CN106364957B - Device for supplying two kinds of paper discs - Google Patents
Device for supplying two kinds of paper discs Download PDFInfo
- Publication number
- CN106364957B CN106364957B CN201510430031.5A CN201510430031A CN106364957B CN 106364957 B CN106364957 B CN 106364957B CN 201510430031 A CN201510430031 A CN 201510430031A CN 106364957 B CN106364957 B CN 106364957B
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- Prior art keywords
- guide rail
- mechanical arm
- disk
- level
- extraction
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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
-
- 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
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- Manufacturing Of Cigar And Cigarette Tobacco (AREA)
Abstract
The invention discloses a kind of device for supplying two kinds of paper discs, including braced frame, it is set side by side with two laterally fixed guide rails at the top of braced frame, is laterally movably set with longitudinal movement rail on fixed guide rail；Moving guide rail sliding block is movably set on longitudinal movement rail, moving guide rail sliding block is fixedly connected with mechanical arm by link block；Mechanical arm is by extracting disk bearing connection extraction disk；It is moved along the transverse horizontal of X-direction by controlling longitudinal movement rail, longitudinal horizontal movement of the mechanical arm along Y direction, and extraction disk is along the up and down motion of Z-direction, realize the movement of extraction disk three degree of freedom, and by control machinery arm around the rotary motion of Y-axis, realizes and extract the action that disk captures between pallet and buffer storage, transmits and unload cigarette paper disc and tipping paper disk.Structure of the invention is compact, small, can reduce occupation area of equipment, and easy to operate, high degree of automation.
Description
Technical field
The present invention relates to a kind of tobacco processing equipments, and in particular to a kind of device for supplying two kinds of paper discs.
Background technology
Along with the technological progress in the fields such as mechanical processing and electrical control, the speed of production of cigarette machine is gradually promoted, most
Up to 20,000 per minute, with common paper disc diameter calculation, needs to change within every seven minutes a coiling cigarette paper, every ten four minutes need more
A disk cork paper is changed, high-speed production was no longer desirable for by the mode for manually supplying paper disc in the past.
Currently, the supply of cigarette paper has been realized in the transformation from artificial paper supply to machine automatic paper feeding, method be by
Paper disc supply is independent from cigarette machine, by special equipment paper supply, the BOB-ME paper supplying machines that such as Germany produces, Italy's production
RF20 paper supplying machines, domestic YF71 and YF73 paper supplying machines；Chinese patent literature CN1507408A discloses a kind of be used for reel
It supplies to the method and apparatus of machine, mainly applies to cigarette-packaging machine.These above-mentioned equipment all pertain only to supply a kind of paper disc.
In order to further decrease the labor intensity of worker, the supply of cork paper need to be also changed to machine and supplied automatically, but be
One cigarette machine is equipped with the of high cost of two paper supplying machines, and occupied space is big.Chinese patent literature CN1982182B discloses one
Device and method and automation cell of the kind for manipulating paper disc in automation cell, can supply two kinds of paper discs simultaneously,
Relevant unit type is BD-sistem cigarette machine materials station.It is irremovable that the characteristics of equipment, which is in vertical Z-direction,
, it needs to occupy more space when Z axis guide rail is moved along X and Y-direction, causes the material station volume big, it is not compact enough；And
Two paper disc conversion equipments that its equipment is related to are arranged in juxtaposition form before and after using, when need to be to rear end paper disc converting means due to failure
It sets when being operated, need to enter inside material station and carry out, it is inconvenient.
Invention content
Technical problem to be solved by the invention is to provide a kind of devices for supplying two kinds of paper discs, it can be cigarette
Machine supplying cigarettes paper and cork paper improve the automatization level of production.
In order to solve the above technical problems, the technical solution for the device that the present invention is used to supply two kinds of paper discs is：
Including braced frame, two laterally fixed guide rails 1,6 are set side by side at the top of braced frame, laterally fixed guide rail
1, longitudinal movement rail 5 is movably set on 6；Longitudinal movement rail 5 can be realized on laterally fixed guide rail 1,6 along X-axis side
To transverse horizontal move；Moving guide rail sliding block is movably set on longitudinal movement rail 5, moving guide rail sliding block passes through link block
10 are fixedly connected with mechanical arm 3；Mechanical arm 3 can realize the longitudinal horizontal movement along Y direction on longitudinal movement rail 5；And
Mechanical arm 3 can realize the rotary motion around Y-axis；Mechanical arm 3 is by extracting the connection extraction disk 7 of disk bearing 18；Mechanical arm 3 passes through
Its upper and lower stretching motion drives extraction disk 7 to realize the up and down motion along Z-direction；Paper disc crawl dress is provided on extraction disk 7
It sets, the paper disc for capturing two kinds of different inner diameters specifications；There are two pallet, cigarette paper disc 9 and water for the bottom setting of braced frame
Loose paper disc 8 is stacked at respectively on two pallets；There are two buffer storages 2,4 for setting in braced frame；It is vertically moved by controlling
Guide rail 5 is moved along the transverse horizontal of X-direction, mechanical arm 3 along Y direction longitudinal horizontal movement, and extraction disk 7 along Z axis
The movement of extraction 7 three degree of freedom of disk is realized in the up and down motion in direction, and by control machinery arm 3 around the rotary motion of Y-axis,
It realizes and extracts the action that disk 7 captures between pallet and buffer storage 2,4, transmits and unload cigarette paper disc 9 and tipping paper disk 8.
The mechanical arm 3 includes mechanical arm bearing 13, and the first lead screw 14 is fixedly installed on mechanical arm bearing 13；First
First swivel nut a of bar 14 is fixedly installed on motor cabinet 15；Motor 12 is provided on motor cabinet 15, motor 12 passes through synchronous drive
Transmission mechanism connects the first swivel nut a and the second lead screw 16；The rotation of motor 12 can drive the first swivel nut a and the second lead screw 16 with
Identical direction and speed rotation；Second swivel nut b of the second lead screw 16 is fixedly connected with telescopic rod 17；First swivel nut a is being rotated through
Along the axial translation of the first lead screw 14 in journey, and motor cabinet 15 and the second lead screw 16 is driven to realize relative to mechanical arm bearing 13
Movement；At the same time, the second lead screw 16 makes the second swivel nut b along the axial translation of the second lead screw 16 in rotary course, and drives
Telescopic rod 17 realizes the movement relative to motor cabinet 15, and twice that the displacement distance of the second swivel nut b is the first swivel nut a, realizes
Two-stage is flexible.
The end of the telescopic rod 17 is by extracting the articulated connection extraction disk 7 of disk bearing 18；When mechanical arm 3 rotates, extraction
Disk 7 can be freely rotated, to automatically keep horizontality under gravitational equilibrium effect.
The mechanical arm bearing 13 is fixedly connected with level-one sliding block 21, and level-one sliding block 21 is flexibly connected level-one guide rail 22, level-one
Guide rail 22 can be translated relative to level-one sliding block 21；Level-one guide rail 22 is fixedly connected with motor cabinet 15；When work, motor cabinet 15 and one
Grade guide rail 22 moves on level-one sliding block 21 together, thus to motor cabinet 15 and the first swivel nut a relative to mechanical arm bearing 13
Movement is oriented to and is positioned；The motor cabinet 15 is fixedly connected with slide block assembly bearing 23, and slide block assembly bearing 23 is fixedly connected
Two level sliding block 20, then level-one guide rail 22 be connected with the first swivel nut a；Two level sliding block 20 is flexibly connected two level guide rail 19, two level guide rail
19 can translate relative to two level sliding block 20；Two level guide rail 19 is fixedly connected with telescopic rod 17；When work, telescopic rod 17 and two level are led
Rail 19 moves on two level sliding block 20 together, to be carried out relative to the movement of motor cabinet 15 to telescopic rod 17 and the second swivel nut b
It is oriented to and positions.
The paper disc grabbing device of the extraction disk 7 includes that three 25, two, crank, 27, three, connecting rods extract pawl 28, three
Spring 24, six tooth form columns 29,30, cylinders 26, three cranks 25 are circumferentially distributed on extraction disk 7, and each crank 25 is consolidated
Disk 7 is extracted by rotating axis connection in fixed end；Rotate axis connection extraction pawl 28 fixing end, extraction pawl 28 free end be provided in
Tooth form column 29 and external tooth form column 30, three internal tooth form columns 29 are concyclic, the tipping paper disk 8 smaller for capturing internal diameter；Three external tooths
Shape column 30 is concyclic, the cigarette paper disc 9 larger for capturing internal diameter；When the free end stress of crank 25, crank 25 can be around it
Fixing end rotates；The free end of one of crank 25 connects cylinder 26, and cylinder 26 can be that the free end of crank 25 persistently carries
For reverse rotational force；Two connecting rods 27 are sequentially connected adjacent crank 25, to realize the linkage of three cranks 25；Each crank 25
Free end connecting spring 24 one end, the other end of spring 24 is fixedly connected on extraction disk 7；Spring 24 can be crank 25
Free end rotary force is persistently provided, make crank 25 around its fixing end rotate, and drive extraction pawl 28 free end around extraction pawl
28 fixing end rotation, makes three internal tooth form columns 29 and three 30 place diameter of a circles of external tooth form column become larger, realizes tensioner paper disc
The action of in-core circle；When the push rod of cylinder 26 stretches out, the crank 25 and other cranks is made reversely to be revolved around respective fixing end
Turn, and the free end of extraction pawl 28 is driven to be reversely rotated around the fixing end of extraction pawl 28, makes outside three internal tooth form columns 29 and three
30 place diameter of a circle of tooth form column becomes smaller, and realizes the action for decontroling paper disc in-core circle.
It is movably set with fixed guide rail slide block on the laterally fixed guide rail 1,6, two fixed guide rail slide blocks are separately connected
The both ends of longitudinal movement rail 5, to realize longitudinal movement rail 5 and laterally fix being flexibly connected for guide rail 1,6.
The upper end of the mechanical arm 3 is linked with link block 10, and link block 10 and one end of electric pushrod 11 link, electronic to push away
The other end of bar 11 is linked with the lower end of mechanical arm 3；The flexible of electric pushrod 11 is driven, mechanical arm 3 can be driven around the upper end
Spinning movement of the mechanical arm 3 around Y-axis is realized in rotation.
It is provided with distance measurement element on the extraction disk 7, for the spacing between Detection and Extraction disk 7 and paper disc, with true
The length of mechanical arm elongation when capturing paper disc surely.
It is provided with position measuring cell on the extraction disk 7；By the movement of mechanical arm 3, detect on paper disc core circumference
The position of three points determines the center location of the paper disc by calculating.
What the present invention can reach has the technical effect that：
Structure of the invention is compact, small, can reduce occupation area of equipment, and easy to operate, high degree of automation.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments：
Fig. 1 is the schematic diagram of device of the present invention for supplying two kinds of paper discs；
Fig. 2 is the mechanical arm of the present invention and extracts the schematic diagram of disk；
Fig. 3 is the rotating state diagram of the mechanical arm of the present invention；
Fig. 4 is the structural schematic diagram of the two-stage telescopic device of the mechanical arm of the present invention；
Fig. 5 is the structural schematic diagram 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 column of the extraction pawl of the present invention is in the schematic diagram of propradation.
Reference sign in figure：
1,6 be buffer storage for laterally fixed guide rail, 2,4,
3 be mechanical arm, and 5 be longitudinal movement rail,
7 be extraction disk, and 8 be tipping paper disk,
9 be cigarette paper disc, and 10 be link block,
11 be electric pushrod, and 12 be motor,
13 be mechanical arm bearing, and 14 be the first lead screw,
A is the first swivel nut, and b is the second swivel nut,
15 be motor cabinet, and 16 be the second lead screw,
17 be telescopic rod, and 18 be extraction disk bearing,
19 be two level guide rail, and 20 be two level sliding block,
21 be level-one sliding block, and 22 be level-one guide rail,
23 be slide block assembly bearing, and 24 be spring,
25 be crank, and 26 be cylinder,
27 be connecting rod, and 28 be extraction pawl,
29 be internal tooth form column, and 30 be external tooth form column.
Specific implementation mode
As shown in Figure 1, the present invention is used to supply the device of two kinds of paper discs, several cigarette that can will be stored on two pallets
Paper disc 9 and tipping paper disk 8 are supplied to two buffer storages 2,4 respectively；Including braced frame, it is set up in parallel at the top of braced frame
There are two laterally fixed guide rails 1,6, is laterally movably set with longitudinal movement rail 5, longitudinal movement rail 5 on fixed guide rail 1,6
Extend along Y direction, laterally fixed guide rail 1,6 extends along X-direction；Longitudinal movement rail 5 can be in laterally fixed guide rail 1,6
It is upper to realize that the transverse horizontal along X-direction moves；
It laterally is movably set with fixed guide rail slide block on fixed guide rail 1,6, two fixed guide rail slide blocks are separately connected longitudinal direction
The both ends of moving guide rail 5, to realize longitudinal movement rail 5 and laterally fix being flexibly connected for guide rail 1,6；
Moving guide rail sliding block is movably set on longitudinal movement rail 5, moving guide rail sliding block is fixed by link block 10 to be connected
Connect mechanical arm 3；Mechanical arm 3 can realize the longitudinal horizontal movement along Y direction on longitudinal movement rail 5；And 3 energy of mechanical arm
Enough rotary motions realized around Y-axis；
Mechanical arm 3 is by extracting the connection extraction disk 7 of disk bearing 18；Mechanical arm 3 drives extraction by its upper and lower stretching motion
Disk 7 realizes the up and down motion along Z-direction；
It is provided with paper disc grabbing device on extraction disk 7, the paper disc of two kinds of different inner diameters specifications can be captured；
Meanwhile extracting and being provided with distance measurement element on disk 7, for the spacing between Detection and Extraction disk 7 and paper disc, with true
The length of mechanical arm elongation when capturing paper disc surely；
It is additionally provided with position measuring cell on extraction disk 7；Before capturing paper disc, by the movement of mechanical arm 3, paper disc core is detected
The position of three points on circumference determines the center location of the paper disc by calculating；
There are two pallets for the bottom setting of braced frame, and cigarette paper disc 9 and tipping paper disk 8 are stacked at two pallets respectively
On, and separated by surface-based guiding and positioning device, it is carried when the height of paper disc pile is retracted without departing from mechanical arm 3 on pallet
Take the lower surface of disk 7；
There are two buffer storages 2,4 for setting in braced frame；
It is moved along the transverse horizontal of X-direction by controlling longitudinal movement rail 5, longitudinal water of the mechanical arm 3 along Y direction
Flat movement, and extraction disk 7 realize the movement of extraction 7 three degree of freedom of disk along the up and down motion of Z-direction, and pass through control
Mechanical arm 3 realizes that extraction disk 7 captures between pallet and buffer storage 2,4, transmits and unload cigarette around the rotary motion of Y-axis
The action of paper disc 9 and tipping paper disk 8；
It is above-mentioned respectively by independent servo motor to be carried out along X-axis, Y-axis, the movement of Z-direction and around the rotary motion of Y-axis
Driving and control.
As shown in Fig. 2, the upper end of mechanical arm 3 is linked with link block 10, link block 10 and one end of electric pushrod 11 link,
The other end of electric pushrod 11 is linked with the lower end of mechanical arm 3；Drive the flexible of electric pushrod 11, can drive mechanical arm 3 around
The upper end rotates, and realizes spinning movement of the mechanical arm 3 around Y-axis, as shown in Figure 3.
Mechanical arm 3 is two-stage telescopic device；As shown in figure 4, mechanical arm 3 includes mechanical arm bearing 13, mechanical arm bearing 13
On be fixedly installed the first lead screw 14；
First swivel nut a of the first lead screw 14 is fixedly installed on motor cabinet 15；Motor 12, motor are provided on motor cabinet 15
12 connect the first swivel nut a and the second lead screw 16 by synchronous drive transmission mechanism；Second lead screw 16 is parallel with the first lead screw 14 to be set
It sets；The rotation of motor 12 can drive the first swivel nut a and the second lead screw 16 to be rotated in the same direction with speed；
Second swivel nut b of the second lead screw 16 is fixedly connected with telescopic rod 17；The end of telescopic rod 17 is by extracting disk bearing 18
Articulated connection extraction disk 7；When mechanical arm 3 rotates, extraction disk 7 can be freely rotated, to be protected automatically under gravitational equilibrium effect
Water holding level state；Extraction disk 7 is fixed when capturing or unloading paper disc by localization handspike；
First swivel nut a, along the axial translation of the first lead screw 14, and drives motor cabinet 15 and the second lead screw in rotary course
16 realize the movement relative to mechanical arm bearing 13；
At the same time, the second lead screw 16 makes the second swivel nut b along the axial translation of the second lead screw 16 in rotary course, and band
Dynamic telescopic rod 17 realizes the movement relative to motor cabinet 15, and the movement of the second swivel nut b (i.e. the displacement distance of telescopic rod 17) away from
From twice for the first swivel nut a, realize that two-stage is flexible, maximal dilation amount be the first lead screw 14 and the second lead screw 16 length it
With then maximum three times that the elongation of mechanical arm 3 to its original can be made to grow.
As shown in figure 5, mechanical arm bearing 13 is fixedly connected with level-one sliding block 21, level-one sliding block 21 is flexibly connected level-one guide rail
22, level-one guide rail 22 can be translated relative to level-one sliding block 21；Level-one guide rail 22 is fixedly connected with motor cabinet 15；When work, motor
Seat 15 and level-one guide rail 22 move on level-one sliding block 21 together, thus to motor cabinet 15 and the first swivel nut a relative to mechanical arm
The movement of bearing 13 is oriented to and is positioned；
Motor cabinet 15 is fixedly connected with slide block assembly bearing 23, and slide block assembly bearing 23 is fixedly connected with two level sliding block 20, then and one
Grade guide rail 22 is connected with the first swivel nut a；Two level sliding block 20 is flexibly connected two level guide rail 19, and two level guide rail 19 can be relative to two level
Sliding block 20 translates；Two level guide rail 19 is fixedly connected with telescopic rod 17 (two level guide rail 19 is connected with the second swivel nut b)；When work, stretch
Bar 17 and two level guide rail 19 move on two level sliding block 20 together, thus to telescopic rod 17 and the second swivel nut b relative to motor cabinet
15 movement is oriented to 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 extractions pawl 28, three 24, six, spring tooth form column 29,30, cylinders 26 of two connecting rods, three cranks 25 are circumferentially
It is distributed on extraction disk 7, the fixing end of each crank 25 extracts disk 7 by rotating axis connection；Rotate axis connection extraction pawl 28
The free end of fixing end, extraction pawl 28 is provided with internal tooth form column 29 and external tooth form column 30, and three internal tooth form columns 29 are concyclic, for grabbing
Take the tipping paper disk 8 that internal diameter is smaller；Three external tooth form columns 30 are concyclic, the cigarette paper disc 9 larger for capturing internal diameter；
When the free end stress of crank 25, crank 25 can be rotated around its fixing end；The freedom of one of crank 25
End connection cylinder 26, cylinder 26 can be that the free end of crank 25 persistently provides reverse rotational force；Two connecting rods 27 are sequentially connected
Adjacent crank 25, to realize the linkage of three cranks 25；
The other end of one end of the free end connecting spring 24 of each crank 25, spring 24 is fixedly connected on extraction disk 7；
Spring 24 can be that the free end of crank 25 persistently provides rotary force, so that crank 25 is rotated around its fixing end, and drive extraction pawl
28 free end makes three internal tooth form columns 29 and three 30 place diameter of a circles of external tooth form column around the fixing end rotation of extraction pawl 28
Become larger, realizes the action of tensioner paper disc in-core circle；
As shown in fig. 7, external tooth form column 30 can be moved freely up and down；It extracts pawl 28 and captures the smaller tipping paper disk 8 of internal diameter
When, external tooth form column 30 rises under the promotion of paper disc upper surface, as shown in Figure 8；After decontroling tipping paper disk 8, external tooth form column 30 exists
Initial position is returned under Gravitative Loads；
When the push rod of cylinder 26 stretches out, the crank 25 and other cranks is made to be reversely rotated around respective fixing end, and
It drives the free end of extraction pawl 28 to be reversely rotated around the fixing end of extraction pawl 28, makes three internal tooth form columns 29 and three external tooth form columns
30 place diameter of a circles become smaller, and realize the action for decontroling 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 (8)
1. a kind of device for supplying two kinds of paper discs, it is characterised in that：Including braced frame, the top of braced frame is set side by side
Two laterally fixed guide rails are equipped with, are laterally movably set with longitudinal movement rail on fixed guide rail；Longitudinal movement rail can be
Laterally realize that the transverse horizontal along X-direction moves on fixed guide rail；
Moving guide rail sliding block is movably set on longitudinal movement rail, moving guide rail sliding block is fixedly connected with machinery by link block
Arm；Mechanical arm can realize the longitudinal horizontal movement along Y direction on longitudinal movement rail；And mechanical arm can be realized around Y
The rotary motion of axis；
Mechanical arm is by extracting disk bearing connection extraction disk；Mechanical arm drives extraction disk to realize along Z by its upper and lower stretching motion
The up and down motion of axis direction；
It is provided with paper disc grabbing device on extraction disk, the paper disc for capturing two kinds of different inner diameters specifications；
There are two pallets for the bottom setting of braced frame, and cigarette paper disc and tipping paper disk are stacked at respectively on two pallets；
There are two buffer storages for setting in braced frame；
It is moved along the transverse horizontal of X-direction by controlling longitudinal movement rail, mechanical arm is transported along the vertical equity of Y direction
It is dynamic, and extraction disk, along the up and down motion of Z-direction, the movement of disk three degree of freedom is extracted in realization, and passes through control machinery arm
Around the rotary motion of Y-axis, realize that extraction disk captures between pallet and buffer storage, transmits and unload cigarette paper disc and cork paper
The action of disk,
The paper disc grabbing device of the extraction disk includes multiple cranks, and multiple cranks are circumferentially distributed on extraction disk, Mei Gequ
The fixing end of handle extracts disk by rotating axis connection；The fixing end of axis connection extraction pawl is rotated, the free end for extracting pawl is provided with
Internal tooth form column and external tooth form column, multiple internal tooth form columns are concyclic, the tipping paper disk smaller for capturing internal diameter；Multiple external tooth form columns are total
Circle, the cigarette paper disc larger for capturing internal diameter；
When the free end stress of crank, crank can be rotated around its fixing end；The free end of one of crank connects cylinder,
Cylinder can be that the free end of crank persistently provides reverse rotational force；Adjacent crank is sequentially connected by connecting rod, more to realize
The linkage of a crank；
The other end of one end of the free end connecting spring of each crank, spring is fixedly connected on extraction disk；Spring can be
The free end of crank persistently provides rotary force, and crank is made to be rotated around its fixing end, and drives the free end of extraction pawl around extraction pawl
Fixing end rotation, so that diameter of a circle where multiple internal tooth form columns and multiple external tooth form columns is become larger, realize tensioner paper disc in-core circle
Action；
When the push rod of cylinder stretches out, the crank and other cranks is set to be reversely rotated around respective fixing end, and drive extraction
The free end of pawl is reversely rotated around the fixing end of extraction pawl, and diameter of a circle becomes where making multiple internal tooth form columns and multiple external tooth form columns
It is small, realize the action for decontroling paper disc in-core circle.
2. the device according to claim 1 for supplying two kinds of paper discs, it is characterised in that：The mechanical arm includes machinery
Arm bearing is fixedly installed the first lead screw on mechanical arm bearing；
First swivel nut of the first lead screw is fixedly installed on motor cabinet；Motor is provided on motor cabinet, motor passes through synchronous drive
Transmission mechanism connects the first swivel nut and the second lead screw；The rotation of motor can drive the first swivel nut and the second lead screw with identical side
It is rotated to speed；
Second swivel nut of the second lead screw is fixedly connected with telescopic rod；
First swivel nut in rotary course along the axial translation of the first lead screw, and drive motor cabinet and the second lead screw realize relative to
The movement of mechanical arm bearing；
At the same time, the second lead screw makes the second swivel nut along the axial translation of the second lead screw in rotary course, and drives telescopic rod
It realizes the movement relative to motor cabinet, and twice that the displacement distance of the second swivel nut is the first swivel nut, realizes that two-stage is flexible.
3. the device according to claim 2 for supplying two kinds of paper discs, it is characterised in that：The end of the telescopic rod is logical
Cross extraction disk bearing articulated connection extraction disk；When mechanical arm rotates, extraction disk can be freely rotated, to be acted in gravitational equilibrium
Under automatically keep horizontality.
4. the device according to claim 2 for supplying two kinds of paper discs, it is characterised in that：The mechanical arm bearing is fixed
Level-one sliding block is connected, level-one sliding block is flexibly connected level-one guide rail, and level-one guide rail can be translated relative to level-one sliding block；Level-one guide rail
It is fixedly connected with motor cabinet；When work, motor cabinet and level-one guide rail move on level-one sliding block together, to motor cabinet and first
Swivel nut is oriented to and is positioned relative to the movement of mechanical arm bearing；
The motor cabinet is fixedly connected with slide block assembly bearing, and slide block assembly bearing is fixedly connected with two level sliding block, then level-one guide rail with
First swivel nut is connected；Two level sliding block is flexibly connected two level guide rail, and two level guide rail can be translated relative to two level sliding block；Two level guide rail
It is fixedly connected with telescopic rod；When work, telescopic rod and two level guide rail move on two level sliding block together, to telescopic rod and second
Swivel nut is oriented to and is positioned relative to the movement of motor cabinet.
5. the device according to claim 1 for supplying two kinds of paper discs, it is characterised in that：On the laterally fixed guide rail
It is movably set with fixed guide rail slide block, two fixed guide rail slide blocks are separately connected the both ends of longitudinal movement rail, vertical to realize
To moving guide rail being flexibly connected for guide rail is fixed with lateral.
6. the device according to claim 1 for supplying two kinds of paper discs, it is characterised in that：The upper end of the mechanical arm with
Link block links, and one end of link block and electric pushrod links, and the other end of electric pushrod and the lower end of mechanical arm link；Driving
Stretching for electric pushrod, can drive mechanical arm to be rotated around the upper end, realize spinning movement of the mechanical arm around Y-axis.
7. the device according to claim 1 for supplying two kinds of paper discs, it is characterised in that：It is provided on the extraction disk
Distance measurement element, for the spacing between Detection and Extraction disk and paper disc, the length of mechanical arm elongation when capturing paper disc to determine.
8. the device according to claim 1 for supplying two kinds of paper discs, it is characterised in that：It is provided on the extraction disk
Position measuring cell；By the movement of mechanical arm, the position of three points on paper disc core circumference is detected, this is determined by calculating
The center location of 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 CN106364957A (en) | 2017-02-01 |
| CN106364957B true CN106364957B (en) | 2018-11-02 |
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Family Applications (1)
| 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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN101421175A (en) * | 2006-04-11 | 2009-04-29 | 佛克有限及两合公司 | Device for handling bobbins of packaging material |
| CN101642906A (en) * | 2009-08-27 | 2010-02-10 | 清华大学 | Multi-DOF telescopic redundant manipulator |
| CN201851131U (en) * | 2010-11-22 | 2011-06-01 | 成都市新筑路桥机械股份有限公司 | Mechanical arm for injection machine |
| 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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| CN106364957A (en) | 2017-02-01 |
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