CN107718028A - A kind of gripping body of adaptive any thickness paper money - Google Patents
A kind of gripping body of adaptive any thickness paper money Download PDFInfo
- Publication number
- CN107718028A CN107718028A CN201711137986.7A CN201711137986A CN107718028A CN 107718028 A CN107718028 A CN 107718028A CN 201711137986 A CN201711137986 A CN 201711137986A CN 107718028 A CN107718028 A CN 107718028A
- Authority
- CN
- China
- Prior art keywords
- paper money
- sliding block
- connecting plate
- adaptive
- clamping part
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
- Discharge By Other Means (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
A kind of gripping body of adaptive any thickness paper money, belong to paper money clamping technique field, including frame, being vertically directed slide rail and be arranged on the paper money being vertically directed on slide rail to clamp mechanism and supporting drive mechanism in frame is set, the paper money includes being arranged on the upper clamping part and the lower clamping part that are vertically directed on bar with free sliding degree to clamp mechanism, the drive mechanism includes the motor being arranged in frame, what is be connected with motor output end is vertical to straight-line motion mechanism, the connecting plate being arranged on straight-line motion mechanism, the flexible linking device that is arranged between connecting plate and upper clamping part and it is arranged between connecting plate and lower clamping part and by fixed pulley, movable pulley and steel wire rope combine the adaptive delay link gear to be formed.
Description
Technical field
The invention belongs to paper money clamping technique field, and in particular to a kind of gripping body of adaptive any thickness paper money.
Background technology
At present, paper money in circulation by multifactor impacts such as ambient humidity, the circulation degrees of wear, is pricked by sorting on the market
, ten after stacking height difference it is larger, this just need grip code into the bank note of pile mechanical device there is adaptivity,
The pile bank note of any thickness in certain limit can be gripped；Existing frequently-used mechanical device is in the money for folding up cross and having tied up
During bundle, have because money bundle topples over phenomenon appearance caused by upper and lower clamping jaw while opening；The machine acted during upper and lower clamping jaw difference
Tool apparatus structure, power source is more, and electrical control is complicated, and interactional phenomenon occurs.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of gripping body of adaptive any thickness paper money, by paper money
Driving structure to clamp mechanism is improved, by being improved to paper money to the driving structure of clamp mechanism, clamps paper money
Device adapts to that the paper money of any thickness, electrical control be simple, reliable operation.
The technical solution adopted by the present invention is：A kind of gripping body of adaptive any thickness paper money, including frame, setting
Being vertically directed slide rail and be arranged on the paper money being vertically directed on slide rail to clamp mechanism and supporting drive mechanism in frame, it is described
Paper money includes being arranged on the upper clamping part and the lower clamping part that are vertically directed on bar with free sliding degree, the driving to clamp mechanism
Mechanism includes the motor being arranged in frame, and what is be connected with motor output end is vertical to straight-line motion mechanism, sets
Connecting plate on straight-line motion mechanism, the flexible linking device being arranged between connecting plate and upper clamping part and the company of being arranged on
Combine between fishplate bar and lower clamping part and by fixed pulley, movable pulley and steel wire rope the adaptive delay link gear formed.
Further, the upper clamping part includes being arranged on being vertically directed on slide rail and section is in "] " the dewclaw sliding block of shape
And be arranged on the upper gripper jaw on dewclaw sliding block, the lower clamping part include being arranged on the lower claw sliding block that is vertically directed on slide rail with
And it is arranged on the lower clamping jaw on lower claw sliding block；The lower claw sliding block by stage clip, guide post group into resetting-mechanism and frame connect
Connect.
Further, the fixed pulley is symmetrically fixed on frame upper end both sides, and the movable pulley is positioned at lower claw sliding block both sides,
Described steel wire rope one end is fixed on connecting plate upper surface, centre and is fixed on dewclaw successively around fixed pulley and movable pulley, the other end
On sliding block lower surface.
Further, the flexible linking device includes being arranged on dewclaw sliding block and coordinated with connecting plate lead and
With the back-moving spring being set on lead.
Further, the straight-line motion mechanism include be arranged in frame guidings slide bar, be arranged on guiding slide bar on
Sliding block and the ball-screw being connected with sliding block with merging with motor output end.
Further, the section of the connecting plate is in " " " shape.
Using beneficial effect caused by the present invention：The present invention is simple in construction, and power source is single, can effectively avoid more power
Failure caused by source；2）Using single-power, by straight-line motion mechanism, connecting plate, flexible linking device, fixed pulley, movable pulley
The structure that the adaptive delay link gear to be formed is combined is combined with steel wire rope, it is successively and reversely dynamic to complete clamping jaw up and down
Make, make electrical control simpler, and reduce fault rate；3）Clamping jaw up and down can be avoided while acted, and produce and gripping
The phenomenon that paper money has space to topple in journey.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of straight-line motion mechanism；
Fig. 3 is the schematic diagram that the present invention removes frame；
Fig. 4 is the enlarged diagram of A in Fig. 3；
In accompanying drawing:1 is frame, and 1-1 is to be vertically directed bar, and 2 be upper clamping part, and 2-1 is upper gripper jaw, and 2-2 is dewclaw sliding block, 3-1
It is motor, 3-2 is straight-line motion mechanism, and 3-2-1 is to be oriented to slide bar, and 3-2-2 is sliding block, and 3-2-3 is ball-screw, 3-3
It is connecting plate, 3-4 is flexible linking device, and 3-4-1 is lead, and 3-4-2 is back-moving spring, and 3-5 is fixed pulley, and 3-6 is
Pulley, 3-7 are steel wire ropes, and 4 be lower clamping part, and 4-1 is lower clamping jaw, and 4-2 is lower claw sliding block, and 5-1 is stage clip, and 5-2 is to be oriented to
Bar.
Embodiment
Referring to accompanying drawing 1-4, a kind of gripping body of adaptive any thickness paper money, including in frame 1, setting frame 1
It is vertically directed slide rail 1-1 and is arranged on the paper money being vertically directed on slide rail 1-1 to clamp mechanism and supporting drive mechanism, the paper money
There is the upper clamping part 2 of free sliding degree and lower clamping part 4 including being arranged on being vertically directed on bar 1-1 to clamp mechanism, it is described
Drive mechanism includes the motor 3-1 being arranged in frame 1, and what is be connected with motor 3-1 output ends is vertical to straight line fortune
Motivation structure 3-2, the connecting plate 3-3 being arranged on straight-line motion mechanism 3-2, is arranged between connecting plate 3-3 and upper clamping part 2
Flexible linking device 3-4 and it is arranged between connecting plate 3-3 and lower clamping part 3 and by fixed pulley 3-5, movable pulley 3-6 and steel
Cord 3-7 combines the adaptive delay link gear to be formed.The section of the connecting plate 3-3 is in " " " shape.
The upper clamping part 2 includes being arranged on being vertically directed on slide rail 1-1 and section is in "] " the dewclaw sliding block 2-2 of shape
And the upper gripper jaw 2-1 on dewclaw sliding block 2-2 is arranged on, the lower clamping part 4 includes being arranged on being vertically directed on slide rail 1-1
The lower claw sliding block 4-2 and lower clamping jaw 4-1 being arranged on lower claw sliding block 4-2；The lower claw sliding block 4-2 is by stage clip 5-1, guiding
The resetting-mechanism of bar 5-2 compositions is connected with frame 1.
The fixed pulley 3-5 is symmetrically fixed on the upper end both sides of frame 1, and the movable pulley 3-6 is positioned at lower claw sliding block 3-2 two
Side, described steel wire rope 3-7 one end are fixed on connecting plate 3-3 upper surfaces, are middle successively around fixed pulley 3-5 and movable pulley 3-6, another
One end is fixed on dewclaw sliding block 2-2 lower surfaces.
The lead 3- that the flexible linking device 3-4 includes being arranged on dewclaw sliding block 2-2 and coordinated with connecting plate 3-3
4-1 and with the back-moving spring 3-4-2 being set on lead 3-4-1.
Guiding slide bar 3-2-1 that the straight-line motion mechanism 3-2 includes being arranged in frame 1, it is arranged on and is oriented to slide bar 3-
Sliding block 3-2-2 on 2-1 and with sliding block 3-2-2 with merging the ball-screw 3-2-3 that is connected with motor 3-1 output ends.
In the specific implementation, control system initializes, and motor 3-1 reversions, linear motion machine is driven by timing belt
Structure 3-2 ball-screw 3-2-3 rotations, and then run up with movable slider 3-2-2 so that connecting plate 3-3 contacts dewclaw sliding block
Upper surface in 2-2, then drive upper gripper jaw 2-1 to move upwards, and pass through fixed pulley 3-5, movable pulley 3-6 and steel wire rope 3-7 groups
Into link gear move downward lower claw sliding block 4-2, until sliding block 3-2-2 runs to upper limit optocoupler position, motor
3-1 is stalled, and completes system initialization action.
Clamp paper money action：Paper money is placed on lower clamping jaw 4-1, at this moment motor 3-1 is rotated forward, and passes through timing belt band
Dynamic straight-line motion mechanism 3-2 ball-screw 3-2-3 rotations, and then run downwards with movable slider 3-2-2 so that connecting plate 3-3
Compression reseting spring 3-4-2, dewclaw sliding block 2-2 and upper gripper jaw 2-1 is driven to move downwardly to contact paper money upper surface, in this mistake
Cheng Zhong, due to being that connecting plate 3-3 and dewclaw sliding block 2-2 is synchronously to move downward, steel wire rope 3-7 is fixed on connecting plate 3-3 one end
The distance of decline is equal with the distance for being fixed on the decline of the dewclaw sliding block 2-2 other ends, so movable pulley 3-6 is not moved, lower claw is slided
Block 4-2 is still in reset state, so that it is guaranteed that only upper gripper jaw 2-1 is moved downward, paper money will not be lifted.
After upper gripper jaw 2-1 contacts paper money upper surface, by the reaction force of paper money, upper gripper jaw 2-1 decrease speed drops
It is low, and motor 3-1 rotating speeds keep constant, because dewclaw sliding block 2-2 and connecting plate 3-3 is connected by flexible linking device 3-4
Connect, when upper gripper jaw 2-1 touches paper money, upper gripper jaw 2-1 can be by the reverse tension of paper money, connecting plate 3-3 dropping distance
More than upper gripper jaw 2-1 dropping distance, now back-moving spring 3-4-2 is compressed, because steel wire rope 3-7 is that rigidity can not be drawn
It is long, so movable pulley 3-6 and lower claw sliding block 4-2 has been pulled upwardly simultaneously so that paper money is elevated, until connecting plate 3-3 with it is upper
To a certain degree, triggering is arranged on the optocoupler on dewclaw sliding block 2-2, and sends motor 3-1 to and stop for pawl sliding block 2-2 relative motions
The signal turned, must now clamp paper money.
Discharge paper money action：Control system is connected to the signal of release paper money, and motor 3-1 is inverted, connecting plate 3-3
Run up, steel wire rope 3-7 is converted to the trend of relaxed state by tensioned state, due to movable pulley 3-6, dewclaw sliding block 2-2 and
Lower clamping jaw 4-1 Action of Gravity Field and back-moving spring 3-4-2 and stage clip 5-1 elastic force effect so that steel wire rope 3-7 stretchings, enter
And movable pulley 3-6, dewclaw sliding block 2-2 decline, and then paper money is declined, be put into the plane specified up.Connecting plate 3-3 with it is upper
When upper surface contacts in pawl sliding block 2-2, upper gripper jaw 2-1 has been detached from paper money, the steel wire rope 3-7 being now connected on connecting plate 3-3
The distance that one end is up moved is equal with being connected in the distance that dewclaw sliding block 2-2 steel wire rope 3-7 one end is up moved, and at this moment moves and slides
Wheel 3-6 and lower claw sliding block 4-2 is not moved.
Said process is the single course of work paper money of gripping, and the paper money gripped in actual motion is divided into two kinds of shapes
Formula：For a kind of list for being ten stackings paper money, another kind is that ten money tied up have been tied.
The first, ten the single paper money of a stacking, and because of the difference of its fluffy degree, the height difference after stacking is larger.
For this kind of paper money, it is not necessary to which for folder into incompressible state, somewhat clamp that some can meet not topple in moving process will
Ask.Upper gripper jaw 2-1 first contacts paper money, is pressed downward after certain distance, under upper gripper jaw 2-1 is just caused by the opposition of money handle
Reduction of speed degree reduces, and the speed for the connecting plate 3-3 that motor 3-1 drives is constant, begins to compression reseting spring 3-4-2,
Lower clamping jaw 4-1 is lifted simultaneously, now back-moving spring 3-4-2 and paper money all bi-directional compressions, until connecting plate 3-3 and dewclaw sliding block 2-
The distance that 2 relative motions are fixed, to ensure that money bundle is compacted.If set connecting plate 3-3 and dewclaw sliding block 2-2 relative motions away from
From L, then it is believed that lower clamping jaw 4-1 has also moved about L distance upwards.
Second, ten tied up money bundle.During tying up, the pressure that cross strapper is applied to paper money is non-
Chang great, it can thus be assumed that ten money bundles tied up are to recompress.When gripping incompressible money bundle, Ye Shishang
Clamping jaw 2-1 first contacts paper money, because of its Incoercibility, it is believed that upper gripper jaw 2-1 is no longer moved downward, and connecting plate 3-3 continue to
Under, will compression reseting spring 3-4-2, while lift lower clamping jaw 4-1, it itself is incompressible rigid body that now money, which is tied, institute
It is bi-directional compression with back-moving spring 3-4-2, lower clamping jaw 4-1 and upper gripper jaw 2-1 are lifted up identical distance, until connecting plate
3-3 and dewclaw sliding block 2-2 relative motions cause upper limit optocoupler to be triggered.It can finally think that connecting plate 3-3 and dewclaw are slided roughly
Block 2-2 relative motions L/2 distance, lower clamping jaw 4-1 have also run up L/2 distance.In addition, during no-load running, point
Not top lower limit optocoupler carries out the control of motor positive and inverse signal.
Claims (6)
1. a kind of gripping body of adaptive any thickness paper money, including frame（1）, set frame（1）On be vertically directed cunning
Rail（1-1）And it is arranged on and is vertically directed slide rail（1-1）On paper money to clamp mechanism and supporting drive mechanism, the paper money is to folder
Mechanism includes being arranged on being vertically directed bar（1-1）The upper upper clamping part with free sliding degree（2）With lower clamping part（4）, it is special
Sign is：The drive mechanism includes being arranged on frame（1）On motor（3-1）, with motor（3-1）Output end connects
What is connect is vertical to straight-line motion mechanism（3-2）, it is arranged on straight-line motion mechanism（3-2）On connecting plate（3-3）, it is arranged on connection
Plate（3-3）With upper clamping part（2）Between flexible linking device（3-4）And it is arranged on connecting plate（3-3）With lower clamping part（3）
Between and by fixed pulley（3-5）, movable pulley（3-6）And steel wire rope（3-7）Combine the adaptive delay link gear formed.
2. the gripping body of adaptive any thickness paper money according to claim 1, it is characterised in that：The upper clamping part
（2）Slide rail is vertically directed including being arranged on（1-1）Upper and section is in "] " the dewclaw sliding block of shape（2-2）And it is arranged on dewclaw
Sliding block（2-2）On upper gripper jaw（2-1）, the lower clamping part（4）Slide rail is vertically directed including being arranged on（1-1）On lower claw slide
Block（4-2）And it is arranged on lower claw sliding block（4-2）On lower clamping jaw（4-1）；The lower claw sliding block（4-2）By stage clip（5-1）、
Guide rod（5-2）The resetting-mechanism and frame of composition（1）Connection.
3. the gripping body of adaptive any thickness paper money according to claim 2, it is characterised in that：The fixed pulley
（3-5）Symmetrically it is fixed on frame（1）Upper end both sides, the movable pulley（3-6）It is positioned at lower claw sliding block（3-2）Both sides, the steel
Cord（3-7）One end is fixed on connecting plate（3-3）Upper surface, centre bypass fixed pulley successively（3-5）And movable pulley（3-6）, it is another
One end is fixed on dewclaw sliding block（2-2）On lower surface.
4. the gripping body of adaptive any thickness paper money according to claim 2, it is characterised in that：The flexible connection
Mechanism（3-4）Including being arranged on dewclaw sliding block（2-2）Upper and and connecting plate（3-3）The lead of cooperation（3-4-1）It is and supporting
It is arranged on lead（3-4-1）On back-moving spring（3-4-2）.
5. the gripping body of adaptive any thickness paper money according to claim 1, it is characterised in that：The linear motion
Mechanism（3-2）Including being arranged on frame（1）On guiding slide bar（3-2-1）, be arranged on guiding slide bar（3-2-1）On sliding block
（3-2-2）And and sliding block（3-2-2）With merging and motor（3-1）The ball-screw of output end connection（3-2-3）.
6. the gripping body of adaptive any thickness paper money according to claim 1, it is characterised in that：The connecting plate
（3-3）Section be in " " " shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711137986.7A CN107718028B (en) | 2017-11-16 | 2017-11-16 | Self-adaptive banknote handle clamping mechanism with arbitrary thickness |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711137986.7A CN107718028B (en) | 2017-11-16 | 2017-11-16 | Self-adaptive banknote handle clamping mechanism with arbitrary thickness |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107718028A true CN107718028A (en) | 2018-02-23 |
| CN107718028B CN107718028B (en) | 2023-07-28 |
Family
ID=61216784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711137986.7A Active CN107718028B (en) | 2017-11-16 | 2017-11-16 | Self-adaptive banknote handle clamping mechanism with arbitrary thickness |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107718028B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2067510A (en) * | 1980-01-17 | 1981-07-30 | Baker Perkins Holdings Ltd | Improvements in apparatus for handling biscuits |
| EP0076135A2 (en) * | 1981-09-28 | 1983-04-06 | Hitachi, Ltd. | Apparatus for taking out articles |
| JPH07133025A (en) * | 1993-11-10 | 1995-05-23 | Oyama Foods Mach:Kk | Rice cake containing case transfering method and device |
| CN205467983U (en) * | 2016-03-14 | 2016-08-17 | 河北汇金机电股份有限公司 | Two -sided centre gripping mechanism that affixes one's seal |
| US9616581B1 (en) * | 2016-03-01 | 2017-04-11 | Airpot Corporation | Precisely controllable gripper assembly for low force applications |
| CN106780979A (en) * | 2017-01-09 | 2017-05-31 | 河北汇金机电股份有限公司 | Paper money palletizing system |
| KR20170091132A (en) * | 2014-12-23 | 2017-08-08 | 허베이 후이진 일렉트로메카니칼 컴퍼니 리미티드 | Printing mechanism based on integrated banding and printing apparatus, instant-login banding and printing machine and control method thereof |
| CN107053876A (en) * | 2017-05-24 | 2017-08-18 | 河北汇金机电股份有限公司 | A kind of accurate two-sided stamping mechanism suitable for each par value money |
| CN207509247U (en) * | 2017-11-16 | 2018-06-19 | 河北汇金机电股份有限公司 | A kind of gripping body of adaptive any thickness paper money |
-
2017
- 2017-11-16 CN CN201711137986.7A patent/CN107718028B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2067510A (en) * | 1980-01-17 | 1981-07-30 | Baker Perkins Holdings Ltd | Improvements in apparatus for handling biscuits |
| EP0076135A2 (en) * | 1981-09-28 | 1983-04-06 | Hitachi, Ltd. | Apparatus for taking out articles |
| JPH07133025A (en) * | 1993-11-10 | 1995-05-23 | Oyama Foods Mach:Kk | Rice cake containing case transfering method and device |
| KR20170091132A (en) * | 2014-12-23 | 2017-08-08 | 허베이 후이진 일렉트로메카니칼 컴퍼니 리미티드 | Printing mechanism based on integrated banding and printing apparatus, instant-login banding and printing machine and control method thereof |
| US9616581B1 (en) * | 2016-03-01 | 2017-04-11 | Airpot Corporation | Precisely controllable gripper assembly for low force applications |
| CN205467983U (en) * | 2016-03-14 | 2016-08-17 | 河北汇金机电股份有限公司 | Two -sided centre gripping mechanism that affixes one's seal |
| CN106780979A (en) * | 2017-01-09 | 2017-05-31 | 河北汇金机电股份有限公司 | Paper money palletizing system |
| CN107053876A (en) * | 2017-05-24 | 2017-08-18 | 河北汇金机电股份有限公司 | A kind of accurate two-sided stamping mechanism suitable for each par value money |
| CN207509247U (en) * | 2017-11-16 | 2018-06-19 | 河北汇金机电股份有限公司 | A kind of gripping body of adaptive any thickness paper money |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107718028B (en) | 2023-07-28 |
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Address after: 050035 Xiangjiang Road 209, Shijiazhuang High-tech Zone, Hebei Province Applicant after: Hebei Huijin Group Co.,Ltd. Address before: 050035 Xiangjiang Road 209, Shijiazhuang High-tech Zone, Hebei Province Applicant before: HEBEI HUIJIN ELECTROMECHANICAL Co.,Ltd. |
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