CN107718028B - Self-adaptive banknote handle clamping mechanism with arbitrary thickness - Google Patents
Self-adaptive banknote handle clamping mechanism with arbitrary thickness Download PDFInfo
- Publication number
- CN107718028B CN107718028B CN201711137986.7A CN201711137986A CN107718028B CN 107718028 B CN107718028 B CN 107718028B CN 201711137986 A CN201711137986 A CN 201711137986A CN 107718028 B CN107718028 B CN 107718028B
- Authority
- CN
- China
- Prior art keywords
- sliding block
- connecting plate
- clamping part
- frame
- self
- 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.)
- Active
Links
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Discharge By Other Means (AREA)
- Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
Abstract
The utility model provides a mechanism is got to clamp of arbitrary thickness paper money of self-adaptation, belongs to paper money clamping technology field, including frame, vertical direction slide rail in the setting frame and paper money on vertical direction slide rail clamp mechanism and supporting actuating mechanism, paper money clamp mechanism is including setting up upper clamping part and the lower clamping part that has the slip degree of freedom on vertical direction slide rail, actuating mechanism is including setting up the driving motor in the frame, the vertical rectilinear motion mechanism who is connected with the driving motor output, sets up the connecting plate on rectilinear motion mechanism, sets up flexible coupling mechanism between connecting plate and upper clamping part and sets up between connecting plate and lower clamping part and by fixed pulley, movable pulley and wire rope combination the self-adaptation time delay link gear that forms.
Description
Technical Field
The invention belongs to the technical field of banknote handle clamping, and particularly relates to a self-adaptive banknote handle clamping mechanism with any thickness.
Background
At present, paper currency circulated in the market is influenced by multiple factors such as ambient humidity, circulation abrasion degree and the like, and the height difference after sorting and bundling and ten stacking is large, so that a mechanical device for clamping and stacking paper currency is required to have self-adaptability, and stacked paper currency with any thickness in a certain range can be clamped; when the conventional mechanical device clamps the cross-bundled money bundles, the money bundles topple over due to the fact that the upper clamping jaw and the lower clamping jaw are simultaneously opened; the mechanical device structure with different actions of the upper clamping jaw and the lower clamping jaw has more power sources, complicated electric control and mutual influence.
Disclosure of Invention
The invention aims to solve the technical problem of providing a self-adaptive banknote clamp mechanism with any thickness, which is simple in electrical control and reliable in operation, and a banknote clamp device is adapted to banknote handles with any thickness by improving the driving structure of a banknote handle opposite clamp mechanism.
The technical scheme adopted by the invention is as follows: the utility model provides a mechanism is got to clamp of arbitrary thickness paper money of self-adaptation, includes the frame, sets up vertical direction slide rail in the frame and sets up paper money on vertical direction slide rail to clamp mechanism and supporting actuating mechanism, paper money is to clamp mechanism including setting up upper clamping part and the lower clamping part that has slip degree of freedom on vertical direction slide rail, actuating mechanism is including setting up the driving motor in the frame, and the vertical rectilinear motion mechanism who is connected with the driving motor output sets up the connecting plate on rectilinear motion mechanism, sets up the flexible coupling mechanism between connecting plate and upper clamping part and sets up between connecting plate and lower clamping part and by fixed pulley, movable pulley and wire rope combination the self-adaptation time delay link gear that forms.
Further, the upper clamping part comprises an upper claw sliding block and an upper clamping jaw, wherein the upper claw sliding block is arranged on the vertical guide sliding rail, the cross section of the upper claw sliding block is "]", and the lower clamping part comprises a lower claw sliding block and a lower clamping jaw, the lower claw sliding block is arranged on the vertical guide sliding rail, and the lower clamping jaw is arranged on the lower claw sliding block; the lower claw sliding block is connected with the frame by a reset mechanism consisting of a pressure spring and a guide rod.
Further, the fixed pulleys are symmetrically fixed on two sides of the upper end of the frame, the movable pulleys are positioned on two sides of the lower jaw sliding block, one end of the steel wire rope is fixed on the upper end face of the connecting plate, the middle of the steel wire rope sequentially bypasses the fixed pulleys and the movable pulleys, and the other end of the steel wire rope is fixed on the lower end face of the upper jaw sliding block.
Further, the flexible connecting mechanism comprises a guide post which is arranged on the upper claw sliding block and matched with the connecting plate, and a return spring which is arranged on the guide post in a matching way.
Further, the linear motion mechanism comprises a guide sliding rod arranged on the frame, a sliding block arranged on the guide sliding rod and a ball screw matched with the sliding block and connected with the output end of the driving motor.
Further, the cross section of the connecting plate is in a shape of 'figure'.
The invention has the beneficial effects that: the invention has simple structure and single power source, and can effectively avoid faults caused by multiple power sources; 2) The self-adaptive time delay linkage mechanism formed by combining the linear motion mechanism, the connecting plate, the flexible connecting mechanism, the fixed pulley, the movable pulley and the steel wire rope is adopted to form a composite structure, so that the sequential and reverse actions of the upper clamping jaw and the lower clamping jaw are completed, the electric control is simpler, and the failure rate is reduced; 3) The phenomenon that the banknote handles have space to topple over in the clamping process due to the simultaneous action of the upper clamping jaw and the lower clamping jaw can be avoided.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a linear motion mechanism;
FIG. 3 is a schematic illustration of the present invention with the frame removed;
FIG. 4 is an enlarged schematic view of A in FIG. 3;
in the attached drawing, 1 is a frame, 1-1 is a vertical guide slide rail, 2 is an upper clamping part, 2-1 is an upper clamping jaw, 2-2 is an upper jaw sliding block, 3-1 is a driving motor, 3-2 is a linear motion mechanism, 3-2-1 is a guide slide bar, 3-2-2 is a sliding block, 3-2-3 is a ball screw, 3-3 is a connecting plate, 3-4 is a flexible connecting mechanism, 3-4-1 is a guide post, 3-4-2 is a return spring, 3-5 is a fixed pulley, 3-6 is a movable pulley, 3-7 is a steel wire rope, 4 is a lower clamping jaw, 4-1 is a lower jaw sliding block, 4-2 is a pressure spring, 5-2 is a guide rod.
Detailed Description
Referring to the accompanying drawings 1-4, the self-adaptive banknote clamp mechanism with any thickness comprises a frame 1, a vertical guide sliding rail 1-1 arranged on the frame 1, a banknote clamp mechanism arranged on the vertical guide sliding rail 1-1 and a matched driving mechanism, wherein the banknote clamp mechanism comprises an upper clamping part 2 and a lower clamping part 4 which are arranged on the vertical guide sliding rail 1-1 and have sliding freedom degrees, the driving mechanism comprises a driving motor 3-1 arranged on the frame 1, a vertical linear motion mechanism 3-2 connected with the output end of the driving motor 3-1, a connecting plate 3-3 arranged on the linear motion mechanism 3-2, a flexible connecting mechanism 3-4 arranged between the connecting plate 3-3 and the upper clamping part 2 and a self-adaptive delay linkage mechanism which is arranged between the connecting plate 3-3 and the lower clamping part 4 and is formed by combining a fixed pulley 3-5, a movable pulley 3-6 and a steel wire rope 3-7. The cross section of the connecting plate 3-3 is in a shape of 'figure'.
The upper clamping part 2 comprises an upper claw sliding block 2-2 which is arranged on the vertical guide sliding rail 1-1 and has a cross section of "]", and an upper clamping jaw 2-1 which is arranged on the upper claw sliding block 2-2, and the lower clamping part 4 comprises a lower claw sliding block 4-2 which is arranged on the vertical guide sliding rail 1-1, and a lower clamping jaw 4-1 which is arranged on the lower claw sliding block 4-2; the lower claw sliding block 4-2 is connected with the frame 1 by a reset mechanism consisting of a pressure spring 5-1 and a guide rod 5-2.
The fixed pulleys 3-5 are symmetrically fixed on two sides of the upper end of the frame 1, the movable pulleys 3-6 are positioned on two sides of the lower claw sliding block 4-2, one end of the steel wire rope 3-7 is fixed on the upper end face of the connecting plate 3-3, the middle of the steel wire rope sequentially bypasses the fixed pulleys 3-5 and the movable pulleys 3-6, and the other end of the steel wire rope is fixed on the lower end face of the upper claw sliding block 2-2.
The flexible connecting mechanism 3-4 comprises a guide post 3-4-1 arranged on the upper claw sliding block 2-2 and matched with the connecting plate 3-3, and a reset spring 3-4-2 arranged on the guide post 3-4-1 in a matching way.
The linear motion mechanism 3-2 comprises a guide slide bar 3-2-1 arranged on the frame 1, a slide block 3-2-2 arranged on the guide slide bar 3-2-1 and a ball screw 3-2-3 matched with the slide block 3-2 and connected with the output end of the driving motor 3-1.
In specific implementation, the control system is initialized, the driving motor 3-1 is reversed, the ball screw 3-2-3 of the linear motion mechanism 3-2 is driven to rotate through the synchronous belt, the sliding block 3-2 is driven to move upwards, the connecting plate 3-3 is enabled to contact the upper end face in the upper jaw sliding block 2-2, then the upper jaw 2-1 is driven to move upwards, the lower jaw sliding block 4-2 is enabled to move downwards through the linkage mechanism formed by the fixed pulley 3-5, the movable pulley 3-6 and the steel wire rope 3-7 until the sliding block 3-2-2 moves to the upper limiting optocoupler position, the driving motor 3-1 stops rotating, and the system initialization is completed.
The action of clamping the banknote handles: the banknote handle is placed on the lower clamping jaw 4-1, at the moment, the driving motor 3-1 rotates positively, the ball screw 3-2-3 of the linear motion mechanism 3-2 is driven by the synchronous belt to rotate, and then the sliding block 3-2-2 is driven to move downwards, so that the connecting plate 3-3 compresses the reset spring 3-4-2, the upper clamping jaw 2-2 and the upper clamping jaw 2-1 are driven to move downwards until contacting the upper end face of the banknote handle, in the process, as the connecting plate 3-3 and the upper clamping jaw 2-2 synchronously move downwards, the descending distance of the steel wire rope 3-7 is equal to the descending distance of the other end of the upper clamping jaw 2-2, the movable pulley 3-6 does not move, and the lower clamping jaw 4-2 is still in a reset state, so that the banknote handle is ensured to be not lifted.
After the upper clamping jaw 2-1 contacts the upper end face of the banknote handle, the descending speed of the upper clamping jaw 2-1 is reduced, the rotating speed of the driving motor 3-1 is kept unchanged, the upper clamping jaw 2-1 is subjected to reverse tension of the banknote handle when the upper clamping jaw 2-1 contacts the banknote handle due to the fact that the upper clamping jaw 2-2 is connected with the connecting plate 3-3 through the flexible connecting mechanism 3-4, the descending distance of the connecting plate 3-3 is larger than the descending distance of the upper clamping jaw 2-1, at the moment, the reset spring 3-4-2 is compressed, the movable pulley 3-6 and the lower clamping jaw 4-2 are simultaneously pulled upwards due to the fact that the steel wire rope 3-7 cannot be lengthened, the banknote handle is lifted until the connecting plate 3-3 and the upper clamping jaw 2-2 relatively move to a certain extent, the optical coupler arranged on the upper clamping jaw 2-2 is triggered, and signals for stopping the driving motor 3-1 are transmitted, and at the moment, the banknote handle is clamped.
The action of releasing the banknote handles: the control system receives a signal for releasing the banknote handle, the driving motor 3-1 reverses, the connecting plate 3-3 moves upwards, the steel wire rope 3-7 is converted into a trend of a loose state from a tight state, and the steel wire rope 3-7 is tightly supported due to the gravity action of the movable pulley 3-6, the upper claw sliding block 2-2 and the lower clamping jaw 4-1 and the elastic action of the reset spring 3-4-2 and the pressure spring 5-1, so that the movable pulley 3-6 and the upper claw sliding block 2-2 descend, and the banknote handle descends and is placed on a designated plane. When the connecting plate 3-3 contacts with the upper end face in the upper claw slide block 2-2, the upper clamping jaw 2-1 is separated from the banknote handle, at the moment, the upward moving distance of one end of the steel wire rope 3-7 connected to the connecting plate 3-3 is equal to the upward moving distance of one end of the steel wire rope 3-7 connected to the upper claw slide block 2-2, and at the moment, the movable pulley 3-6 and the lower claw slide block 4-2 do not move.
The process is a working process of clamping a single banknote bundle, and the banknote bundle clamped in actual operation is divided into two forms: one is ten single banknote handles stacked one by one, and the other is ten bundled banknote bundles.
First, ten single banknote handles of a pile up neatly, because of its fluffy degree difference, the difference in height behind the pile up neatly is great. For the banknote handles, the banknote handles are not required to be clamped in an incompressible state, and the banknote handles can be slightly clamped to meet the requirement of not toppling in the moving process. After the upper clamping jaw 2-1 contacts the banknote handle and is pressed downwards for a certain distance, the upper clamping jaw 2-1 receives the reverse acting force of the banknote handle to reduce the descending speed, the speed of the connecting plate 3-3 driven by the driving motor 3-1 is unchanged, the reset spring 3-4-2 starts to be compressed, the lower clamping jaw 4-1 is lifted, and at the moment, the reset spring 3-4-2 and the banknote handle are pressed in two directions until the connecting plate 3-3 and the upper jaw sliding block 2-2 move relatively for a fixed distance, so that the banknote bundle is ensured to be pressed. If the relative movement of the connecting plate 3-3 and the upper jaw slider 2-2 is set to a distance L, the lower jaw 4-1 can be considered to be moved upward by a distance of approximately L.
Second, ten bundles of bundled money have been made. During the strapping process, the cross strapping machine applies a very high pressure to the handles of money, and therefore ten bundles of money that have been strapped are considered incompressible. When an incompressible money bundle is clamped, the upper clamping jaw 2-1 is firstly contacted with the money bundle, the upper clamping jaw 2-1 is considered to be not moved downwards due to incompressibility, the connecting plate 3-3 is further downwards, the reset spring 3-4-2 is compressed, the lower clamping jaw 4-1 is lifted, at the moment, the money bundle is an incompressible rigid body, the reset spring 3-4-2 is compressed in two directions, and the lower clamping jaw 4-1 and the upper clamping jaw 2-1 are lifted upwards by the same distance until the upper limiting optocoupler is triggered by the relative movement of the connecting plate 3-3 and the upper clamping jaw slider 2-2. Finally, it can be roughly assumed that the connecting plate 3-3 and the upper jaw slider 2-2 move relatively by a distance of L/2, and the lower jaw 4-1 also moves upward by a distance of L/2. In addition, during no-load operation, the motor forward and reverse rotation signals are controlled by the upper and lower limiting optocouplers respectively.
Claims (3)
1. The utility model provides a mechanism is got to clamp of arbitrary thickness paper money of self-adaptation, includes frame (1), sets up vertical direction slide rail (1-1) on frame (1) and sets up paper money on vertical direction slide rail (1-1) to clamp mechanism and supporting actuating mechanism, paper money is to clamp mechanism including setting up upper clamping part (2) and lower clamping part (4) that have slip degree of freedom on vertical direction slide rail (1-1), its characterized in that: the driving mechanism comprises a driving motor (3-1) arranged on the frame (1), a vertical linear motion mechanism (3-2) connected with the output end of the driving motor (3-1), a connecting plate (3-3) arranged on the linear motion mechanism (3-2), a flexible connecting mechanism (3-4) arranged between the connecting plate (3-3) and the upper clamping part (2) and a self-adaptive delay linkage mechanism arranged between the connecting plate (3-3) and the lower clamping part (4) and formed by combining a fixed pulley (3-5), a movable pulley (3-6) and a steel wire rope (3-7);
the upper clamping part (2) comprises an upper claw sliding block (2-2) arranged on the vertical guide sliding rail (1-1) and provided with a cross section in a shape of a section and an upper clamping jaw (2-1) arranged on the upper claw sliding block (2-2), and the lower clamping part (4) comprises a lower claw sliding block (4-2) arranged on the vertical guide sliding rail (1-1) and a lower clamping jaw (4-1) arranged on the lower claw sliding block (4-2); the lower claw sliding block (4-2) is connected with the frame (1) by a reset mechanism consisting of a pressure spring (5-1) and a guide rod (5-2);
the fixed pulleys (3-5) are symmetrically fixed on two sides of the upper end of the frame (1), the movable pulleys (3-6) are positioned on two sides of the lower claw sliding block (4-2), one end of the steel wire rope (3-7) is fixed on the upper end face of the connecting plate (3-3), the middle part of the steel wire rope sequentially bypasses the fixed pulleys (3-5) and the movable pulleys (3-6), and the other end of the steel wire rope is fixed on the lower end face of the upper claw sliding block (2-2);
the flexible connecting mechanism (3-4) comprises a guide post (3-4-1) which is arranged on the upper claw sliding block (2-2) and matched with the connecting plate (3-3), and a reset spring (3-4-2) which is arranged on the guide post (3-4-1) in a matching way.
2. The self-adaptive banknote gripping mechanism with any thickness according to claim 1, wherein: the linear motion mechanism (3-2) comprises a guide sliding rod (3-2-1) arranged on the frame (1), a sliding block (3-2-2) arranged on the guide sliding rod (3-2-1) and a ball screw (3-2-3) matched with the sliding block (3-2-2) and connected with the output end of the driving motor (3-1).
3. The self-adaptive banknote gripping mechanism with any thickness according to claim 1, wherein: the section of the connecting plate (3-3) is in a shape of 'figure'.
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 CN107718028A (en) | 2018-02-23 |
| CN107718028B true 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) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2067510B (en) * | 1980-01-17 | 1983-03-16 | Baker Perkins Holdings Ltd | Apparatus for handling biscuits |
| EP0076135A3 (en) * | 1981-09-28 | 1984-05-09 | 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 |
| WO2016101435A1 (en) * | 2014-12-23 | 2016-06-30 | 河北汇金机电股份有限公司 | 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 |
| CN106780979B (en) * | 2017-01-09 | 2022-08-09 | 河北汇金集团股份有限公司 | Paper money bundle stacking system |
| CN107053876B (en) * | 2017-05-24 | 2023-01-17 | 河北汇金集团股份有限公司 | Accurate two-sided mechanism of stamping suitable for each denomination paper currency |
| 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
Also Published As
| Publication number | Publication date |
|---|---|
| CN107718028A (en) | 2018-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207058591U (en) | A kind of manipulator for being used to grip soft-package battery | |
| CN104040646A (en) | Conveying Device For Leads | |
| CN102069491A (en) | Rescue robot with flexible manipulator | |
| CN106514249B (en) | A kind of smoke alarm assembly line | |
| CN209364873U (en) | A kind of thickening rock wool high-temperature laminating equipment | |
| CN107718028B (en) | Self-adaptive banknote handle clamping mechanism with arbitrary thickness | |
| CN108908390A (en) | A kind of the clamping jaw clamping device and its robot of co-operating | |
| CN204321897U (en) | Mobile phone clamping and liftout attachment | |
| CN107758338B (en) | Clamping device of self-adaptation arbitrary thickness paper money handle | |
| CN208822385U (en) | A kind of gripper equipment of milky tea machine | |
| CN208470981U (en) | A kind of clamping device of adaptive any thickness paper money handle | |
| CN109605332A (en) | A kind of clamping robot architecture | |
| CN207509247U (en) | A kind of gripping body of adaptive any thickness paper money | |
| CN109500301A (en) | A kind of copper wire straightening device | |
| CN208189723U (en) | Battery formation clamping device | |
| CN102627155A (en) | Slide fastener separating device of slide fastener type flexible package bag packaging machine | |
| CN110497389A (en) | The freedom degree parallel connection bionic eye executing agency that spring of restricting drives | |
| CN108428928A (en) | Battery formation clamping device | |
| CN208843321U (en) | A kind of more product rule stack of supplies devices | |
| CN110202832A (en) | A kind of clamping Tui Zhe mechanism | |
| CN201016034Y (en) | Horizontal automatic packaging unit bag transporting device | |
| CN105712095B (en) | A kind of automatic make-up rewinding robot | |
| CN203544458U (en) | Bag dragging device of horizontal automatic packaging machine | |
| CN208412389U (en) | A kind of thread feeding mechanism for stretch cord drop wire rope handling knot tying machine | |
| CN207480629U (en) | The mechanical finger that a kind of hydraulic pressure steel wire pulls |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
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. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |