CN107933132B

CN107933132B - Certificate equipment for real estate certificate

Info

Publication number: CN107933132B
Application number: CN201711205426.0A
Authority: CN
Inventors: 马捷
Original assignee: Hangzhou Moko Commercial Device Co ltd
Current assignee: Hangzhou Moco Intelligent Internet Co ltd
Priority date: 2017-11-27
Filing date: 2017-11-27
Publication date: 2023-06-06
Anticipated expiration: 2037-11-27
Also published as: CN107933132A

Abstract

The application discloses a real estate certificate's equipment of repairing, including the frame, be provided with in the frame: the first page turning printing mechanism turns pages of the blank certificate and prints the blank certificate; a first seal; a displacement jig; the first mechanical arm clamps the first seal to knock the certificate and clamps the shifting clamp to shift the certificate; the second page turning printing mechanism turns pages and prints the certificate from the first page turning printing mechanism; the certificate limit groove is used for receiving a certificate from the second page turning printing mechanism; the paper pasting mechanism is used for pasting paper on the certificate page of the certificate limiting groove and comprises a second mechanical arm; the second seal is clamped by the second mechanical arm and is stamped to the certificate page in the certificate limiting groove; the hinge component is used for closing the certificate; and the certificate discharging and distributing mechanism receives the certificate completed by the hinge. The certificate repairing equipment can prepare the real estate certificate through a machine, reduces labor intensity and improves efficiency compared with manual preparation.

Description

Certificate equipment for real estate certificate

Technical Field

The invention relates to the field of mechanical equipment, in particular to equipment for repairing real estate certificates.

Background

In preparing the certificate, other steps are basically performed by manual operation except printing. In particular, when the real estate certificate is prepared, printing is required to be performed in multiple pages, the pages are manually turned and then sent to a printer for printing, and besides the printing of multiple pages, the registration certificate is covered with official seal, layered household-dividing map and land area map, the riding seal and blank seal and tax invoice pasting are also required to be performed.

The manual preparation of the real estate card has the following defects: the labor intensity of workers is high; the production efficiency is low, and the problems of misplugging, reworking, long operation time (3-5 minutes are required for each certificate on average) and the like exist.

Disclosure of Invention

The invention aims at the problems and overcomes at least one defect, and provides a certificate repairing device for a real estate certificate.

The technical scheme adopted by the invention is as follows:

the utility model provides a real estate certificate's equipment of repairing, includes the frame, is provided with in the frame:

the first page turning printing mechanism is used for turning pages of the blank certificate and printing the first page;

a first seal;

a displacement jig;

the first mechanical arm is used for clamping the first seal to stamp the certificate and clamping the shifting clamp to shift the printed certificate of the first page;

The second page turning printing mechanism turns pages and prints the certificate from the first page turning printing mechanism;

the certificate limit groove is used for receiving a certificate from the second page turning printing mechanism;

the paper pasting mechanism is used for pasting paper on the certificate page of the certificate limiting groove and comprises a second mechanical arm;

the second seal is used for being clamped by the second mechanical arm and stamping the seal to the certificate page in the certificate limiting groove;

the hinge assembly is used for closing the certificate of the adhered paper;

and the certificate discharging and distributing mechanism is used for receiving the certificate finished by the hinge from the certificate limiting groove.

The utility model provides a repair certificate equipment can be through machine preparation real estate certificate, for manual preparation, has reduced intensity of labour, has improved efficiency, and theory of operation is as follows: the method comprises the steps that blank certificates are turned and printed through a first page turning printing mechanism, after the first page turning printing mechanism turns pages of a real estate certificate, a first seal is clamped through a first mechanical arm to seal the certificates (homeland office seal), then the first mechanical arm is matched with a shifting clamp, the turned pages of the certificates are moved to a second page turning printing mechanism, the second page turning printing mechanism turns pages and prints the certificates from the first page turning printing mechanism (the pages are turned for several times and printed for several times according to requirements), the certificates are moved to a certificate limiting groove through the first mechanical arm, a paper pasting mechanism pastes paper on the certificate pages of the certificate limiting groove, the second mechanical arm clamps the second seal to seal the certificate pages in the certificate limiting groove (seal and/or homeland office seal), the hinge assembly closes the certificates with the paper pasted, and a discharging distribution mechanism receives the finished certificates from the certificate limiting groove.

Optionally, the first mechanical arm and the second mechanical arm each include:

the base is arranged on the frame;

the first end of the first cantilever is rotatably arranged on the base;

the first end of the second cantilever is rotatably arranged at the second end of the first cantilever;

the lifting rod is arranged at the second end of the second cantilever and can move up and down relative to the second cantilever;

the chuck is arranged at the lower end of the lifting rod.

Optionally, the first page turning printing mechanism includes:

the first page turning swing cylinder is arranged on the frame and comprises a rotating shaft;

the first page turning rod is arranged on the rotating shaft of the first page turning swinging cylinder and is driven to rotate by the first page turning swinging cylinder;

the first sucker is arranged on the first page turning rod and is connected with a pipeline, and the first sucker realizes the operation of sucking and releasing a certificate page through the sucking and discharging air of the pipeline connected with the first sucker;

the first anti-overturning block is movably arranged on the rack;

the first driving element is matched with the first anti-return block and is used for driving the first anti-return block to move to the upper side of the turned page after the page of the certificate is turned by the first sucker, so that the turned page is prevented from returning;

The first printer is arranged on the rack and is used for printing the certificate page;

a first material moving plate;

and the first linear driving mechanism is used for driving the first material moving plate to move and pushing the certificate into the first printer.

When in actual use, the pipeline of the first sucker can be connected with the air pumping and discharging device, thereby realizing the air pumping and discharging of the pipeline. The page turning assembly of this application can drive first page turning pole through first page turning tilt cylinder and rotate to first sucking disc can be with the certificate contact, through the gassing of inhaling of the pipeline of being connected with first sucking disc, first sucking disc realizes the operation of absorbing and releasing to the certificate page, when the pipeline on the first sucking disc inhales, form the negative pressure between first sucking disc and the certificate, thereby have the adsorption affinity between the two, can drive the page that is adsorbed through rotating first page turning pole and turn over the page, after the page turning is accomplished, remove the top by the page that turns over through first actuating element with first preventing turning back the piece, the pipeline on the first sucking disc can be gassing this moment, first sucking disc breaks away from with the certificate page, under the effect of first preventing turning back the piece, the page that can not turn back by the certificate page that turns over. Compared with manual page turning, the page turning assembly realizes automatic page turning operation, can save labor, and can effectively prevent page from turning back after page turning.

The first linear driving mechanism drives the first material moving plate to move, and can push the page turned certificate into the first printer to realize automatic printing.

The page turning assembly described herein is mounted to the frame and is not limited to all of the components being in direct contact with the frame.

Optionally, the first page turning printing mechanism further comprises:

the charging plate is used for storing a plurality of certificates to be prepared and is provided with a notch;

the baffle is fixed on the feeding plate and used for limiting certificates, and a gap for the next certificate to pass through is formed between the baffle and the feeding plate;

the second material moving plate is movably arranged on the frame, a suction opening is formed in the second material moving plate, the lower end of the suction opening is connected with a pipeline, the suction opening is a sucking disc or a through hole arranged on the second material moving plate, and suction and release operations on a certificate at the lowest side on the feeding plate are realized through the suction and release openings of the pipeline on the second material moving plate; and

the second linear driving mechanism is arranged on the frame and matched with the second material moving plate, and is used for driving the second material moving plate to move into the notch and conveying the lowest certificate on the material feeding plate to a position matched with the first page turning rod through the gap;

The first linear driving mechanism is used for driving the movable frame to reciprocate, the first material moving plate is slidably arranged on the movable frame and can move up and down, and the movable frame is also provided with a lifting element for driving the first material moving plate to move up and down;

the first page turning printing mechanism further comprises a camera mounting seat fixed with the frame, a scanning camera is mounted on the camera mounting seat and used for identifying the certificate number.

The first material moving plate is slidably mounted on the movable frame, and is not limited to the first material moving plate being directly contacted with the movable frame, but the first material moving plate can be directly fixed on the movable part of the lifting element besides being directly contacted with the movable frame. Certificate numbers are manually input, and errors are easy to occur. The identification can be performed when not turned over, or after turning over, because the types of certificates are various, and the identification is determined according to the position of the certificate number.

Optionally, the displacement fixture comprises a first installation seat and a finger cylinder fixed on the first installation seat, the first installation seat is provided with a clamping part, a chuck of the first mechanical arm is matched with the clamping part of the first installation seat, the finger cylinder comprises two fingers which are arranged up and down and can move relatively, and the two fingers are an upper finger and a lower finger respectively; the upper finger is provided with an upper clamping jaw, the lower finger is provided with a lower clamping jaw, and the upper clamping jaw and the lower clamping jaw are mutually matched and are used for clamping certificates.

The upper clamping jaw comprises two upper clamping portions which are arranged left and right, the lower clamping jaw comprises two lower clamping portions which are arranged left and right, and the upper clamping portions and the lower clamping portions are in one-to-one correspondence fit.

The shifting fixture is particularly suitable for certificates of opened pages and also suitable for certificates which are closed. For the certificate of page turning, the back of turning pages has two parts, and the upper clamping part and the lower clamping part on the left side of the shift clamp of this application are used for the left side part of centre gripping certificate, and the upper clamping part and the lower clamping part on the right side are used for the right side part of centre gripping certificate, and this kind of structural style can guarantee the reliable centre gripping to the certificate, and can prevent that the page from turning back.

Optionally, the second page turning printing mechanism includes:

the page lifting swing cylinder is arranged on the frame and comprises a rotating shaft;

the page lifting rod is arranged on the rotating shaft of the page lifting swing cylinder and is driven to rotate by the page lifting swing cylinder;

the second sucker is arranged on the page lifting rod and is connected with a pipeline, and the second sucker realizes the operation of sucking and releasing a certificate page through the sucking and discharging of the pipeline connected with the second sucker;

the page turning swing rod can rotate around an axis;

The rotating element is used for driving the page turning swinging rod to rotate and turning the certificate page which is sucked and lifted by the page lifting rod;

the second anti-overturning block is movably arranged on the frame;

the second driving element is matched with the second anti-turning block and is used for driving the second anti-turning block to move to the upper side of the turned page after the page of the certificate is turned by the second sucker, so that the turned page is prevented from turning back;

and the second printer is used for printing the certificate page, and the clamping head of the first mechanical arm is matched with the shifting clamp to send the certificate limited by the second anti-overturning block into the second printer for printing.

The page turning assembly of this application can drive through lifting page balance jar and lift the page pole and rotate to the second sucking disc can be with the contact of certificate page, through the gassing of inhaling of the pipeline of being connected with the second sucking disc, the second sucking disc realizes the operation of absorbing and releasing to the certificate page, when the pipeline on the second sucking disc inhales, form negative pressure between second sucking disc and the certificate, thereby have the adsorption affinity between the two, can lift up the certificate page through lifting the page pole through rotating, then rotate through rotating element drive page turning pendulum rod, will be lifted the page pole and absorb and lift up the upset of certificate page, after the page turning is accomplished, prevent turning back the piece with the second and remove to the top by the page of turning over, the page of certificate that is turned over can not return. The page turning assembly can realize multiple page turning through the cooperation of the page lifting rod and the page turning swinging rod. Compared with manual page turning, automatic page turning operation is realized, labor can be saved, and page turning can be effectively prevented. The first mechanical arm drives the shifting clamp to clamp the certificate, so that the certificate with the page turned can be pushed into the second printer, and automatic printing is realized.

Optionally, the paper pasting mechanism further comprises:

a third printer for printing a sheet;

the paper sucking clamp is arranged on the frame and is provided with a clamping part, and the clamping head of the second mechanical arm is used for being matched with the clamping part of the paper sucking clamp to clamp the paper sucking clamp;

the dispensing gun is used for gluing the certificate page and is provided with a clamping part, and the clamping head of the second mechanical arm is used for being matched with the clamping part of the dispensing gun to clamp the dispensing gun.

Through the cooperation of chuck and clamp portion of getting, the second arm can press from both sides and get the point gum rifle to realize automatic point gum, through the cooperation of chuck and clamp portion of getting, the second arm can press from both sides and get paper suction anchor clamps, can absorb paper through paper suction anchor clamps, finally posts corresponding position with paper through the second arm, realizes automatic sticker.

Optionally, the hinge assembly includes:

the hinge swinging cylinder is arranged on the frame and comprises a rotating shaft;

the hinge rod is arranged on the rotating shaft of the hinge swinging cylinder and is driven to rotate by the hinge swinging cylinder;

the hinge pressing plate is movably arranged on the frame;

and the third linear driving mechanism is arranged on the frame and matched with the hinge pressing plate and is used for driving the hinge pressing plate to move to one side of the certificate, pressing the certificate and assisting in hinge operation of the hinge rod.

When the hinge is not adopted, the certificate is opened, and the hinge rod and the hinge pressing plate are respectively positioned at the left side and the right side of the certificate, wherein the hinge rod is positioned at the outer side; when the hinge is hinged, the third linear driving mechanism drives the hinge pressing plate to move to the inner side of the certificate to press the corresponding side, and the hinge swinging cylinder drives the hinge rod to rotate, so that reliable automatic hinge can be realized due to the action of the hinge pressing plate.

Optionally, the rack is provided with a certificate falling port, and the certificate discharging and distributing mechanism comprises:

the movable supporting plate is movably arranged on the rack and used for supporting the certificate at the certificate falling port;

the fourth linear movement mechanism is matched with the movable supporting plate and used for driving the movable supporting plate to extend to the certificate falling opening or withdraw from the certificate falling opening;

the storage bin is positioned right below the certificate falling port and is provided with two storage areas

The certificate transposer is positioned below the certificate falling port, one side of the certificate transposer is provided with a passing port, the other side of the certificate transposer is provided with an inclined plate, the inclined plate is closer to the passing port, the height of the inclined plate is about low, and the inclined plate is used for enabling the certificate falling from the upper side of the inclined plate to slide down to the passing port;

and the fifth linear movement mechanism is matched with the certificate transposer and used for driving the certificate transposer to move, and changing the relative position of the certificate transposer and the certificate falling port so that the certificate falls into the corresponding storage area.

The port or the swash plate is located directly below the certificate, and is switched by driving the fifth linear movement mechanism. When the passing port is positioned under the certificate, the fourth linear movement mechanism drives the movable supporting plate to be pulled away from the certificate falling port, the certificate directly falls to the first storage area of the storage bin, when the inclined plate is positioned under the certificate, the fourth linear movement mechanism drives the movable supporting plate to be pulled away from the certificate falling port, the certificate firstly falls to the inclined plate, then slides to the passing port under the action of the inclined plate, and enters the second storage area of the storage bin through the passing port. The certificate discharging and distributing mechanism can enable the certificate to automatically fall into the corresponding storage bin according to different certificates.

Optionally, the movable supporting plate is located one side of the certificate falling port, the other side of the certificate falling port is provided with a fixed supporting plate, and the certificate falling port, the fixed supporting plate and the movable supporting plate form the certificate limiting groove.

The beneficial effects of the invention are as follows: the certificate repairing equipment can prepare the real estate certificate through a machine, reduces labor intensity and improves efficiency compared with manual preparation.

Description of the drawings:

FIG. 1 is a schematic diagram of a repair evidence apparatus;

FIG. 2 is a schematic view of the first paging bar in a first operating position;

FIG. 3 is a schematic view of the first paging bar in a second operating position;

FIG. 4 is a schematic view of the first anti-roll-back block and the first drive element;

FIG. 5 is a schematic view of a second anti-roll-back block and a second drive element;

FIG. 6 is a schematic view of the storage rack, first stamp and displacement clamp;

FIG. 7 is an exploded view of FIG. 6;

FIG. 8 is a schematic diagram of the structure of the certificate authorities at another view angle;

FIG. 9 is an enlarged view of a portion of FIG. 8 at A;

FIG. 10 is a schematic view of the repair facility with the table of the frame removed and the first robotic arm;

FIG. 11 is a partial enlarged view at B in FIG. 10;

FIG. 12 is a schematic view of a certificate authority with a certificate transposer in a second position;

FIG. 13 is a schematic diagram of a certificate authority with a certificate transposer in a first position.

The reference numerals in the drawings are as follows:

1. a frame; 2. a first page-turning printing mechanism; 3. a first seal; 4. a displacement jig; 5. a first mechanical arm; 6. a second page-turning printing mechanism; 7. certificate limit grooves; 8. a paper pasting mechanism; 9. a second mechanical arm; 10. a second seal; 11. a hinge assembly; 12. certificate discharging and distributing mechanism; 13. a first page turning swing cylinder; 14. a first page turning lever; 15. a connection part; 16. a first suction cup; 17. the first anti-overturning block; 18. a first driving element; 19. an avoidance groove; 20. a limiting surface; 21. a guide surface; 22. a first printer; 23. a first material moving plate; 24. a first linear driving mechanism; 25. a loading plate; 26. a notch; 27. a baffle; 28. a gap; 29. a second material moving plate; 30. a suction opening; 31. a second linear driving mechanism; 32. a movable frame; 33. a lifting element; 34. a camera mounting seat; 35. scanning the camera; 36. a table top; 37. a certificate; 38. lifting a page swing cylinder; 39. a page lifting rod; 40. a second suction cup; 41. a page turning swing rod; 42. a rotating element; 43. the second anti-overturning block; 44. a second driving element; 45. a second printer; 46. a first mount; 47. a finger cylinder; 48. a clamping part; 49. the finger is put on; 50. a lower finger; 51. an upper clamping jaw; 52. a lower jaw; 53. an upper clamping part; 54. a lower clamping part; 55. a base; 56. a first cantilever; 57. a second cantilever; 58. a lifting rod; 59. a chuck; 60. a storage rack; 61. a first positioning column; 62. a first positioning hole; 63. a positioning groove; 64. chu Zhangcao; 65. a paper sucking clamp; 66. dispensing gun; 67. a second mounting base; 68. a third suction cup; 69. a second positioning column; 70. a second positioning hole; 71. a third printer; 72. a hinge swing cylinder; 73. a hinge rod; 74. a hinge pressing plate; 75. a third linear driving mechanism; 76. a roll-over axis; 77. certificate drop port; 78. a movable supporting plate; 79. a fourth linear movement mechanism; 80. a storage bin; 81. a first storage area; 82. a second storage area; 83. a certificate transposer; 84. a through port; 85. a sloping plate; 86. a fifth linear movement mechanism; 87. and fixing the supporting plate.

The specific embodiment is as follows:

the present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1, 8 and 10, a certificate repair apparatus includes a frame 1, the frame 1 includes a table 36, and the frame 1 is provided with:

a first page-turning printing mechanism 2 for turning pages of the blank certificate and printing the first page;

a first stamp 3;

a shift jig 4;

the first mechanical arm 5 is used for clamping the first seal 3 to stamp the certificate 37 and clamping the shifting clamp 4 to shift the certificate after the first page is printed;

a second page-turning printing mechanism 6 that turns and prints the certificate from the first page-turning printing mechanism 2;

a certificate limit slot 7 for receiving a certificate from the second page turning printing mechanism 6;

the paper pasting mechanism 8 is used for pasting paper on the certificate page of the certificate limiting groove 7, and the paper pasting mechanism 8 comprises a second mechanical arm 9;

the second seal 10 is clamped by the second mechanical arm 9 and is used for stamping a certificate page in the certificate limiting groove 7;

a hinge assembly 11 for closing the certificate of the adhered paper;

and the certificate discharging and distributing mechanism 12 is used for receiving the certificate finished by the hinge from the certificate limiting groove 7.

The certificate repairing device of the present application can prepare a certificate through a machine, in this embodiment, a real estate certificate, in other embodiments, other certificates may be prepared, and relevant parts/mechanisms/components of the certificate repairing device of the present embodiment may be separately taken out to be used in preparation of other certificates, which is not limited to the real estate certificate only.

As shown in fig. 1 and 8, in the present embodiment, the first mechanical arm 5 and the second mechanical arm 9 each include:

a base 55 mounted on the frame 1;

a first cantilever 56, a first end of the first cantilever 56 being rotatably mounted on the base 55;

a second cantilever 57, a first end of the second cantilever 57 being rotatably mounted at a second end of the first cantilever 56;

a lifting lever 58 provided at a second end of the second cantilever 57 and capable of moving up and down with respect to the second cantilever 57;

the chuck 59 is provided at the lower end of the lifting lever 58.

In practical application, the first mechanical arm 5 and the second mechanical arm 9 may be mechanical arms with multiple degrees of freedom in the prior art, for example, a SCARA robot may be used.

As shown in fig. 1, 2, 3, 4, and 10, in the present embodiment, the first page turning printing mechanism 2 includes a first page turning assembly. The first flipping assembly comprises:

the first page turning pendulum cylinder 13 is arranged on the frame 1, and the first page turning pendulum cylinder 13 comprises a rotating shaft;

the first page turning rod 14 is arranged on the rotating shaft of the first page turning swinging cylinder 13 and is driven to rotate by the first page turning swinging cylinder 13;

the first sucker 16 is installed on the first page turning rod 14, the first sucker 16 is connected with a pipeline (not shown in the figure), and the first sucker 16 realizes the operation of sucking and releasing the certificate page through the sucking and discharging air of the pipeline connected with the first sucker 16;

The first anti-turnover block 17 is movably arranged on the frame 1;

the first driving element 18 is matched with the first anti-turning block 17, and is used for driving the first anti-turning block 17 to move to the upper side of the turned page after the page of the certificate is turned by the first sucker 16, so that the turned page is prevented from turning back.

In actual use, the pipeline of the first sucker 16 can be connected with the air pumping and discharging device, so that air pumping and discharging of the pipeline are realized. The first page turning component can drive the first page turning rod 14 to rotate through the first page turning swinging cylinder 13, so that the first sucker 16 can be in contact with a certificate, suction and release operations on the certificate page are realized through suction and release of a pipeline connected with the first sucker 16, negative pressure is formed between the first sucker 16 and the certificate when the pipeline on the first sucker 16 sucks air, adsorption force is formed between the first sucker 16 and the certificate, the adsorbed page can be driven to be turned through rotating the first page turning rod 14, after page turning is completed, the first anti-return block 17 is moved to the upper side of the turned page through the first driving element 18, at the moment, the pipeline on the first sucker 16 can be deflated, the first sucker 16 is separated from the certificate page, and the turned certificate page cannot be returned under the action of the first anti-return block 17. Compared with manual page turning, the first page turning assembly realizes automatic page turning operation, can save labor, and can effectively prevent page from turning back after page turning.

As shown in fig. 2 and 3, in this embodiment, the frame 1 has an avoidance slot 19, and the first page turning bar 14 has a first working position and a second working position; in the first working position, the first page turning rod 14 is located at one side far away from the avoidance groove 19 and is used for absorbing the certificate page, and in the second working position, the first page turning rod 14 rotates to the avoidance groove 19 and is used for turning the absorbed certificate page.

Because install the pipeline on the first sucking disc 16, consequently the pipeline can cause the interference to the action of first page turning rod 14 after first sucking disc 16 upset, hardly overturns 180, can effectively solve this problem through setting up dodging groove 19, and the rotation of about 180 of first page turning rod 14 just can be realized to more convenient. When the pipeline is actually arranged, one end of the pipeline of the first sucker 16 is connected with the first sucker 16, and the other end of the pipeline passes through the avoidance groove 19 and is connected with the air pumping and discharging device.

As shown in fig. 2, in the present embodiment, the first page turning tilt cylinder 13 is disposed horizontally; the pipeline on the first sucker 16 is connected with an air pumping and discharging device (not shown in the figure); the first page turning rod 14 comprises two connecting parts 15, the two connecting parts 15 form an L-shaped structure, the first sucking disc 16 is arranged on one connecting part 15, and the rotating shaft of the first page turning cylinder 13 is matched with the other connecting part 15. The term "lying setting" in this application means that the rotation axis of the corresponding tilt cylinder is set horizontally. The air pumping and discharging device is any equipment capable of pumping or discharging air from the pipeline, such as a vacuum pump and the like. The first page turning lever 14 has an L-shaped structure, and can ensure a turning effect.

As shown in fig. 4 and 10, in this embodiment, the first anti-turning-back block 17 is slidably disposed on the frame 1, and the first driving element 18 is a rod cylinder, a rodless cylinder, a hydraulic cylinder, a linear motor or a ball screw pair, and the first driving element 18 is used for driving the first anti-turning-back block 17 to slide reciprocally; the first anti-reverse turning block 17 comprises a limiting surface 20 matched with the certificate page and a guiding surface 21 intersected with the limiting surface 20, wherein the guiding surface 21 is located above the limiting surface 20 and extends outwards. The guiding function can be achieved by arranging the guiding surface 21, and even if the certificate page has a certain tilting, the certificate page can slide into the limiting surface 20 under the action of the guiding surface 21. In actual use, the first anti-turning-back block 17 can be rotatably mounted on the frame 1, and at this time, the first driving element 18 is a motor, a rotating cylinder or a rotating cylinder, and the first driving element 18 is used for driving the first anti-turning-back block 17 to reciprocally rotate.

The sliding arrangement referred to herein is not limited to direct contact between the two, but may be non-contact, and the sliding arrangement referred to herein means that the relative positions of the two can be varied.

As shown in fig. 2 and 3, the first page turning printing mechanism 2 of the present embodiment further includes:

the first printer 22 is arranged on the frame 1 and positioned at one side of the first page turning component and is used for printing the certificate page;

A first transfer plate 23;

the first linear driving mechanism 24 is used for driving the first material moving plate 23 to move and pushing the certificate into the first printer 22.

The first linear driving mechanism 24 drives the first material moving plate 23 to move, so that the turned page certificate can be pushed into the first printer 22, and automatic printing is realized.

As shown in fig. 2 and 3, in the present embodiment, the first page turning printing mechanism 2 further includes:

the feeding plate 25 is used for storing a plurality of certificates to be prepared, and a notch 26 is formed in the feeding plate 25;

a baffle plate 27 fixed on the feeding plate 25 for defining a certificate, and a gap 28 for the passage of the lowest certificate is arranged between the baffle plate 27 and the feeding plate 25;

the second material moving plate 29 is movably arranged on the frame 1, the second material moving plate 29 is provided with a suction opening 30, the lower end of the suction opening 30 is connected with a pipeline, the suction opening 30 is a sucking disc or a through hole arranged on the second material moving plate 29, and the suction opening 30 realizes the suction and release operation of the lowest certificate on the material loading plate 25 through the suction and release of the pipeline on the second material moving plate 29; and

the second linear driving mechanism 31 is arranged on the frame 1 and matched with the second material moving plate 29, and is used for driving the second material moving plate 29 to move into the notch 26 and conveying the lowest certificate on the feeding plate 25 to a position matched with the first page turning rod 14 through the gap 28;

The movable frame 32 is mounted on the first linear driving mechanism 24, the first linear driving mechanism 24 is used for driving the movable frame 32 to reciprocate, the first material moving plate 23 is slidably mounted on the movable frame 32 (the first material moving plate 23 may or may not contact with the movable frame 32) and can move up and down, and the movable frame 32 is also mounted with a lifting element 33 for driving the first material moving plate 23 to move up and down.

The lifting element 33 can control the first material moving plate 23 to move up and down, when the second material moving plate 29 takes a certificate, the lifting element 33 drives the first material moving plate 23 to move up for avoiding, when the certificate needs to be pushed into the first printer 22, the lifting element 33 drives the first material moving plate 23 to move down, and then the first linear driving mechanism 24 works.

The first page turning printing mechanism 2 further comprises a camera mounting seat 34 fixed with the frame 1, a scanning camera 35 is mounted on the camera mounting seat 34, and the scanning camera 35 is used for identifying the certificate number.

The application refers to a plurality of certificates to be prepared, namely blank certificates. The first material moving plate 23 is slidably mounted on the movable frame 32, and the first material moving plate 23 is not limited to being directly contacted with the movable frame 32, and the first material moving plate 23 may be directly fixed on a movable member of the lifting member 33 in addition to being directly contacted with the movable frame 32. Certificate numbers are manually input, and errors are easy to occur. The identification can be performed when not turned over, or after turning over, because the types of certificates are various, and the identification is determined according to the position of the certificate number.

As shown in fig. 2 and 10, in the present embodiment, the first linear driving mechanism 24, the second linear driving mechanism 31 and the lifting element 33 are rodless cylinders, and may be rod cylinders, hydraulic cylinders, linear motors or ball screw pairs in practical use;

as shown in fig. 2, in the present embodiment, the first page turning tilt cylinder 13 is a motor, a rotary cylinder, or a rotary cylinder.

As shown in fig. 2, in this embodiment, the first page turning printing mechanism 2 further includes a camera mounting seat 34 fixed to the frame 1, and a scanning camera 35 is mounted on the camera mounting seat 34, where the scanning camera 35 is used for identifying the certificate number. Certificate numbers are manually input, and errors are easy to occur. The identification can be performed when not turned over, or after turning over, because the types of certificates are various, and the identification is determined according to the position of the certificate number.

As shown in fig. 6 and 7, in the present embodiment, the displacement clamp 4 includes a first mounting seat 46 and a finger cylinder 47 fixed on the first mounting seat 46, the upper end of the first mounting seat 46 has a gripping portion 48, the gripping head 59 of the first mechanical arm 5 is matched with the gripping portion 48 of the first mounting seat 46, the finger cylinder 47 includes two fingers which are disposed up and down and can move relatively, and the two fingers are an upper finger 49 and a lower finger 50 respectively; the upper finger 49 is provided with an upper clamping jaw 51, the lower finger 50 is provided with a lower clamping jaw 52, and the upper clamping jaw 51 and the lower clamping jaw 52 are matched with each other for clamping certificates.

As shown in fig. 6 and 7, in the present embodiment, the upper jaw 51 includes two upper clamping portions 53 disposed left and right, and the lower jaw 52 includes two lower clamping portions 54 disposed left and right, the upper clamping portions 53 and the lower clamping portions 54 being fitted one by one.

The finger cylinder 47 is also called a pneumatic finger, a pneumatic clamping jaw or a pneumatic clamping finger, and is an actuator for clamping or grabbing a workpiece by using compressed air as power.

The design of the collet 59 of the first mechanical arm 5 enables the first mechanical arm 5 to perform various operations, and the corresponding components are clamped according to the requirement. The displacement jig 4 of the present application is particularly suitable for certificates that have been opened for pages, as well as for certificates that have been closed. For the certificate of having turned pages, having two parts after turning pages, the upper clamping part 53 and the lower clamping part 54 on the left side of the shift clamp 4 are used for clamping the left side part of the certificate, and the upper clamping part 53 and the lower clamping part 54 on the right side are used for clamping the right side part of the certificate.

As shown in fig. 1, 6 and 7, in the present embodiment, the certificate authority further includes a storage rack 60 provided on the frame 1, and a first positioning structure is provided between the first mount 46 and the storage rack 60. Positioning of the first mount 46 and the storage rack 60 can be facilitated by providing a first positioning structure. The term "storage rack 60 provided on the chassis 1" as used herein means that not only the storage rack 60 may be fixed to the chassis 1 as a separate component, but also the storage rack 60 may be integrally formed with the chassis 1.

As shown in fig. 6 and 7, in the present embodiment, the first positioning structure includes at least two first positioning posts 61 provided on the storage rack 60, and the first mounting seat 46 has first positioning holes 62 thereon that are engaged with the first positioning posts 61.

As shown in fig. 6 and 7, in this embodiment, the storage rack 60 is further provided with a positioning slot 63 that cooperates with the finger cylinder 47, and the end of the first positioning post 61 has a tapered structure. The positioning groove 63 and the first positioning mechanism cooperate to store the displacement jig 4 on the storage rack 60 well.

In another embodiment, the displacement fixture 4 and the first mechanical arm 5 of the present embodiment can form a certificate displacement mechanism. In another embodiment, the displacement fixture 4, the first mechanical arm 5 and the storage rack 60 of the present embodiment can form a certificate displacement mechanism. The certificate shifting mechanism is configured such that the first arm 5 can clamp the shift jig 4 by engaging the clamp 59 of the first arm 5 with the clamp 48 of the first mount 46, and the shift operation on the certificate can be performed by engaging the shift jig 4 with the certificate.

As shown in fig. 1, 5, 8, 9, and 10, in the present embodiment, the second page turning printing mechanism 6 includes a second page turning assembly. The second page turning assembly includes:

The page lifting swing cylinder 38 is arranged on the frame 1, and the page lifting swing cylinder 38 comprises a rotating shaft;

the page lifting rod 39 is arranged on the rotating shaft of the page lifting swinging cylinder 38 and is driven to rotate by the page lifting swinging cylinder 38;

the second sucker 40 is arranged on the page lifting rod 39, the second sucker 40 is connected with a pipeline, and the second sucker 40 realizes the sucking and releasing operation of the certificate page through the sucking and releasing of the pipeline connected with the second sucker 40;

the page turning swing rod 41 can rotate around an axis;

a rotating element 42 for driving the page turning swing rod 41 to rotate and turning the certificate page sucked and lifted by the page lifting rod 39;

the second anti-return block 43 is movably arranged on the frame 1;

and the second driving element 44 is matched with the second anti-turning block 43, and is used for driving the second anti-turning block 43 to move to the upper side of the turned page after the page of the certificate is turned by the second sucker 40, so as to prevent the turned page from turning back.

In actual use, the pipeline of the second sucker 40 can be connected with an air pumping and discharging device, so that air pumping and discharging of the pipeline are realized. The second page turning assembly can drive the page lifting rod 39 to rotate through the page lifting swing cylinder 38, so that the second sucker 40 can be in contact with the pages of the certificates, the second sucker 40 can suck and release the pages of the certificates through the sucking and discharging of pipelines connected with the second sucker 40, when the pipelines on the second sucker 40 suck air, negative pressure is formed between the second sucker 40 and the certificates, so that the adsorption force exists between the two, the pages of the certificates can be lifted up through rotating the page lifting rod 39, then the page turning swing rod 41 is driven to rotate through the rotating element 42, the pages of the certificates sucked and lifted up by the page lifting rod 39 are turned over, after page turning is completed, the second anti-return turning block 43 is moved to the upper side of the turned pages through the second driving element 44, and the turned pages of the certificates cannot be returned. The second page turning assembly can realize multiple page turning through the cooperation of the page lifting rod 39 and the page turning swinging rod 41. Compared with manual page turning, automatic page turning operation is realized, labor can be saved, and page turning can be effectively prevented.

As shown in fig. 9, in the present embodiment, the page turning pendulum rod 41 and the page lifting pendulum cylinder 38 are provided on the same side.

As shown in fig. 9, in the present embodiment, a pipeline (not shown) on the second suction cup 40 is connected to an air pumping and discharging device (not shown); the page lifting rod 39 comprises two connecting parts 15, the two connecting parts 15 form an L-shaped structure, the second sucking disc 40 is arranged on one connecting part 15, and the rotating shaft of the page lifting swing cylinder 38 is matched with the other connecting part 15. An evacuation device is any device capable of evacuating or deflating a conduit, such as a vacuum pump or the like. The page lifting lever 39 has an L-shaped structure, and can ensure a page lifting effect.

As shown in fig. 5 and 10, in this embodiment, the second anti-turning block 43 is slidably disposed on the frame 1, and the second driving element 44 is used for driving the second anti-turning block 43 to reciprocally slide, where the second driving element 44 is a rodless cylinder, and may be a rod cylinder, a hydraulic cylinder, a linear motor or a ball screw pair during actual use; the second anti-flip-back block 43 includes a limiting surface 20 matching with the certificate page, and a guiding surface 21 intersecting with the limiting surface 20, the guiding surface 21 being located above the limiting surface 20 and extending to the outside. The second anti-turnover block 43 can also be rotatably mounted on the frame 1 during actual use, and at this time, the second driving element 44 is a motor, a rotating cylinder or a rotating oil cylinder, and the second driving element 44 is used for driving the second anti-turnover block 43 to reciprocally rotate.

As shown in fig. 10, in the present embodiment, the page-lifting swing cylinder 38 is disposed horizontally, and the rotation axis of the page-turning swing lever 41 is perpendicular to the rotation axis of the page-lifting swing cylinder 38; the rotary element 42 is a motor, a rotary cylinder or a rotary oil cylinder; the page lifting swing cylinder 38 is a motor, a rotating cylinder or a rotating cylinder. The recumbent setting of the present application refers to the horizontal setting of the rotation axis of the corresponding tilt cylinder.

As shown in fig. 1, 8 and 10, in this embodiment, the second page turning printing mechanism 6 further includes a second printer 45, where the second printer 45 is located on one side of the second page turning assembly, and is used to print on the certificate page, and the chuck 59 of the first mechanical arm 5 cooperates with the displacement fixture 4 to send the certificate limited by the second anti-return block 43 into the second printer 45 for printing. The first mechanical arm 5 drives the shifting clamp 4 to clamp the certificate, so that the certificate with the page turned can be pushed into the second printer 45, and automatic printing is realized.

In other embodiments, the second page-turning printing mechanism 6, the shift clamping mechanism and the first mechanical arm 5 of the present embodiment may form a new page-turning printing mechanism.

As shown in fig. 1, 8, 10 and 11, in the present embodiment, the decal mechanism 8 further includes:

a third printer 71 for printing a sheet;

The paper sucking clamp 65 is arranged on the frame 1, the paper sucking clamp 65 is provided with a clamping part 48, and the clamping head 59 of the second mechanical arm 9 is used for being matched with the clamping part 48 of the paper sucking clamp 65 to clamp the paper sucking clamp 65;

the dispensing gun 66 is used for gluing the certificate page of the certificate limiting groove 7, the dispensing gun 66 is provided with a clamping part 48, and the clamping head 59 of the second mechanical arm 9 is used for being matched with the clamping part 48 of the dispensing gun 66 to clamp the dispensing gun 66.

Through the cooperation of chuck 59 and clamp portion 48, second arm 9 can press from both sides and get the point gum rifle 66 to realize automatic point gum, through the cooperation of chuck 59 and clamp portion 48, second arm 9 can press from both sides and get paper sucking clamp 65, can absorb the paper through paper sucking clamp 65, finally posts the corresponding position with the paper through second arm 9, realizes automatic sticker. Since the present embodiment is directed to a real estate certificate, the paper is a house type drawing (hierarchical household drawing), a land type drawing (land parcel map), a real estate certificate, or the like.

As shown in fig. 1, 8 and 10, in this embodiment, the dispensing gun 66 is mounted on a gun mounting slot and is gripped by a second mechanical arm 9 during use.

As shown in fig. 11, in the present embodiment, the paper suction jig 65 includes:

a second mount 67, the gripping portion 48 being provided on the second mount 67;

And a third suction cup 68 mounted on the second mounting seat 67, the third suction cup 68 being connected with a pipe (not shown in the figure), the third suction cup 68 realizing suction and release operations for paper through suction and discharge of the pipe connected with the third suction cup 68.

As shown in fig. 11, in the present embodiment, a second positioning structure is provided between the second mounting seat 67 and the frame 1; the second positioning structure comprises at least two second positioning columns 69 arranged on the frame 1, and the second mounting seat 67 is provided with second positioning holes 70 matched with the second positioning columns 69. By the cooperation of the second positioning post 69 and the second positioning hole 70, the second mount 67 can be reliably positioned.

As shown in fig. 11, in the present embodiment, there are two second positioning holes 70, and the gripping portion 48 of the paper suction jig 65 is located right between the two second positioning holes 70. The second mounting seat 67 includes a rectangular outer frame, and four third suction cups 68 are respectively disposed at four corners of the rectangular outer frame.

In this embodiment, the pipeline (not shown) on the third suction cup 68 is connected to an air pumping and discharging device (not shown). An evacuation device is any device capable of evacuating or deflating a conduit, such as a vacuum pump or the like.

The first mechanical arm 5 and the first seal 3 in this embodiment form a seal mechanism, and the second mechanical arm 9 and the second seal 10 also form a seal mechanism, so that the seal can be a official seal of a government department (such as a homeland office seal) or a seal in actual use.

As shown in fig. 7, the storage rack 60 of the present embodiment has a storage Zhang Cao 64 matched with the stamp, and the stamp can be positioned by the storage Zhang Cao, so as to ensure that the mechanical arm clamps to the stamp through a set program. An ink pad is disposed within the reservoir Zhang Cao. Reliable stamping of the seal can be ensured by the presence of ink paste in reservoir Zhang Cao 64.

In other embodiments, the first robotic arm 5, stamp(s), and storage rack 60 may form a stamping mechanism.

In this embodiment, there are two storage frames 60 (only one is shown in the figure), and one storage frame 60 is shown for storing the first stamp 3 and the displacement clamp 4, and the storage frame 60 is matched with the first mechanical arm 5; another unidentified storage rack is used for storing the second seal 10 (seal), the dispensing gun 66 and other seals, and is provided with a gun groove, and the storage rack is matched with the second mechanical arm 9.

As shown in fig. 1, 8 and 10, in this embodiment, the hinge assembly 11 includes:

the hinge tilt cylinder 72 is arranged on the frame 1, and the hinge tilt cylinder 72 comprises a rotating shaft;

the hinge rod 73 is arranged on the rotating shaft of the hinge swinging cylinder 72 and is driven to rotate by the hinge swinging cylinder 72;

the hinge pressing plate 74 is movably arranged on the frame 1;

And a third linear driving mechanism 75, which is mounted on the frame 1 and cooperates with the hinge pressing plate 74, and is used for driving the hinge pressing plate 74 to move to one side of the certificate, pressing the certificate, and assisting the hinge operation of the hinge rod 73.

When the certificate is not hinged, the certificate is opened, and the hinge rod 73 and the hinge pressing plate 74 are respectively positioned at the left side and the right side of the certificate, wherein the hinge rod 73 is positioned at the outer side; when the hinge is to be hinged, the third linear driving mechanism 75 drives the hinge pressing plate 74 to move to the inner side of the certificate to press the corresponding side, and the hinge swinging cylinder 72 drives the hinge rod 73 to rotate, so that the hinge pressing plate 74 can reliably and automatically hinge.

As shown in fig. 1 and 8, in the present embodiment, the end of the hinge pressing plate 74 remote from the third linear drive mechanism 75 extends onto the inversion axis 76 of the certificate to be hinge. The best hinge effect can be ensured through the arrangement. Particularly when a sheet is attached to the certificate, the hinge pressing plate 74 ensures that the sheet is attached to the certificate with a good bending.

In the present embodiment, the third linear driving mechanism 75 is a rod cylinder, a rodless cylinder, a hydraulic cylinder, a linear motor, or a ball screw pair; the hinge tilt cylinder 72 is a motor, a rotary cylinder or a rotary cylinder.

The hinge assembly 11 and the sticker mechanism 8 of the present embodiment constitute a sticker hinge mechanism.

As shown in fig. 10, 12 and 13, in the present embodiment, the rack 1 has a certificate falling port 77 thereon, and the certificate discharge distributing mechanism 12 includes:

a movable supporting plate 78 movably arranged on the frame 1 for supporting the certificate at the certificate falling port 77;

a fourth linear movement mechanism 79, which is matched with the movable supporting plate 78 and is used for driving the movable supporting plate 78 to extend to the certificate falling opening 77 or withdraw from the certificate falling opening 77;

a storage bin 80, which is positioned right below the certificate falling port 77 and is provided with two storage areas

A certificate transposer 83 located below the certificate falling port 77, wherein one side of the certificate transposer 83 is a passing port 84, the other side is a sloping plate 85, the sloping plate 85 is closer to the passing port 84, the sloping plate 85 is lower, and the sloping plate 85 is used for enabling the certificate falling from above the sloping plate 85 to slide down to the passing port 84;

and a fifth linear movement mechanism 86, which is matched with the certificate transposer 83 and is used for driving the certificate transposer 83 to move, and changing the relative positions of the certificate transposer 83 and the certificate falling port 77 so that the certificate falls into the corresponding storage area.

After the movable supporting plate 78 is pulled away from the certificate falling port 77, the hinged certificate vertically falls into one of the storage areas, the inclined plate 85 is positioned under the certificate under the driving of the fifth linear moving mechanism 86, at this time, after the movable supporting plate 78 is pulled away, the certificate falls to the inclined plate 85, then slides to the passing port 84 under the action of the inclined plate 85, and finally enters the other storage area through the passing port 84. Certificate authorities 12 of the present application may direct certificates into different storage areas as needed.

As shown in fig. 12 and 13, in this embodiment, the two storage areas are a first storage area 81 and a second storage area 82, when the movable pallet 78 extends to the certificate dropping opening 77, the first storage area 81 faces the movable pallet 78, the certificate transposer 83 has a first position and a second position, when in the first position, the certificate transposer 83 is staggered with the movable pallet 78, after the movable pallet 78 is pulled out, the certificate drops vertically to the first storage area 81, when in the second position, the sloping plate 85 is located right above the first storage area 81, and when in the second position, the passing opening 84 is located right above the second storage area 82.

As shown in fig. 10, in the present embodiment, the movable pallet 78 is located below the certificate falling port 77. The movable pallet 78 is located on one side of the certificate falling port 77, and the other side of the certificate falling port 77 is provided with a fixed pallet 87, and the fixed pallet 87 is also located below the certificate falling port 77. The certificate falling port 77, the fixed blade 87 and the movable blade 78 form a certificate limit groove 7.

As shown in fig. 10, in the present embodiment, a storage bin 80 is movably inserted in the frame 1. The arrangement is convenient for operators to take the prepared certificate.

In this embodiment, the fourth linear driving mechanism is a rod cylinder, a rodless cylinder, a hydraulic cylinder, a linear motor or a ball screw pair; the fifth linear driving mechanism is a rod cylinder, a rodless cylinder, a hydraulic cylinder, a linear motor or a ball screw pair.

Compared with manual preparation, the evidence repairing equipment reduces labor intensity, improves efficiency, and has the following working principle: the loading plate 25 is used for storing blank real estate certificates, the second moving plate 29 moves the blank real estate certificates to a page turning station (i.e. a position matched with the first page turning rod 14), the first page turning swinging cylinder 13 controls the first page turning rod 14 to turn pages of the real estate certificates, after the pages are turned over (when the first page turning rod 14 is positioned at the avoidance groove 19), the first anti-return block 17 moves, presses the pages, prevents the real estate certificates from returning, the scanning camera 35 picks up and reads the numbers of the certificates, and stores the numbers by a computer, the first mechanical arm 5 clamps the first seal 3 (the local office seal), the local office seal is covered on the real estate certificates, the first mechanical arm 5 returns after the seal is finished, the lifting element 33 drives the first moving plate 23 to move downwards, then the first linear driving mechanism 24 works, the real estate certificates are sent to the first printer 22 to print (the print date) through the first moving plate 23, and the printed certificates are finished; the first mechanical arm 5 clamps the clamping part of the shifting clamp 4 through the clamping head 59, the shifting clamp 4 clamps the real estate certificate to the front of the second printer 45 through the finger cylinder 47, the page lifting swing cylinder 38 works to drive the page lifting rod 39 to lift up pages, the page turning swing rod 41 performs second page turning, the second anti-return block 43 presses the pages with the real estate certificate turned well, the first mechanical arm 5 and the shifting clamp 4 prevent returning to send the real estate certificate to the second printer 45 for printing, the first mechanical arm 5 and the shifting clamp send the real estate certificate to the front of the second printer 45 after printing is completed, the page lifting swing cylinder 38 and the page lifting rod 39 cooperate again to lift up one page, the page turning swing rod 41 performs third page turning, then the first mechanical arm 5 and the shifting clamp 4 take the real estate certificate to the certificate limiting groove 7 (hinge station), the second mechanical arm 9 clamps the glue dispensing gun 66 to glue the real estate certificate, after the glue is finished, the second mechanical arm 9 returns the glue dispensing gun 66, the second mechanical arm 9 clamps the paper sucking clamp 65, the paper sucking clamp 65 moves to the third printer 71 to suck the house type drawing and the ground type drawing printed by the third printer 71, the house type drawing and the ground type drawing are moved to the real estate certificate to be pasted, the paper sucking clamp 65 is well reset, the second mechanical arm 9 clamps the second seal 10 (seal) to seal the seal, then the second seal 10 is reset, and the second mechanical arm 9 and the paper sucking clamp 65 suck the real estate certificate to the real estate certificate again. The hinge clamp plate 74 shifts to the real estate certificate, and hinge tilt cylinder 72 and hinge pole 73 cooperate, carries out the hinge to the real estate certificate, and the needs control certificate transposition ware 83 according to the certificate is different after the hinge is accomplished remove, and movable layer board 78 takes out the certificate and drops mouth 77, and the certificate finally falls into corresponding storage area, and the final workman just can open storage silo 80 and take the real estate certificate.

The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover all equivalent structures as modifications within the scope of the invention, either directly or indirectly, as may be contemplated by the present invention.

Claims

1. The utility model provides a real estate certificate's equipment of repairing which characterized in that includes the frame, is provided with in the frame:

a first seal;

a displacement jig;

the hinge assembly is used for closing the certificate of the adhered paper;

The certificate discharging and distributing mechanism is used for receiving the certificate completed by the hinge from the certificate limiting groove;

the first page turning printing mechanism includes:

the first anti-overturning block is movably arranged on the rack;

a first material moving plate;

the first linear driving mechanism is used for driving the first material moving plate to move and pushing the certificate into the first printer;

the first page turning printing mechanism further includes:

2. The real estate certificate reparation device of claim 1 wherein the first and second robotic arms each comprise:

the base is arranged on the frame;

the first end of the first cantilever is rotatably arranged on the base;

the chuck is arranged at the lower end of the lifting rod.

3. The equipment for repairing the real estate certificate according to claim 2, wherein the displacement clamp comprises a first mounting seat and a finger cylinder fixed on the first mounting seat, the first mounting seat is provided with a clamping part, the clamping head of the first mechanical arm is matched with the clamping part of the first mounting seat, the finger cylinder comprises two fingers which are arranged up and down and can move relatively, and the two fingers are an upper finger and a lower finger respectively; the upper finger is provided with an upper clamping jaw, the lower finger is provided with a lower clamping jaw, and the upper clamping jaw and the lower clamping jaw are mutually matched and are used for clamping certificates.

4. The real estate certificate reparation device of claim 2 wherein the second page turning printing mechanism includes:

the page turning swing rod can rotate around an axis;

the second anti-overturning block is movably arranged on the frame;

the second driving element is matched with the second anti-return block and is used for driving the second anti-return block to move to the upper part of the turned page after the page turning swing rod turns the certificate page, so that the turned page is prevented from returning;

5. The real estate certificate of the device of claim 2 wherein the sticker mechanism further includes:

A third printer for printing a sheet;

6. The real estate certificate of claim 1 wherein the hinge assembly includes:

the hinge pressing plate is movably arranged on the frame;

7. The apparatus for repairing a real estate certificate of claim 1 wherein the rack has a certificate drop port thereon, the certificate discharge distribution mechanism comprising:

the storage bin is positioned right below the certificate falling port and is provided with two storage areas;

the certificate transposer is positioned below the certificate falling port, one side of the certificate transposer is provided with a passing port, the other side of the certificate transposer is provided with an inclined plate, the closer the inclined plate is to the passing port, the lower the height of the inclined plate is, and the inclined plate is used for enabling the certificate falling from the upper side of the inclined plate to slide down to the passing port;

8. The apparatus for repairing a real estate certificate of claim 7 wherein the movable pallet is located at one side of a certificate drop port, the other side of the certificate drop port has a fixed pallet, and the certificate drop port, the fixed pallet and the movable pallet form the certificate limit groove.