CN114655693A - Automatic equipment that snatchs of big paper money - Google Patents
Automatic equipment that snatchs of big paper money Download PDFInfo
- Publication number
- CN114655693A CN114655693A CN202210336871.5A CN202210336871A CN114655693A CN 114655693 A CN114655693 A CN 114655693A CN 202210336871 A CN202210336871 A CN 202210336871A CN 114655693 A CN114655693 A CN 114655693A
- Authority
- CN
- China
- Prior art keywords
- paper
- lifting
- plate
- grabbing
- pressing
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 150
- 238000003825 pressing Methods 0.000 claims description 33
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention belongs to the technical field of mechanical equipment for printing money, and particularly relates to automatic large-sheet paper money grabbing equipment. The paper picking mechanism is arranged on the rack and drives the picking mechanism to move, the paper picking mechanism is positioned below the picking mechanism and lifts paper on a paper stack, and the picking mechanism picks the paper lifted by the paper picking mechanism; the grabbing mechanism comprises a support, a mechanical arm and a mechanical arm telescopic mechanism, the mechanical arm telescopic mechanism is arranged on the support, the mechanical arm comprises two L-shaped supporting plates which are symmetrically arranged, the top of the mechanical arm is connected with the mechanical arm telescopic mechanism, and the mechanical arm telescopic mechanism drives the two supporting plates to transversely open and close. The automatic identification positioning, grabbing and lifting of a certain number of large paper money and the functions of placing the large paper money at a designated position according to requirements are facilitated.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment for printing money, and particularly relates to automatic large-sheet paper money grabbing equipment.
Background
In a banknote printing workshop, especially in many processes of producing large banknotes, a certain number of sheets of paper often need to be moved, such as a paper stacking process before printing, a paper excess process and the like, a certain number of sheets of paper need to be moved to a workbench or a paper counting machine. At present, the carrying work needs to be finished manually by operators, the weight is heavy, the labor intensity is high, and the production efficiency is influenced. Because the banknote printing paper belongs to special paper, the banknote printing paper is thin, high in strength and toughness and high in manufacturing cost, manual damage and sudden accidents are easy to occur in manual carrying, the waste of the banknote is caused, and the production efficiency is low.
Disclosure of Invention
The invention provides automatic large paper money grabbing equipment which is beneficial to realizing the functions of automatically identifying, positioning, automatically grabbing and lifting a certain number of large paper money, placing the large paper money at a specified position according to the requirement and the like. The automatic large paper money grabbing mechanical arm can be used for a plurality of scenes and processes of grabbing and carrying large paper money, such as paper stacking of a printing machine, excessive large products and the like.
The invention solves the technical problem by the following technical proposal,
the automatic large-sheet paper money grabbing equipment is characterized by comprising a rack, a grabbing mechanism, a paper lifting mechanism and a delivery mechanism, wherein the delivery mechanism is mounted on the rack and drives the grabbing mechanism to move; the grabbing mechanism comprises a support, a mechanical arm and a mechanical arm telescopic mechanism, the mechanical arm telescopic mechanism is arranged on the support, the mechanical arm comprises two L-shaped supporting plates which are symmetrically arranged, the top of the mechanical arm is connected with the mechanical arm telescopic mechanism, and the mechanical arm telescopic mechanism drives the two supporting plates to transversely open and close.
Above-mentioned automatic equipment of snatching of big paper money, it still sets up pressing mechanism to snatch the mechanism, pressing mechanism sets up the top of the working face of layer board, pressing mechanism is including pressing the clamp plate and pressing the drive, press the drive and install on the support, it transversely sets up to press the clamp plate the top of the working face of layer board, press the top of depression bar with press the drive and be connected, press the drive and drive press the clamp plate and do elevating movement towards the layer board.
Above-mentioned automatic equipment of snatching of big paper money, the top of snatching the mechanism still is provided with two height adjusting mechanism, height adjusting mechanism includes linear guide and servo motor, height adjusting mechanism sets up the manipulator with between the manipulator telescopic machanism.
According to the automatic large paper money grabbing equipment, the delivery mechanism comprises the transverse moving unit, the longitudinal moving unit and the height sensors, the transverse moving unit and the longitudinal moving unit respectively control transverse and longitudinal movement of the support, the height sensors are arranged on two sides of the support, and the height sensors sense the height of the paper stack and transmit sensing signals to the longitudinal moving unit.
The large paper money automatic grabbing equipment comprises a paper lifting mechanism, a paper twisting part and a paper lifting part, wherein the relative positions of the paper twisting part and the paper lifting part are fixed, the lifting mechanism drives the paper twisting part and the paper lifting part to lift, the paper twisting part comprises a paper twisting mechanism and a pushing mechanism, the working surface of the paper twisting mechanism is longitudinally arranged, the paper twisting mechanism is connected with the pushing mechanism, and the pushing mechanism drives the paper twisting mechanism to transversely move; the paper lifting part is arranged below the paper twisting mechanism, and the paper lifting part can extend to the lower part of the twisted paper.
According to the automatic large paper money grabbing equipment, the paper rubbing mechanism comprises a paper rubbing plate and a lifting mechanism which are longitudinally arranged, a silica gel layer is attached to the working surface of the paper rubbing plate, the paper rubbing plate is connected with the lifting mechanism, the lifting mechanism drives the paper rubbing plate to lift, and the propelling mechanism is connected with a shell of the lifting mechanism.
According to the automatic large paper money grabbing equipment, the paper lifting part comprises the inserting plate and the paper inserting drive, the working end of the inserting plate is located below the working face of the paper twisting mechanism, the driving end of the inserting plate is connected with the paper inserting drive, and the paper inserting drive drives the inserting plate to move horizontally.
According to the automatic large paper money grabbing equipment, the connecting seat is arranged between the inserting plate and the paper inserting drive, the paper lifting mechanisms are symmetrically arranged on two sides of the connecting seat and comprise the paper lifting plates and the telescopic cylinders, and the telescopic cylinders drive the two paper lifting plates to do telescopic motion towards the connecting seat; the working side of the paper lifting plate is the same as the inserting plate.
According to the automatic large paper money grabbing equipment, the A-A direction section of the paper lifting plate is wedge-shaped, and the B-B direction section of the paper lifting plate is wedge-shaped.
Compared with the prior art, the large-piece banknote paper grabbing device can replace manual large-piece banknote paper grabbing automation, can be applied to the carrying links in banknote production processes such as paper stacking, paper counting and the like, effectively reduces labor intensity and improves production efficiency. The manipulator has independent height adjusting mechanisms on the left and right manipulators, and can make up the height difference of the paper stack. The mode that the manipulator and the paper lifting plate are combined to pick up paper and pick the paper is adopted, so that the grabbing stability of the manipulator is improved, and the damage to the paper is effectively reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the grasping mechanism of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a schematic structural view of a paper lifting mechanism of the present invention;
FIG. 5 is a top view of the paper pick of the present invention;
FIG. 6 is a schematic view of the construction of the lift tab of the present invention;
FIG. 7 is a schematic view of the structure of FIG. 6 in the direction A-A according to the present invention;
FIG. 8 is a schematic view of the structure of FIG. 6 in the direction B-B according to the present invention;
reference numerals in the drawings denote: 1. the paper feeding machine comprises a rack, 2 parts of a support, 3 parts of a manipulator, 5 parts of a telescopic mechanism, 6 parts of a supporting plate, 7 parts of a pressing plate, 8 parts of a pressing drive, 9 parts of a transverse motion unit, 10 parts of a longitudinal motion unit, 11 parts of a height sensor, 12 parts of a linear guide rail, 13 parts of a servo motor, 14 parts of a lifting mechanism, 15 parts of a paper lifting part, 16 parts of a paper twisting mechanism, 17 parts of a propelling mechanism, 18 parts of a paper twisting plate, 19 parts of a lifting mechanism, 20 parts of a silica gel layer, 21 parts of an inserting plate, 22 parts of a paper inserting drive, 23 parts of a connecting seat, 24 parts of a paper lifting plate, 25 parts of a telescopic cylinder and 26 parts of a paper stack.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples serve to illustrate the invention.
Referring to the attached drawings 1 to 8, the paper feeding device comprises a rack 1, a grabbing mechanism, a paper lifting mechanism and a delivery mechanism, wherein the delivery mechanism is installed on the rack 1 and drives the grabbing mechanism to move; the grabbing mechanism comprises a support 2, a manipulator 3 and a telescopic mechanism 5, wherein the telescopic mechanism 5 is arranged on the support 2, the manipulator 3 comprises two L-shaped supporting plates 6 symmetrically arranged, the top of the manipulator 3 is connected with the telescopic mechanism 5, and the telescopic mechanism 5 drives the two supporting plates 6 to transversely open and close.
Referring to fig. 2, in order to ensure the stability of the mechanical arm 3 in grabbing paper, the grabbing mechanism is further provided with a pressing mechanism, the pressing mechanism is arranged above the working surface of the supporting plate 6, the pressing mechanism comprises a pressing plate 7 and a pressing driver 8, the pressing driver 8 is mounted on the support 2, the pressing plate 7 is transversely arranged above the working surface of the supporting plate 6, the top of the pressing rod is connected with the pressing driver 8, and the pressing driver 8 drives the pressing plate 7 to move up and down towards the supporting plate 6. After the mechanical arm 3 grabs the paper, the paper is located above the mechanical arm 3, and then the pressing drive 8 drives the pressing plate 7 to move downwards, so that the pressing plate 7 presses the top of the paper, the edge of the paper is clamped between the pressing plate 7 and the supporting plate 6, and the grabbing firmness in the delivery process is improved.
Referring to fig. 3, the delivery mechanism includes a lateral movement unit 9, a longitudinal movement unit 10, and a height sensor 11, the lateral movement unit 9 and the longitudinal movement unit 10 control lateral and longitudinal movements of the support 2, respectively, the height sensor 11 is disposed at both sides of the support 2, and the height sensor 11 senses the height of the sheet stack 26 and transmits the sensed signal to the longitudinal movement unit 10.
Referring to fig. 1 and 2, in the process of printing, because the density of the patterns on the paper money is different, the thickness of the ink used when a plurality of large paper money is stacked together will result in a large thickness on the side with more ink, and finally, the height difference between the two sides of the paper on the paper stack 26 will become large. In order to compensate the thickness difference of the paper stack 26, a height adjusting mechanism is arranged at the top of the grabbing mechanism and comprises a linear guide rail 12 and a servo motor 13, and the height adjusting mechanism is arranged between the mechanical arm 3 and the telescopic mechanism 5. The height of the working faces of the two supporting plates 6 can be independently adjusted, the vertical moving unit 10 can drive the support 2 to descend by adjusting the heights of the two supporting plates 6 respectively, paper on the same layer can be held up and grabbed, and staggered layers are avoided when the two supporting plates 6 shrink. The reliability of grabbing the paper is improved.
Referring to fig. 4 and 5, in order to further avoid the occurrence of a staggered floor when the supporting plate 6 contracts to grab the paper, the paper lifting mechanism is provided with a lifting mechanism 19, a paper twisting part and a paper lifting part 15, the relative positions of the paper twisting part and the paper lifting part 15 are fixed, the lifting mechanism 19 drives the paper twisting part and the paper lifting part 15 to lift, the paper twisting part comprises a paper twisting mechanism 16 and a pushing mechanism 17, the working surface of the paper twisting mechanism 16 is longitudinally arranged, the paper twisting mechanism 16 is connected with the pushing mechanism 17, and the pushing mechanism 17 drives the paper twisting mechanism 16 to transversely move; the paper lifting part 15 is arranged below the paper twisting mechanism 16, and the paper lifting part can extend below the twisted paper. The paper lifting mechanism can lift the paper on the paper stack 26 one by one, then the distance between each stack of paper and the paper stack 26 is enlarged, enough space can be provided for the insertion of the supporting plate 6 of the grabbing mechanism, and the damage of the paper caused by staggered grabbing due to too small gap can be prevented.
In order to facilitate the paper rubbing mechanism 16 to rub the edges of the paper smoothly, the paper rubbing mechanism 16 includes a paper rubbing plate 18 and a lifting mechanism 19 which are longitudinally arranged, a silica gel layer 20 is attached to the working surface of the paper rubbing plate 18, the paper rubbing plate 18 is connected with the lifting mechanism 19, the lifting mechanism 19 drives the paper rubbing plate 18 to lift, and the propelling mechanism 17 is connected with a shell of the lifting mechanism 19. When the pushing mechanism 17 pushes the working surface of the paper rubbing plate 18 to be tightly attached to the middle position of the right side of the paper stack 26, the lifting mechanism 19 drives the paper rubbing plate 18 to move upwards, so that the middle part of the right side edge of a certain number of paper sheets tilts upwards, and the paper lifting part extends below the right side edge of the tilted paper sheets.
The paper lifting part comprises an inserting plate 21 and a paper inserting drive 22, the working end of the inserting plate 21 is located below the working face of the paper twisting mechanism 16, the driving end of the inserting plate 21 is connected with the paper inserting drive 22, and the paper inserting drive 22 drives the inserting plate 21 to move horizontally. After the paper rubbing plate 18 rubs up the right sides of a certain amount of paper, the inserting plate 21 can be driven by the inserting drive 22 to move leftward, so that the inserting plate 21 is inserted into the middle of the lower portion of the rubbed paper.
A connecting seat 23 is arranged between the inserting plate 21 and the paper inserting drive 22, and paper lifting mechanisms are symmetrically arranged on two sides of the connecting seat 23. Due to the fact that the strength of the banknote printing paper is high, when the inserting plate 21 is inserted into the middle of the lower portion of the paper, the right front end and the right rear end of the paper above the inserting plate 21 can also be separated from the paper below the inserting plate 21, then the paper lifting mechanism moves to the position below the tilted paper, and therefore the right side of the whole paper is lifted up completely.
The paper lifting mechanism comprises two paper lifting plates 24 and a telescopic cylinder 25, and the telescopic cylinder 25 drives the two paper lifting plates 24 to do longitudinal telescopic motion towards the connecting seat 23; the working side of the paper lifting plate 24 is the same as the inserting plate 21. In a normal state, the telescopic cylinder rod extends out, the distance between the two paper lifting plates 24 exceeds the longitudinal size of paper, when the inserting plate 21 is inserted below the tilted paper, the telescopic cylinder 25 contracts, and the two paper lifting plates 24 extend below the right front end and the right rear end below the paper, so that the right sides of the paper are all lifted, the paper on the two paper lifting plates 24 is the same, the mechanical arm 3 is prevented from being grabbed in a staggered layer manner when being grabbed, and the damage to the paper caused by the grabbing of the mechanical arm 3 is avoided.
Referring to fig. 6 to 8, in order to facilitate the paper lifting plate 24 to be inserted between the papers, the section of the paper lifting plate 24 in the direction of a-a is wedge-shaped, and the section of the paper lifting plate 24 in the direction of B-B is wedge-shaped, after the end with the small thickness of the paper lifting plate 24 is inserted between the papers, the paper lifting plate 24 is inserted between the papers with the large thickness along with the advance of the telescopic cylinder 25, so that the gap between the papers is increased, and the grabbing by the manipulator 3 is facilitated. Preferably, the thickness of the paper lifting plate 24 is matched with the thickness of the paper inserting plate and the thickness of the manipulator 3, so that when the manipulator 3 picks, the right side of the paper is lifted to the same height, the position where the manipulator 3 picks the paper is convenient to be the same as the clamping size, the precision of the manipulator 3 picking is improved, and the precision of the manipulator 3 picking is also improved.
During operation, firstly, the paper stack 26 is pushed to the working position, the propelling mechanism 17 drives the paper rubbing plate 18 to be close to the right side of the paper on the upper layer of the paper stack 26, then the lifting mechanism 19 drives the paper rubbing plate 18 to ascend under the action of friction force, the right side of the paper on the upper layer of the paper stack 26 is rubbed up, then the paper inserting plate is inserted below the rubbed paper, and the paper above the paper inserting plate is pried up due to the fact that the paper inserting plate has a certain thickness. However, under the action of gravity, the front and rear ends on the right side of the pried banknote printing paper can droop, in order to prevent the fault bed when the manipulator 3 extends into the lower part of the pried paper, after the insertion plate 21 is inserted, the paper lifting plate 24 extends into the lower part of the pried paper from the front side and the rear side of the paper, as the paper lifting plate 24 is wedge-shaped, the operation end of the paper lifting plate 24 is thin, the front and rear ends of the paper clinging to the paper inserting plate can be inserted, and then the paper lifting plate 24 continues to be inserted downwards into the paper until the front and rear ends on the right side of the paper are lifted by the thicker side of the paper lifting plate 24, so that the two ends of the paper clinging to the paper inserting plate are lifted, and the fault bed is prevented. Meanwhile, the middle parts of the front side and the rear side of the paper above the paper inserting plate can be further lifted.
In the process that the mechanical arm moves towards the paper stack, the central position of the paper stack is calculated through the height sensor and the transverse moving unit, and the mechanical arm is positioned above the central line of the paper stack; after height sensor sensed the height of picture peg, can judge that the manipulator descends and grabs the paper height, manipulator 3 descends to both sides around paper buttress 26, then telescopic machanism drives the layer board of manipulator is deepened under the paper that is lifted up by lifting up paper mechanism, then, presses the clamp plate to press on the paper that is lifted up by the manipulator, then the successive layer snatchs the paper on paper buttress 26, and the longitudinal motion unit rises, and the translation of lateral motion unit reaches paper transfer position, then presses the clamp plate to rise, and the layer board is opened, can realize falling paper.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The automatic large-sheet paper money grabbing equipment is characterized by comprising a rack (1), a grabbing mechanism, a paper lifting mechanism and a delivery mechanism, wherein the delivery mechanism is mounted on the rack (1), the delivery mechanism drives the grabbing mechanism to move, the paper lifting mechanism is located below the grabbing mechanism, the paper lifting mechanism lifts paper on a paper stack (26), and the grabbing mechanism grabs the paper lifted by the paper lifting mechanism; the grabbing mechanism comprises a support (2), a mechanical arm (3) and a telescopic mechanism (5), wherein the telescopic mechanism (5) is arranged on the support (2), the mechanical arm (3) comprises two L-shaped support plates (6) which are symmetrically arranged, the top of the mechanical arm (3) is connected with the telescopic mechanism (5), and the telescopic mechanism (5) drives the two support plates (6) to transversely open and close.
2. The automatic large banknote grabbing device according to claim 1, wherein the grabbing mechanism is further provided with a pressing mechanism, the pressing mechanism is arranged above the working surface of the supporting plate (6), the pressing mechanism comprises a pressing plate (7) and a pressing drive (8), the pressing drive (8) is mounted on the bracket (2), the pressing plate (7) is transversely arranged above the working surface of the supporting plate (6), the top of the pressing rod is connected with the pressing drive (8), and the pressing drive (8) drives the pressing plate (7) to move up and down towards the supporting plate (6).
3. The automatic large banknote grabbing device according to claim 2, wherein two height adjusting mechanisms are further arranged on the top of the grabbing mechanism, each height adjusting mechanism comprises a linear guide rail (12) and a servo motor (13), and the height adjusting mechanisms are arranged between the manipulator (3) and the telescopic mechanism (5).
4. The automatic large banknote grabbing device according to claim 3, wherein the paper lifting mechanism comprises a lifting mechanism (19), a paper twisting part and a paper lifting part (15), the relative positions of the paper twisting part and the paper lifting part (15) are fixed, the lifting mechanism (19) drives the paper twisting part and the paper lifting part (15) to lift, the paper twisting part comprises a paper twisting mechanism (16) and a pushing mechanism (17), the working surface of the paper twisting mechanism (16) is longitudinally arranged, the paper twisting mechanism (16) is connected with the pushing mechanism (17), and the pushing mechanism (17) drives the paper twisting mechanism (16) to move transversely; the paper lifting part (15) is arranged below the paper twisting mechanism (16), and the paper lifting part can extend to the lower part of the twisted paper.
5. The automatic large banknote grabbing device according to claim 4, wherein the paper rubbing mechanism (16) comprises a paper rubbing plate (18) and a lifting mechanism (19) which are longitudinally arranged, a silica gel layer (20) is attached to a working surface of the paper rubbing plate (18), the paper rubbing plate (18) is connected with the lifting mechanism (19), the lifting mechanism (19) drives the paper rubbing plate (18) to lift, and the propelling mechanism (17) is connected with a shell of the lifting mechanism (19).
6. The automatic large banknote grabbing device according to claim 5, wherein the paper lifting portion comprises an inserting plate (21) and a paper inserting driver (22), a working end of the inserting plate (21) is located below a working surface of the paper twisting mechanism (16), a driving end of the inserting plate (21) is connected with the paper inserting driver (22), and the paper inserting driver (22) drives the inserting plate (21) to move horizontally.
7. The automatic large banknote grasping apparatus according to claim 6, wherein the delivery mechanism includes a lateral movement unit (9), a longitudinal movement unit (10) and a height sensor (11), the lateral movement unit (9) and the longitudinal movement unit (10) control the lateral and longitudinal movements of the rack (2), respectively, the height sensor (11) is disposed on both sides of the rack (2) and is located directly above the inserting plate (21), and the height sensor (11) senses the height of the inserting plate (21) and transmits a sensing signal to the longitudinal movement unit (10).
8. The automatic large banknote grabbing device according to claim 7, wherein a connecting seat (23) is arranged between the inserting plate (21) and the inserting drive (22), two sides of the connecting seat (23) are symmetrically provided with paper lifting mechanisms, each paper lifting mechanism comprises a paper lifting plate (24) and a telescopic cylinder (25), and the telescopic cylinders (25) drive the two paper lifting plates (24) to make telescopic motion towards the connecting seat (23); the working side of the paper lifting plate (24) is the same as the inserting plate (21).
9. The automatic large banknote grasping apparatus according to claim 8, wherein the cross section of the paper lifting plate (24) in the direction of A-A is wedge-shaped, and the cross section of the paper lifting plate (24) in the direction of B-B is wedge-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210336871.5A CN114655693A (en) | 2022-03-31 | 2022-03-31 | Automatic equipment that snatchs of big paper money |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210336871.5A CN114655693A (en) | 2022-03-31 | 2022-03-31 | Automatic equipment that snatchs of big paper money |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114655693A true CN114655693A (en) | 2022-06-24 |
Family
ID=82032970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210336871.5A Pending CN114655693A (en) | 2022-03-31 | 2022-03-31 | Automatic equipment that snatchs of big paper money |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114655693A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115339899A (en) * | 2022-10-14 | 2022-11-15 | 徐州方达电机有限公司 | Manipulator is used in motor production |
| CN115972319A (en) * | 2023-01-18 | 2023-04-18 | 广东豪德数控装备股份有限公司 | Plate cutting saw rear feeding device, plate cutting saw and control method of plate cutting saw |
| CN116062235A (en) * | 2023-03-02 | 2023-05-05 | 宁波天鱼机械有限公司 | Mechanical arm for grabbing paper stack |
| CN116142556A (en) * | 2023-03-09 | 2023-05-23 | 宁波天鱼机械有限公司 | Paper buttress grabbing device |
| CN117103320A (en) * | 2023-10-25 | 2023-11-24 | 哈尔滨学院 | Automatic grabbing manipulator for violin |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0569970A (en) * | 1991-09-10 | 1993-03-23 | Mitsuhiro Sano | Separation method for stacked paper and device thereof |
| JPH05186076A (en) * | 1991-10-28 | 1993-07-27 | Itoo Tec Kk | Automatic paper sheet feeder |
| CN203461593U (en) * | 2013-07-19 | 2014-03-05 | 昆山巨闳机械科技有限公司 | Automatically phenolic paper distributing and stacking system |
| CN108045939A (en) * | 2018-01-16 | 2018-05-18 | 汕头东风印刷股份有限公司 | A kind of paper stack divides pile device |
| CN114655745A (en) * | 2022-03-31 | 2022-06-24 | 石家庄印钞有限公司 | Paper lifting equipment convenient for grabbing by manipulator |
-
2022
- 2022-03-31 CN CN202210336871.5A patent/CN114655693A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0569970A (en) * | 1991-09-10 | 1993-03-23 | Mitsuhiro Sano | Separation method for stacked paper and device thereof |
| JPH05186076A (en) * | 1991-10-28 | 1993-07-27 | Itoo Tec Kk | Automatic paper sheet feeder |
| CN203461593U (en) * | 2013-07-19 | 2014-03-05 | 昆山巨闳机械科技有限公司 | Automatically phenolic paper distributing and stacking system |
| CN108045939A (en) * | 2018-01-16 | 2018-05-18 | 汕头东风印刷股份有限公司 | A kind of paper stack divides pile device |
| CN114655745A (en) * | 2022-03-31 | 2022-06-24 | 石家庄印钞有限公司 | Paper lifting equipment convenient for grabbing by manipulator |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115339899A (en) * | 2022-10-14 | 2022-11-15 | 徐州方达电机有限公司 | Manipulator is used in motor production |
| CN115972319A (en) * | 2023-01-18 | 2023-04-18 | 广东豪德数控装备股份有限公司 | Plate cutting saw rear feeding device, plate cutting saw and control method of plate cutting saw |
| CN116062235A (en) * | 2023-03-02 | 2023-05-05 | 宁波天鱼机械有限公司 | Mechanical arm for grabbing paper stack |
| CN116142556A (en) * | 2023-03-09 | 2023-05-23 | 宁波天鱼机械有限公司 | Paper buttress grabbing device |
| CN117103320A (en) * | 2023-10-25 | 2023-11-24 | 哈尔滨学院 | Automatic grabbing manipulator for violin |
| CN117103320B (en) * | 2023-10-25 | 2024-01-16 | 哈尔滨学院 | Automatic grabbing manipulator for violin |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114655693A (en) | Automatic equipment that snatchs of big paper money | |
| WO2016006879A1 (en) | Device for loading bound product | |
| CN114655745A (en) | Paper lifting equipment convenient for grabbing by manipulator | |
| CN110980208A (en) | Automatic plate feeding device | |
| CN219135686U (en) | Conveying, clamping and stacking integrated book blanking equipment | |
| CN212216868U (en) | Multi-station automatic stamping line | |
| US6676364B1 (en) | Stack changing device | |
| CN213833921U (en) | Paper arranging machine with automatic arranging function | |
| JP2514857Y2 (en) | Paper feeder for sheet-fed printing press | |
| CN113353669A (en) | Stocker, feed mechanism | |
| CN217997533U (en) | Trousers piece feed mechanism of jeans pocket assembly line | |
| CN215325828U (en) | Automatic lifting device for newspaper delivery for assembly line | |
| JP3946318B2 (en) | Plate material collecting device | |
| JP2517275B2 (en) | Paper feeder for sheet-fed printing press | |
| CN217201246U (en) | Automatic arrangement mechanism of cardboard | |
| JPH0711052Y2 (en) | Paper feeder for sheet-fed printing press | |
| CN212580992U (en) | Fold material mechanism and visual inspection robot | |
| CN217529002U (en) | Full-automatic bending machine | |
| CN213765891U (en) | Prevent area material type tongs mechanism | |
| CN213059382U (en) | Automatic adsorption paper feeding device for paperboard printing | |
| CN215325838U (en) | Stocker, feed mechanism | |
| CN220702799U (en) | Continuous paperboard stacking machine | |
| CN214774258U (en) | Automatic paper feeding equipment | |
| CN110589502B (en) | Stacking method | |
| CN212197555U (en) | Tray automatic feeding material collecting device |
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 |