight of circle that three external tooth form posts 30 are located
Footpath becomes big, realizes the action of tensioner paper disc in-core circle；When the push rod of cylinder 26 stretches out, make this crank 25 and other crank
Reversely rotate around respective fixing end, and drive the free end extracting pawl 28 to reversely rotate around the fixing end extracting pawl 28, make three
Individual internal tooth form post 29 and three external tooth form post 30 place diameter of a circles diminish, and realize decontroling the action of paper disc in-core circle.
Fixing guide rail slide block is movably set with described horizontal fixing guide rail 1,6, two fixing guide rail slide blocks connect longitudinal shifting respectively
The two ends of dynamic guide rail 5, thus realizing longitudinal movement rail 5 and laterally fixing being flexibly connected of guide rail 1,6.
The upper end of described mechanical arm 3 and contiguous block 10 link, and contiguous block 10 is linked with one end of electric pushrod 11, electric pushrod
11 other end is linked with the lower end of mechanical arm 3；Drive the flexible of electric pushrod 11, can driving mechanical arm 3 around its upper end
Rotation, realizes the spinning movement around y-axis for the mechanical arm 3.
It is provided with distance measurement element on described extraction disk 7, for the spacing between Detection and Extraction disk 7 and paper disc, grabbed with determining
Take the length of mechanical arm elongation during paper disc.
It is provided with position measurement element on described extraction disk 7；By the movement of mechanical arm 3, detect three on paper disc core circumference
The position of point, by calculating the home position determining this paper disc.
What the present invention can reach has the technical effect that
Present configuration is compact, small volume, can reduce occupation area of equipment, and easy to operate, high degree of automation.
Brief description
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description:
Fig. 1 is that the present invention is used for supplying the schematic diagram of the device of two kinds of paper discs；
Fig. 2 is the mechanical arm of the present invention and the schematic diagram of extraction disk；
Fig. 3 is the rotating state diagram of the mechanical arm of the present invention；
Fig. 4 is the structural representation of the two-stage retractor device of the mechanical arm of the present invention；
Fig. 5 is the structural representation of the slide block assembly of the mechanical arm of the present invention；
Fig. 6 is the schematic diagram of the paper disc grabbing device of the extraction disk of the present invention；
Fig. 7 is the schematic diagram of the extraction pawl of the present invention；
Fig. 8 is that the external tooth form post of the extraction pawl of the present invention is in the schematic diagram of propradation.
In figure description of reference numerals:
1st, 6 is laterally to fix guide rail, and 2,4 is buffer storage,
3 is mechanical arm, and 5 is longitudinal movement rail,
7 is extraction disk, and 8 is tipping paper disk,
9 is Medicated cigarette paper disc, and 10 is contiguous block,
11 is electric pushrod, and 12 is motor,
13 is mechanical arm bearing, and 14 is the first screw mandrel,
A is the first swivel nut, and b is the second swivel nut,
15 is motor cabinet, and 16 is the second screw mandrel,
17 is expansion link, and 18 is extraction disk bearing,
19 is two grades of guide rails, and 20 is two grades of slide blocks,
21 is one-level slide block, and 22 is one-level guide rail,
23 is slide block assembly bearing, and 24 is spring,
25 is crank, and 26 is cylinder,
27 is connecting rod, and 28 is to extract pawl,
29 is internal tooth form post, and 30 is external tooth form post.
Specific embodiment
As shown in figure 1, the present invention is used for the device of two kinds of paper discs of supply, can be by some Medicated cigarette paper discs of storage on two pallets
9 and tipping paper disk 8 supply respectively to two buffer storages 2,4；Including support frame, the top of support frame is set side by side with
Laterally fix guide rail 1,6 for two, laterally fix and be movably set with longitudinal movement rail 5, longitudinal movement rail 5 on guide rail 1,6
Extend along the y-axis direction, laterally fix guide rail 1,6 and extend along the x-axis direction；Longitudinal movement rail 5 can laterally fix guide rail
1st, realize transverse horizontal motion along the x-axis direction on 6；
Laterally fix and be movably set with fixing guide rail slide block on guide rail 1,6, two fixing guide rail slide blocks connect to vertically move respectively leads
The two ends of rail 5, thus realizing longitudinal movement rail 5 and laterally fixing being flexibly connected of guide rail 1,6；
Moving guide rail slide block is movably set with longitudinal movement rail 5, moving guide rail slide block is fixedly connected machinery by contiguous block 10
Arm 3；Mechanical arm 3 can realize longitudinal horizontal movement along the y-axis direction on longitudinal movement rail 5；And mechanical arm 3 can
Realize the rotary motion around y-axis；
Mechanical arm 3 connects extraction disk 7 by extraction disk bearing 18；Mechanical arm 3 passes through its upper and lower stretching motion, drives extraction disk
7 realize up and down motion along the z-axis direction；
Paper disc grabbing device is provided with extraction disk 7, the paper disc of two kinds of different inner diameters specifications can be captured；
Meanwhile, extraction disk 7 is provided with distance measurement element, for the spacing between Detection and Extraction disk 7 and paper disc, to determine
The length of mechanical arm elongation during crawl paper disc；
Position measurement element is additionally provided with extraction disk 7；Before crawl paper disc, by the movement of mechanical arm 3, detect paper disc core circle
The position of three points on week, by calculating the home position determining this paper disc；
The bottom of support frame is provided with two pallets, and Medicated cigarette paper disc 9 and tipping paper disk 8 are stacked on two pallets respectively, and
Separated by surface-based guiding and positioner, extraction disk 7 when the height of paper disc buttress is retracted without departing from mechanical arm 3 on pallet
Lower surface；
It is provided with two buffer storages 2,4 in support frame；
By controlling longitudinal movement rail 5 transverse horizontal motion along the x-axis direction, mechanical arm 3 vertical equity along the y-axis direction
Motion, and extraction disk 7 up and down motion along the z-axis direction, realize the motion of extraction disk 7 three degree of freedom, and by controlling
Mechanical arm 3, around the rotary motion of y-axis, is realized extraction disk 7 and is captured, transmits and unload volume between pallet and buffer storage 2,4
Cigarette paper disk 9 and the action of tipping paper disk 8；
Above-mentioned along x-axis, y-axis, the moving and being driven by independent servomotor respectively around the rotary motion of y-axis of z-axis direction
And control.
As shown in Fig. 2 the upper end of mechanical arm 3 is linked with contiguous block 10, contiguous block 10 is linked with one end of electric pushrod 11,
The other end of electric pushrod 11 is linked with the lower end of mechanical arm 3；Drive the flexible of electric pushrod 11, being capable of driving mechanical arm 3
Around the rotation of its upper end, realize the spinning movement around y-axis for the mechanical arm 3, as shown in Figure 3.
Mechanical arm 3 is two-stage retractor device；As shown in figure 4, mechanical arm 3 includes mechanical arm bearing 13, mechanical arm bearing 13
On be fixedly installed the first screw mandrel 14；
First swivel nut a of the first screw mandrel 14 is fixedly installed on motor cabinet 15；Motor 12, motor are provided with motor cabinet 15
12 pass through synchronous drive drive mechanism connects the first swivel nut a and the second screw mandrel 16；Second screw mandrel 16 is parallel with the first screw mandrel 14 to be set
Put；The rotation of motor 12 can drive the first swivel nut a and the second screw mandrel 16 to rotate with speed in the same direction；
Second swivel nut b of the second screw mandrel 16 is fixedly connected expansion link 17；The end of expansion link 17 is cut with scissors by extraction disk bearing 18
Connect extraction disk 7 in succession；When mechanical arm 3 rotates, extraction disk 7 can be freely rotatable, thus automatically protecting under gravitational equilibrium effect
Water holding level state；Extraction disk 7 is fixed by localization handspike when capturing or unload paper disc；
First swivel nut a in rotary course along the axial translation of the first screw mandrel 14, and drive motor seat 15 and the second screw mandrel 16 real
Now with respect to the motion of mechanical arm bearing 13；
Meanwhile, the second screw mandrel 16 makes the second swivel nut b along the axial translation of the second screw mandrel 16 in rotary course, and drives
The motion with respect to motor cabinet 15 realized by expansion link 17, and the movement of the second swivel nut b (i.e. the displacement of expansion link 17) away from
From the twice for the first swivel nut a, realize two-stage and stretch, maximal dilation amount be the first screw mandrel 14 and the second screw mandrel 16 length it
With then maximum can make mechanical arm 3 extend to three times of its former length.
As shown in figure 5, mechanical arm bearing 13 is fixedly connected one-level slide block 21, one-level slide block 21 is flexibly connected one-level guide rail 22,
One-level guide rail 22 can translate with respect to one-level slide block 21；One-level guide rail 22 is fixedly connected motor cabinet 15；During work, motor
Seat 15 moves together with one-level guide rail 22 on one-level slide block 21, thus to motor cabinet 15 and the first swivel nut a with respect to machinery
The motion of arm bearing 13 is guided and is positioned；
Motor cabinet 15 is fixedly connected slide block assembly bearing 23, and slide block assembly bearing 23 is fixedly connected two grades of slide blocks 20, then one-level is led
Rail 22 is connected with the first swivel nut a；Two grades of slide blocks 20 are flexibly connected two grades of guide rails 19, and two grades of guide rails 19 can be with respect to two grades
Slide block 20 translates；Two grades of guide rails 19 are fixedly connected expansion link 17 (two grades of guide rails 19 are connected) with the second swivel nut b；During work,
Expansion link 17 moves together with two grades of guide rails 19 on two grades of slide blocks 20, thus to expansion link 17 and the second swivel nut b with respect to
The motion of motor cabinet 15 is guided and is positioned.
As shown in fig. 6, the paper disc grabbing device of extraction disk 7 is the toggle of three-shaft linkage；Including three cranks 25,
27, three, two connecting rods extract pawl 24, six profile of tooth posts of 28, three springs 29,30, cylinder 26, three crank 25 edges
Circumferentially distributed on extraction disk 7, the fixing end of each crank 25 connects extraction disk 7 by rotary shaft；Rotary shaft connects extracts pawl
28 fixing end, the free end extracting pawl 28 is provided with internal tooth form post 29 and external tooth form post 30, and three internal tooth form posts 29 are concyclic,
For capturing the less tipping paper disk of internal diameter 8；Three external tooth form posts 30 are concyclic, the Medicated cigarette paper disc 9 larger for capturing internal diameter；
When the free end stress of crank 25, crank 25 can rotate around its fixing end；The free end of one of crank 25 is even
Connect cylinder 26, cylinder 26 can persistently provide reverse rotational force for the free end of crank 25；Two connecting rods 27 are sequentially connected phase
Adjacent crank 25, to realize the linkage of three cranks 25；
One end of the free end connecting spring 24 of each crank 25, the other end of spring 24 is fixedly connected on extraction disk 7；Bullet
Spring 24 persistently can provide revolving force for the free end of crank 25, so that crank 25 is rotated around its fixing end, and drive extraction pawl
28 free end, around the fixing end rotation extracting pawl 28, makes three internal tooth form posts 29 and the straight of circle that three external tooth form posts 30 are located
Footpath becomes big, realizes the action of tensioner paper disc in-core circle；
As shown in fig. 7, external tooth form post 30 can freely up and down move；When extracting the pawl 28 crawl less tipping paper disk 8 of internal diameter,
External tooth form post 30 rises under the promotion of paper disc upper surface, as shown in Figure 8；After decontroling tipping paper disk 8, external tooth form post 30 exists
Original position is returned under Gravitative Loads；
When the push rod of cylinder 26 stretches out, so that this crank 25 and other crank is reversely rotated around respective fixing end, and drive
The free end extracting pawl 28 reversely rotates around the fixing end extracting pawl 28, makes three internal tooth form posts 29 and three external tooth form posts 30
Place diameter of a circle diminishes, and realizes decontroling the action of paper disc in-core circle.
The present invention can be used as the material station of cigarette machine supplying cigarettes paper and cork paper.
Claims (9)
1. a kind of device for supplying two kinds of paper discs it is characterised in that: include support frame, the top of support frame is arranged side by side
It is provided with two and laterally fixes guide rail, laterally fix and be movably set with longitudinal movement rail on guide rail；Longitudinal movement rail can be
The transverse horizontal motion realized along the x-axis direction is laterally fixed on guide rail；
Moving guide rail slide block is movably set with longitudinal movement rail, moving guide rail slide block is fixedly connected mechanical arm by contiguous block；
Mechanical arm can realize longitudinal horizontal movement along the y-axis direction on longitudinal movement rail；And mechanical arm is capable of around y-axis
Rotary motion；
Mechanical arm connects extraction disk by extraction disk bearing；Mechanical arm passes through its upper and lower stretching motion, drives extraction disk to realize along z
Axial up and down motion；
Paper disc grabbing device is provided with extraction disk, for capturing the paper disc of two kinds of different inner diameters specifications；
The bottom of support frame is provided with two pallets, and Medicated cigarette paper disc and tipping paper disk are stacked on two pallets respectively；
It is provided with two buffer storages in support frame；
Moved by controlling longitudinal movement rail transverse horizontal along the x-axis direction, mechanical arm longitudinal horizontal movement along the y-axis direction,
And the up and down motion along the z-axis direction of extraction disk, realize the motion of extraction disk three degree of freedom, and by control machinery arm around y
The rotary motion of axle, realizes extraction disk and captures, transmits and unload Medicated cigarette paper disc and tipping paper disk between pallet and buffer storage
Action.
2. according to claim 1 for supply two kinds of paper discs device it is characterised in that: described mechanical arm includes machine
Tool arm bearing, mechanical arm bearing is fixedly installed the first screw mandrel；
First swivel nut of the first screw mandrel is fixedly installed on motor cabinet；Motor is provided with motor cabinet, motor passes through synchronous drive and passes
Motivation structure connects the first swivel nut and the second screw mandrel；The rotation of motor can drive the first swivel nut and the second screw mandrel in the same direction and
Speed rotates；
Second swivel nut of the second screw mandrel is fixedly connected expansion link；
First swivel nut along the axial translation of the first screw mandrel in rotary course, and realize with respect to machine by drive motor seat and the second screw mandrel
The motion of tool arm bearing；
Meanwhile, the second screw mandrel makes the second swivel nut along the axial translation of the second screw mandrel in rotary course, and drives expansion link real
Now with respect to the motion of motor cabinet, and the displacement of the second swivel nut is the twice of the first swivel nut, realizes two-stage and stretches.
3. according to claim 2 for supply two kinds of paper discs device it is characterised in that: the end of described expansion link
It is articulated and connected extraction disk by extraction disk bearing；When mechanical arm rotates, extraction disk can be freely rotatable, thus making in gravitational equilibrium
With lower automatic holding horizontality.
4. the device for supplying two kinds of paper discs according to claim 2 it is characterised in that: described mechanical arm bearing is solid
Surely connect one-level slide block, one-level slide block is flexibly connected one-level guide rail, and one-level guide rail can translate with respect to one-level slide block；One-level is led
Rail is fixedly connected motor cabinet；During work, motor cabinet moves together with one-level guide rail on one-level slide block, thus to motor cabinet and
One swivel nut is guided with respect to the motion of mechanical arm bearing and is positioned；
Described motor cabinet is fixedly connected slide block assembly bearing, and slide block assembly bearing is fixedly connected two grades of slide blocks, then one-level guide rail and
One swivel nut is connected；Two grades of slide blocks are flexibly connected two grades of guide rails, and two grades of guide rails can translate with respect to two grades of slide blocks；Two grades of guide rails are solid
Determine connection expansion link；During work, expansion link moves together with two grades of guide rails on two grades of slide blocks, thus to expansion link and the second spiral shell
Set is guided with respect to the motion of motor cabinet and is positioned.
5. according to claim 1 for supply two kinds of paper discs device it is characterised in that: the paper disc of described extraction disk
Grabbing device includes multiple cranks, and on the circumferentially distributed disk in extraction of multiple cranks, the fixing end of each crank is by rotary shaft even
Connect extraction disk；Rotary shaft connects the fixing end extracting pawl, and the free end extracting pawl is provided with internal tooth form post and external tooth form post, multiple
Internal tooth form post is concyclic, for capturing the less tipping paper disk of internal diameter；Multiple external tooth form posts are concyclic, the volume larger for capturing internal diameter
Cigarette paper disk；
When the free end stress of crank, crank can rotate around its fixing end；The free end of one of crank connects cylinder,
Cylinder can persistently provide reverse rotational force for the free end of crank；Adjacent crank is sequentially connected by connecting rod, multiple to realize
The linkage of crank；
One end of the free end connecting spring of each crank, the other end of spring is fixedly connected on extraction disk；Spring can be song
The free end of handle persistently provides revolving force, so that crank is rotated around its fixing end, and drives free end the consolidating around extraction pawl extracting pawl
Fixed end rotates, and makes multiple internal tooth form posts and multiple external tooth form post places diameter of a circle become big, realizes the action of tensioner paper disc in-core circle；
When the push rod of cylinder stretches out, so that this crank and other crank is reversely rotated around respective fixing end, and drive extraction pawl
Free end around extract pawl fixing end reversely rotate, so that multiple internal tooth form posts and multiple external tooth form post places diameter of a circle is diminished,
Realize decontroling the action of paper disc in-core circle.
6. according to claim 1 for supply two kinds of paper discs device it is characterised in that: described horizontal fixing guide rail
On be movably set with fixing guide rail slide block, two fixing guide rail slide blocks connect the two ends of longitudinal movement rail respectively, thus realizing vertical
To moving guide rail with laterally fix being flexibly connected of guide rail.
7. according to claim 1 for supply two kinds of paper discs device it is characterised in that: the upper end of described mechanical arm
With contiguous block hinge joint, one end hinge joint of contiguous block and electric pushrod, the other end of electric pushrod is linked with the lower end of mechanical arm；Drive
Stretching of dynamic electric pushrod, driving mechanical arm can rotate around its upper end, realizes the spinning movement around y-axis for the mechanical arm.
8. according to claim 1 for supply two kinds of paper discs device it is characterised in that: on described extraction disk arrange
There is distance measurement element, for the spacing between Detection and Extraction disk and paper disc, with the length of mechanical arm elongation when determining crawl paper disc.
9. according to claim 1 for supply two kinds of paper discs device it is characterised in that: on described extraction disk arrange
There is position measurement element；By the movement of mechanical arm, detect the position of three points on paper disc core circumference, determined by calculating
The home position of this paper disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510430031.5A CN106364957B (en) | 2015-07-21 | 2015-07-21 | Device for supplying two kinds of paper discs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510430031.5A CN106364957B (en) | 2015-07-21 | 2015-07-21 | Device for supplying two kinds of paper discs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106364957A true CN106364957A (en) | 2017-02-01 |
| CN106364957B CN106364957B (en) | 2018-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510430031.5A Active CN106364957B (en) | 2015-07-21 | 2015-07-21 | Device for supplying two kinds of paper discs |
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| CN (1) | CN106364957B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932497A (en) * | 2017-11-14 | 2018-04-20 | 南通大学 | A kind of inner centering structure paper disc pick-and-place manipulator and its control system, control method |
| CN111532774A (en) * | 2020-05-28 | 2020-08-14 | 南京大树智能科技股份有限公司 | Bobbin paper grabbing mechanism of intelligent bobbin paper replacing and splicing system |
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| CN103879813A (en) * | 2014-03-22 | 2014-06-25 | 昆明鼎承科技有限公司 | Automatic paper disc supplying device |
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| US6276628B1 (en) * | 1998-02-17 | 2001-08-21 | Focke & Co. (Gmbh & Co.) | Apparatus for handling reels |
| WO2002092483A1 (en) * | 2001-05-11 | 2002-11-21 | G.D Societa' Per Azioni | Method and device for feeding reels to a machine |
| JP2002370852A (en) * | 2001-05-11 | 2002-12-24 | G D Spa | Method of conveying for package material of form of reel and conveying unit |
| DE102005060638A1 (en) * | 2005-12-13 | 2007-06-14 | Hauni Maschinenbau Ag | Bobbins handling device, has mechanism with bobbin handling unit that is arranged in such a manner that it is vertically movable in Z-direction to slides, which are movable along vertical axis |
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| CN101642906A (en) * | 2009-08-27 | 2010-02-10 | 清华大学 | Multi-DOF telescopic redundant manipulator |
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| CN103879813A (en) * | 2014-03-22 | 2014-06-25 | 昆明鼎承科技有限公司 | Automatic paper disc supplying device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932497A (en) * | 2017-11-14 | 2018-04-20 | 南通大学 | A kind of inner centering structure paper disc pick-and-place manipulator and its control system, control method |
| CN107932497B (en) * | 2017-11-14 | 2020-12-04 | 南通大学 | Paper disc taking and placing manipulator with inner centering structure and control system and control method thereof |
| CN111532774A (en) * | 2020-05-28 | 2020-08-14 | 南京大树智能科技股份有限公司 | Bobbin paper grabbing mechanism of intelligent bobbin paper replacing and splicing system |
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| Publication number | Publication date |
|---|---|
| CN106364957B (en) | 2018-11-02 |
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