CN219807495U

CN219807495U - Paper transferring manipulator

Info

Publication number: CN219807495U
Application number: CN202320883343.1U
Authority: CN
Inventors: 蔺丽莉; 陈婧铱
Original assignee: BEIJING INFORMATION TECHNOLOGY COLLEGE
Current assignee: BEIJING INFORMATION TECHNOLOGY COLLEGE
Priority date: 2023-04-19
Filing date: 2023-04-19
Publication date: 2023-10-10
Anticipated expiration: 2033-04-19

Abstract

The utility model discloses a paper transfer manipulator, which relates to the technical field of manipulators and comprises a base and a manipulator arranged on the base, wherein the manipulator is a three-section manipulator, one end of the manipulator, which is far away from the base, is provided with a mechanical claw, a support frame is arranged on the mechanical claw, a lifting frame is connected onto the support frame in a sliding manner, a cylinder is arranged between the support frame and the lifting frame, a paper bending mechanism is arranged on the support frame, a plurality of suckers are arranged on the lifting frame, and the paper bending mechanism can be driven by the lifting frame. When the paper transferring manipulator provided by the utility model is used for taking paper, the paper can be slightly separated from the gap before the sucker on the mechanical claw contacts the paper by arranging the paper bending mechanism, so that the paper is raised upwards, and the influence on the next layer of paper during paper taking can be reduced to a great extent.

Description

Paper transferring manipulator

Technical Field

The utility model relates to the technical field of manipulators, in particular to a paper transfer manipulator.

Background

In the present production and life, the use of paper has been extended into the usual production and life, especially in offices, schools, etc., and because of the thin and light physical properties of paper, it is an extremely complex process for single transfer of paper, and it is very difficult for the existing machinery to finish accurate gripping and transferring of paper, especially without affecting the next paper. The utility model patent with the prior bulletin number of CN213890044U discloses a manipulator for sorting paperboards, which comprises a first base, wherein one end of the first base is connected with one end of a second base in a clamping way, the top of the first base is fixedly connected with the bottom of a manipulator base, two sides of the manipulator base are respectively connected with one end of a manipulator in a rotating way through a rotating shaft, the other end of the manipulator is fixedly connected with one end of a connecting box, one end of the connecting box is fixedly provided with a timing switch, the bottom of the inner wall of the connecting box is fixedly provided with a rotating motor, and the output end of the rotating motor is in transmission connection with one end of a transmission shaft.

Above-mentioned technical scheme provides a manipulator of letter sorting cardboard, can make whole equipment remove more convenient, is convenient for save staff's physical power, can make the rotation of anchor clamps can 360 degrees, saves the required time of work. However, the transfer of the hard paper board is not practical for soft paper, and the technical problem of transferring a single paper document at a time cannot be solved.

Disclosure of Invention

According to the technical problem, when the paper transfer manipulator is used for taking paper, the paper can be slightly separated from the gap before the sucker on the mechanical claw contacts the paper by arranging the paper bending mechanism, so that the paper is raised upwards, and the influence on the next layer of paper during paper taking can be reduced to a great extent.

The technical aim of the utility model is realized by the following technical scheme:

the utility model provides a paper transports manipulator, is in including base and setting arm on the base, the arm is three sections arms, the arm is kept away from base one end is provided with the gripper, be provided with the support frame on the gripper, sliding connection has the crane on the support frame, the support frame with be provided with the cylinder between the crane, the support frame in be provided with the spring between the crane, be provided with curved paper mechanism on the support frame, be provided with a plurality of sucking discs on the crane, curved paper mechanism can by the crane drive.

By adopting the technical scheme, before the suction disc on the mechanical claw is about to contact soft paper, the paper bending mechanism is in contact with soft paper, so that in the process of pressing down and sucking paper by the suction disc, the paper bending mechanism can extrude upper-layer paper and enable the middle part of the upper-layer paper to bend upwards, the paper can be slightly separated from a gap before the suction disc on the mechanical claw contacts the paper, and the paper is enabled to bulge upwards, and as the former layers of soft paper from top to bottom can be subjected to the force exerted by the paper bending mechanism, the upper layers of soft paper can generate gaps between the paper and the paper when the suction disc sucks the paper, so that the influence on the next layer of paper when the paper is taken can be reduced to a great extent, and the taking of Shan Zhangruan paper is ensured.

The utility model is further provided with: the paper bending mechanism comprises a paper bending wheel which is rotationally connected to the supporting frame, driving wheels are fixedly connected to two ends of the paper bending wheel, protruding points are arranged on the driving wheels, pull ropes are fixedly connected to the protruding points, and the pull ropes are connected with the protruding points on the driving wheels on two same sides.

The utility model is further provided with: cylindrical compression bars are inserted into two sides of the lifting frame, one end of each compression bar is spherical with the radius larger than that of the compression bar, and the compression bars are located right above the pull ropes.

The utility model is further provided with: grooves are formed in the curved paper wheel at intervals, and soft sleeves are arranged on the curved paper wheel.

The utility model is further provided with: the support frame is provided with cleaning sheets on two sides of the paper bending wheel.

The utility model is further provided with: the support frame with the crane is wrapped up in the protective housing outward.

The utility model is further provided with: the mechanical arm is of a hollow structure, and a control line and an air duct are arranged in the mechanical arm.

In summary, the beneficial technical effects of the utility model are as follows:

(1) The influence on the next layer of paper during paper taking can be reduced to a great extent, so that the Shan Zhangruan paper is ensured to be taken.

(2) Can be used with any existing mechanical arm, and can finish taking single-layer paper without higher-precision control during use.

(3) The whole device can not damage or pollute paper.

Drawings

FIG. 1 is a schematic overall construction of an embodiment of the present utility model;

FIG. 2 is a schematic cross-sectional view of one embodiment of the present utility model;

FIG. 3 is a schematic view of an explosion mechanism of the internal structure of the gripper according to one embodiment of the present utility model;

FIG. 4 is a schematic view of the internal structure of the gripper according to one embodiment of the present utility model.

Reference numerals: 1. a base; 2. a mechanical arm; 3. a mechanical claw; 4. a support frame; 5. a lifting frame; 6. a cylinder; 7. a paper bending mechanism; 8. a suction cup; 9. a curved paper wheel; 10. a driving wheel; 11. a bump; 12. a pull rope; 13. a compression bar; 14. a groove; 15. a soft sleeve; 16. a cleaning sheet; 17. a protective shell; 18. soft paper.

Detailed Description

The present utility model will be described more fully hereinafter with reference to the accompanying examples.

Referring to fig. 1-4, a paper transferring manipulator comprises a base 1 and a manipulator 2 arranged on the base 1, wherein the manipulator 2 is a three-section manipulator 2, one end of the manipulator 2 far away from the base 1 is provided with a mechanical claw 3, the mechanical claw 3 is provided with a support frame 4, the support frame 4 is slidably connected with a lifting frame 5, a cylinder 6 is arranged between the support frame 4 and the lifting frame 5, the support frame 4 is provided with a spring between the lifting frames 5, the support frame 4 is provided with a paper bending mechanism 7, the lifting frame 5 is provided with a plurality of suckers 8, the paper bending mechanism 7 can be driven by the lifting frame 5, and the suckers 8 are provided with connecting air pipes and an air pump in the base 1. The paper bending mechanism 7 comprises a paper bending wheel 9 rotatably connected to the supporting frame 4, driving wheels 10 are fixedly connected to two ends of the paper bending wheel 9, protruding points 11 are arranged on the driving wheels 10, pull ropes 12 are fixedly connected to the protruding points 11, and the pull ropes 12 are connected with the protruding points 11 on the driving wheels 10 on two same sides. Cylindrical pressing rods 13 are inserted into two sides of the lifting frame 5, one end of each pressing rod 13 is spherical with the radius larger than that of the pressing rod 13, and the pressing rods 13 are located right above the pull ropes 12.

When the device is used, firstly, the mechanical arm 2 is controlled by the base 1 to bend so as to convey the mechanical claw 3 to the position right above paper, then the mechanical claw 3 is controlled to press downwards, the paper bending mechanism 7 is firstly contacted with the paper, then the air cylinder 6 is started, the lifting frame 5 is enabled to displace downwards relative to the supporting frame 4, meanwhile, the sucker 8 is driven to displace downwards, the press rod 13 is enabled to contact with the pull rope 12 and press downwards, the pull rope 12 is enabled to deform, the pull rope 12 drives the convex point 11 to drive the curved paper wheel 9 to rotate, the curved paper wheels 9 on two sides rotate so as to slightly bend a plurality of soft paper 18 on the upper layer, gaps are formed between the soft paper 18, and therefore after the sucker 8 contacts and absorbs the paper, the paper can be uplifted upwards, after absorption, the lifting frame 5 ascends due to the weight of the convex point 11, and the curved paper wheel 9 can be reset to the original position. Since the first layers of soft paper 18 from top to bottom are subjected to the force exerted by the paper bending mechanism 7, the upper layers of soft paper 18 can generate gaps between the paper and the paper when the sucking disc 8 sucks the paper, so that the influence on the next layer of paper during paper taking can be reduced to a great extent, and the Shan Zhangruan paper 18 is ensured to be taken.

With reference to fig. 3, grooves 14 are formed in the curved paper wheel 9 at intervals, and a soft sleeve 15 is arranged on the curved paper wheel 9. The supporting frame 4 is provided with cleaning sheets 16 on both sides of the paper bending wheel 9. The supporting frame 4 and the lifting frame 5 are wrapped with a protective shell 17. The mechanical arm 2 is of a hollow structure, and a control line and an air duct are arranged in the mechanical arm 2.

When the device is used, the device can be matched with any one of the existing manipulators, and the taking of single-layer paper can be completed without higher-precision control during use. The whole device can be ensured not to damage or pollute paper.

The working principle of the embodiment is as follows: when the device is used, firstly, the mechanical arm 2 is controlled by the base 1 to bend so as to convey the mechanical claw 3 to the position right above paper, then the mechanical claw 3 is controlled to press downwards, the paper bending mechanism 7 is firstly contacted with the paper, then the air cylinder 6 is started, the lifting frame 5 is enabled to displace downwards relative to the supporting frame 4, meanwhile, the sucker 8 is driven to displace downwards, the press rod 13 is enabled to contact with the pull rope 12 and press downwards, the pull rope 12 is enabled to deform, the pull rope 12 drives the convex point 11 to drive the curved paper wheel 9 to rotate, the curved paper wheels 9 on two sides rotate so as to slightly bend a plurality of soft paper 18 on the upper layer, gaps are formed between the soft paper 18, and therefore after the sucker 8 contacts and absorbs the paper, the paper can be uplifted upwards, after absorption, the lifting frame 5 ascends due to the weight of the convex point 11, and the curved paper wheel 9 can be reset to the original position. Since the first layers of soft paper 18 from top to bottom are subjected to the force exerted by the paper bending mechanism 7, the upper layers of soft paper 18 can generate gaps between the paper and the paper when the sucking disc 8 sucks the paper, so that the influence on the next layer of paper during paper taking can be reduced to a great extent, and the Shan Zhangruan paper 18 is ensured to be taken.

The above description is only a preferred embodiment of the present utility model, and is not intended to limit the scope of the present utility model. All equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.

Claims

1. A paper transportation manipulator, its characterized in that: including base (1) and setting are in arm (2) on base (1), arm (2) are three sections arm (2), arm (2) are kept away from base (1) one end is provided with gripper (3), be provided with support frame (4) on gripper (3), sliding connection has crane (5) on support frame (4), support frame (4) with be provided with cylinder (6) between crane (5), support frame (4) in be provided with the spring between crane (5), be provided with bent paper mechanism (7) on support frame (4), be provided with a plurality of sucking discs (8) on crane (5), bent paper mechanism (7) can by crane (5) drive.

2. The paper handling robot of claim 1, wherein: the paper bending mechanism (7) comprises a paper bending wheel (9) which is rotationally connected to the supporting frame (4), driving wheels (10) are fixedly connected to two ends of the paper bending wheel (9), protruding points (11) are arranged on the driving wheels (10), pull ropes (12) are fixedly connected to the protruding points (11), and the pull ropes (12) are connected with the protruding points (11) on the driving wheels (10) on two same sides.

3. A paper handling robot according to claim 2, wherein: cylindrical pressing rods (13) are inserted into two sides of the lifting frame (5), one end of each pressing rod (13) is spherical with the radius larger than that of each pressing rod (13), and each pressing rod (13) is located right above the corresponding pull rope (12).

4. A paper handling robot according to claim 2, wherein: grooves (14) are formed in the curved paper wheel (9) at intervals, and soft sleeves (15) are arranged on the curved paper wheel (9).

5. A paper handling robot according to claim 2, wherein: the supporting frame (4) is provided with cleaning sheets (16) on two sides of the paper bending wheel (9).

6. The paper handling robot of claim 1, wherein: the supporting frame (4) and the lifting frame (5) are wrapped with a protective shell (17).

7. The paper handling robot of claim 1, wherein: the mechanical arm (2) is of a hollow structure, and a control line and an air duct are arranged in the mechanical arm (2).