CN217376774U

CN217376774U - Paper towel stacking mechanism with multiple manipulators

Info

Publication number: CN217376774U
Application number: CN202221314490.9U
Authority: CN
Inventors: 郭超毅
Original assignee: Foshan Nanhai Yichuang Equipment Co ltd
Current assignee: Foshan Nanhai Yichuang Equipment Co ltd
Priority date: 2022-05-27
Filing date: 2022-05-27
Publication date: 2022-09-06
Anticipated expiration: 2032-05-27

Abstract

The utility model discloses a multi-manipulator paper towel stacking mechanism, which comprises a machine body, a first cutting knife roll, a second cutting knife roll, a first vacuum knife roll, a second vacuum knife roll, a first paper shifting fork, a second paper shifting fork, a first manipulator device, a second manipulator device and a third manipulator device, wherein the first cutting knife roll is matched with the first vacuum knife roll, the second cutting knife roll is matched with the second vacuum knife roll, the first paper shifting fork is positioned below the first vacuum knife roll, the second paper shifting fork is positioned below the second vacuum knife roll, the first manipulator device is positioned below the first paper shifting fork, the second manipulator device is positioned below the second paper shifting fork, the third manipulator device is positioned below the second manipulator device, the first manipulator device is provided with an air outlet, the third manipulator device comprises a third manipulator piece and a third manipulator Y-axis conveying mechanism, the third finger piece is arranged on the Y-axis conveying mechanism of the third manipulator. The utility model discloses can realize the half book of the tip of paper handkerchief buttress.

Description

Paper towel stacking mechanism with multiple manipulators

Technical Field

The utility model belongs to the technical field of mechanical design and specifically relates to a multimachine tool hand paper handkerchief divides and folds mechanism is related to.

Background

The packaging and transport of paper towels usually requires folding and folding, i.e. stacking, of the paper towels to form a stack of paper towels in order to reduce the footprint of the paper towels, and nowadays much more is achieved by means of paper towel folding machines. The thickness of the stack of natural towels cannot be unlimited and it is therefore common to control the number of stacked sheets of towels as desired to form individual stacks of towels. Conventionally, in order to control the number of stacked tissues, a label is provided on the stacked tissues by a tissue stacking machine, and then a worker takes a tissue stack with a specific thickness according to the label.

CN209940088U discloses a tissue folding machine with automatic folding function, which realizes automatic folding by setting a first manipulator device and a second manipulator device and relying on the sequential actions of the first manipulator device and the second manipulator device, so as to effectively solve the above problems. However, in actual production, in order to facilitate taking out of the top tissue on the stack, it is sometimes necessary to half-fold the end tissue on the stack, and it is difficult to implement the above-described method by providing only the first robot device and the second robot device.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a multimachine hand paper handkerchief divides and folds mechanism can solve one or more of above-mentioned problem.

According to one aspect of the utility model, a multi-manipulator paper towel stacking mechanism is provided, which comprises a machine body, a first cutting knife roll, a second cutting knife roll, a first vacuum knife roll, a second vacuum knife roll, a first paper shifting fork, a second paper shifting fork, a first manipulator device, a second manipulator device and a third manipulator device, wherein the first cutting knife roll, the second cutting knife roll, the first vacuum knife roll, the second vacuum knife roll, the first paper shifting fork, the second paper shifting fork, the first manipulator device, the third manipulator device and the third manipulator device are arranged on the machine body, the first cutting knife roll, the second vacuum knife roll and the second vacuum knife roll are matched, the first paper shifting fork is arranged below the first vacuum knife roll, the second paper shifting fork is arranged below the second vacuum knife roll, the third manipulator device is arranged below the second manipulator device, the first manipulator device is provided with an air outlet, the third manipulator device comprises a third finger piece and a third manipulator Y-axis conveying mechanism, and the third finger piece is arranged on the Y-axis conveying mechanism of the third manipulator.

The utility model has the advantages that: the utility model discloses in, the action of assorted cutting off rotor and vacuum rotor can be used for cutting off the paper handkerchief quilt that covers on two vacuum rotors according to certain length, and relies on first group paper fork and second to dial the paper fork and push down in turn, can fold in succession and pile up the paper handkerchief after cutting off. And through setting up first manipulator device, second manipulator device and third manipulator device, it can cooperate ground to folding and pile up the paper handkerchief and carry out the bearing, conveniently form the paper handkerchief buttress of specific thickness, simultaneously, through set up the exhaust vent in first manipulator device, it can be connected with the tuber pipe, thereby make the exhaust vent can the air-out, come to carry out the application of force when needing, play the folding effect, and after folding the action of cooperation first manipulator device, second manipulator device and third manipulator device can effectively realize carrying out half folding to the tip of paper handkerchief buttress. Therefore, the utility model discloses can realize folding the quick branch of paper handkerchief, work efficiency is high, can realize the half book to the tip of paper handkerchief buttress moreover when needs, application scope is wide.

In some embodiments, the first robot device includes a first finger, a first robot swing mechanism, a first robot X-axis feeding mechanism, and a first robot Y-axis conveying mechanism, the first robot X-axis feeding mechanism is disposed on the first robot Y-axis conveying mechanism, the first robot swing mechanism is disposed on the first robot X-axis feeding mechanism, the first finger is disposed on the first robot swing mechanism, and the air outlet is disposed on the first finger. The first manipulator X-axis feeding mechanism can realize the movement of the first finger piece in the X-axis direction, the first manipulator Y-axis conveying mechanism can realize the movement of the first finger piece in the Y-axis direction, the first manipulator swinging mechanism can realize the swinging of the first finger piece, and through the cooperation of the first manipulator swinging mechanism and the first finger piece, the first finger piece can be inserted into a tissue in a mode of having a certain radian, and the tissue can be effectively damaged when the first finger piece is inserted.

In some embodiments, the first manipulator swing mechanism includes a first power device, a first mounting beam, a shaft, a connecting rod, and a link block, the shaft is mounted on the first mounting beam, the first finger is mounted on the shaft, the first power device is mounted on the first mounting beam and connected to one end of the connecting rod, the link block is connected to the other end of the connecting rod, and the link block is mounted on the shaft. Therefore, the first power device can drive the connecting block to move through the connecting rod, so that the rotation of the shaft is realized, and the swing of the first finger piece is realized.

In some embodiments, the first X-axis robot feeding mechanism includes a second power device, a first mounting base, a first slider, and a first X-axis guide rail, the second power device is mounted on the first mounting base and connected to the first slider, the first mounting beam is connected to the first slider, the first X-axis guide rail is mounted on the first mounting base, and the first slider is disposed on the first X-axis guide rail and slidably engaged with the first X-axis guide rail. Therefore, the second power device can drive the first sliding block to slide along the first X-axis guide rail, so that the first mounting beam can move along the X-axis.

In some embodiments, the first manipulator Y-axis conveying mechanism includes a third power device, a first belt conveying device, a second slider, and a first Y-axis guide rail, the second slider is disposed on the first Y-axis guide rail and is in sliding fit with the first Y-axis guide rail, the first mounting seat is connected with the first belt conveying device and is connected with the second slider, and the first belt conveying device is connected with the third power device. Therefore, the third power device can drive the second sliding block to slide along the first Y-axis guide rail, so that the first mounting seat can move along the Y-axis.

In some embodiments, the second robot device includes a second finger, a second robot X-axis feed mechanism disposed on the second robot Y-axis feed mechanism, and a second robot Y-axis feed mechanism on which the second finger is disposed. The second manipulator X-axis feeding mechanism can realize the movement of the second finger piece in the X-axis direction, and the second manipulator Y-axis conveying mechanism can realize the movement of the second finger piece in the Y-axis direction.

In some embodiments, the second manipulator X-axis feeding mechanism includes a fourth power device, a second mounting beam, a third slider, a second X-axis guide rail, and a second mounting base, the fourth power device is mounted on the second mounting beam, the second finger is mounted on the third mounting beam, the third slider is connected to the third mounting beam, the third slider is disposed on the second X-axis guide rail and slidably fits the second X-axis guide rail, the second X-axis guide rail is mounted on the second mounting base, the second mounting beam is connected to the second mounting base, and the fourth power device is connected to the third mounting beam. Therefore, the fourth power device can drive the third sliding block to slide along the second X-axis guide rail, so that the second finger piece can move along the X-axis.

In some embodiments, the second manipulator Y-axis conveying mechanism includes a fifth power device, a second belt conveying device, a fourth slider, a fifth slider, a second Y-axis guide rail, and a third Y-axis guide rail, the fourth slider is disposed on the second Y-axis guide rail and slidably fits with the second Y-axis guide rail, the fifth slider is disposed on the third Y-axis guide rail and slidably fits with the third Y-axis guide rail, the second belt conveying device, the fourth slider, and the fifth slider are all connected to the second mounting base, and the second belt conveying device is connected to the fifth power device. Therefore, the fifth power device can drive the fourth sliding block to slide along the second Y-axis guide rail, so that the second finger piece can move along the Y-axis.

In some embodiments, the third manipulator Y-axis conveying mechanism includes a sixth power device, a third belt conveying device, a sixth slider, and a fourth mounting beam, the sixth power device is connected to the third belt conveying device, the third belt conveying device is connected to the fourth mounting beam, the sixth slider is disposed on the third Y-axis guide and slidably engaged with the third Y-axis guide, the sixth slider is disposed below the fifth slider, the sixth slider is connected to the fourth mounting beam, and the third finger is mounted on the fourth mounting beam. Therefore, the sixth power device can drive the fourth sliding block to slide along the third Y-axis guide rail, so that the third finger piece can move along the Y-axis.

In some embodiments, the utility model discloses still include controlling means, controlling means all is connected with first vacuum rotor, second vacuum rotor, first group paper fork, second group paper fork, first manipulator device, second manipulator device and third manipulator device respectively.

Drawings

Fig. 1 is a schematic structural view of a multi-manipulator paper towel stacking mechanism according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a multi-manipulator paper towel stacking mechanism according to an embodiment of the present invention.

Fig. 3 is a cross-sectional view of a left side view of a structural schematic diagram of a multi-manipulator paper towel stacking mechanism according to an embodiment of the present invention.

Fig. 4 is a right side sectional view of a schematic structural view of a multi-manipulator paper towel stacking mechanism according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of a first finger of a multi-manipulator paper towel stacking mechanism according to an embodiment of the present invention.

In the figure: 10. the paper cutting machine comprises a machine body, a first cutting knife roller, a second cutting knife roller, a first vacuum knife roller, a second vacuum knife roller, a first paper shifting fork, a second paper shifting fork, a first manipulator device, a second manipulator device, a third manipulator device, a first paper blocking block, a second paper blocking block, a first finger piece, a first manipulator swinging mechanism, a first manipulator X-axis feeding mechanism, a first manipulator Y-axis conveying mechanism, an air outlet hole, a first power device, a first mounting beam, a shaft, a connecting rod, a connecting block, a 731, a second power device, a 732, a first mounting seat, a first sliding block, a 734, a first X-axis guide rail, a 741, a third power device, a 742, a first belt conveying device, a 743, a second sliding block, a 744, a first Y-axis guide rail, a second paper shifting fork, a first manipulator swinging mechanism, a 73, a first manipulator X-axis feeding mechanism, a 74, a first manipulator Y-axis conveying mechanism, a 711, an air outlet hole, a 721, a first power device, a second mounting beam, a second mounting block, a second mounting, 81. The paper feeding device comprises a second finger element, 82, a second mechanical arm X-axis feeding mechanism, 83, a second mechanical arm Y-axis conveying mechanism, 821, a fourth power device, 822, a second mounting beam, 823, a third mounting beam, 824, a third sliding block, 825, a second X-axis guide rail, 826, a second mounting seat, 831, a fifth power device, 832, a second belt conveying device, 833, a fourth sliding block, 834, a fifth sliding block, 835, a second Y-axis guide rail, 836, a third Y-axis guide rail, 91, a third finger element, 92, a third mechanical arm Y-axis conveying mechanism, 921, a sixth power device, 922, a third belt conveying device, 923, a sixth sliding block, 924, a fourth mounting beam, 101, a first paper guide roller group and 102, and a second paper guide roller group.

Detailed Description

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

Fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5 schematically show a multi-manipulator paper towel stacking mechanism according to an embodiment of the present invention.

Referring to fig. 1, 2, 3, 4 and 5, the multi-manipulator paper towel stacking mechanism includes a machine body 10, and a first cutting knife roller 1, a second cutting knife roller 2, a first vacuum knife roller 3, a second vacuum knife roller 4, a first paper-shifting fork 5, a second paper-shifting fork 6, a first manipulator device 7, a second manipulator device 8 and a third manipulator device 9 mounted on the machine body 10. The first cutting knife roll 1 is matched with the first vacuum knife roll 3, the second cutting knife roll 2 is matched with the second vacuum knife roll 4, and the first vacuum knife roll 3 and the second vacuum knife roll 4 can be driven by a servo motor. The first paper shifting fork 5 and the second paper shifting fork 6 are installed on the machine body 10, the first paper shifting fork 5 is located below the first vacuum knife roller 3, and the second paper shifting fork 6 is located below the second vacuum knife roller 4. The first manipulator device 7 is located below the first paper shifting fork 5, the second manipulator device 8 is located below the second paper shifting fork 6, and the third manipulator device 9 is located below the second manipulator device 8.

The first cutting knife roll 1 and the second cutting knife roll 2 are fixedly arranged on the machine body 10, and the two ends of the first vacuum knife roll 3 and the second vacuum knife roll 4 are arranged on the machine body 10 through bearings. A first paper blocking block 12 and a second paper blocking block 13 are arranged below the first vacuum knife roller 3 and the second vacuum knife roller 4, and the two paper blocking blocks are arranged on the machine body 10 in parallel at the same height. First fender paper piece 12 and second fender paper piece 13 are fixed on organism 10 through the installation roof beam, and form a transfer passage between parallel first fender paper piece 12 and the second fender paper piece 13, and transfer passage's lower extreme can be connected with outside paper handkerchief conveyor, and the paper handkerchief that the branch was folded can be carried to outside paper handkerchief conveyor through this passageway.

First paper fork 5 of dialling is installed on organism 10 through the installation axle, and the second is dialled paper fork 6 and is installed on the organism through the installation axle, and two are dialled the paper fork and are the arc structure of being made by metal sheet or metal pole, realize two and dial the action that the paper fork pushed down in turn under the effect of two installation axles, and the installation axle is connected with transmission. When the cut paper towels are folded at the first paper stopping block 12 and the second paper stopping block 13, the first paper shifting fork 5 and the second paper shifting fork 6 can alternately press down the paper towels to prevent the paper towels from being folded.

The first robot device 7 of the present embodiment includes a first finger 71, a first robot swing mechanism 72, a first robot X-axis feed mechanism 73, and a first robot Y-axis transport mechanism 74. The first X-axis robot feeding mechanism 73 is disposed on the first Y-axis robot conveying mechanism 74, the first swing robot mechanism 74 is disposed on the first X-axis robot feeding mechanism 73, the first finger 71 is disposed on the first swing robot swinging mechanism 72, and the first finger 71 is provided with an air outlet 711. The air outlet 711 penetrates the first finger member 71. When the air outlet 711 is located at the opening of the back of the first finger member 71, the opening can be connected with an air pipe, and the air pipe can supply air to flow out from the air outlet 711.

The first robot swing mechanism 72 includes a first power device 721, a first mounting beam 722, a shaft 723, a link 724, and a link block 725. The shaft 723 is mounted on the first mounting beam 722 through a bearing seat, so that the shaft 723 can rotate on the first mounting beam 722, the first finger 71 is fixedly mounted on the shaft 723 through a sleeve block, the first finger 71 can swing along with the rotation of the shaft 723, the first power device 721 is preferably a servo motor, the body of the first power device 721 is fixedly mounted on the first mounting beam 722 through a bolt, the output shaft of the first power device 721 is connected with one end of a connecting rod 724 through a cam, one end of a connecting block 725 is hinged with the other end of the connecting rod 724 through a pin shaft, and the other end of the connecting block 725 is fixedly sleeved on the shaft 723.

The first robot X-axis feed mechanism 73 includes a second power device 731, a first mount 732, a first slider 733, and a first X-axis guide 734. The second power device 731 is preferably an air cylinder, a cylinder body of the second power device 731 is fixedly mounted on the first mounting seat 732 through a bolt, a piston rod of the second power device 731 is fixedly connected with the first sliding block 733, the first mounting beam 722 is fixedly connected with the first sliding block 733 through a bolt, the first X-axis guide rail 734 is arranged in parallel to the X-axis, the first X-axis guide rail 734 is fixedly mounted on the first mounting seat 732 through a bolt, and the first sliding block 733 is sleeved on the first X-axis guide rail 734 and can slide on the first X-axis guide rail 734.

The first robot Y-axis transport mechanism 74 includes a third power unit 741, a first tape transport unit 742, a second slider 743, and a first Y-axis guide 744. First Y axial guide rail 744 sets up in parallel to the Y axle, and first Y axial guide rail 744 passes through bolt fixed mounting on organism 10, first Y axial guide rail 744 is located to second slider 743 cover, and can slide on first Y axial guide rail 744, first mount pad 732 passes through the belt fixed connection on even piece and the first area conveyor 724, the action wheel and the follow driving wheel on the first area conveyor 724 are installed on organism 10, first mount pad 732 passes through bolt fixed connection with second slider 743, servo motor can be selected to third power device 741, the action wheel on the first area conveyor 724 and the output shaft fixed connection of third power device 741, and the fuselage of third power device 741 passes through bolt fixed mounting on organism 10.

The second robot device 8 includes a second finger 81, a second robot X-axis feed mechanism 82, and a second robot Y-axis transport mechanism 83. The second robot X-axis feeding mechanism 82 is provided on the second robot Y-axis conveying mechanism 83, and the second finger 81 is provided on the second robot X-axis feeding mechanism 82.

The second robot X-axis feed mechanism 82 includes a fourth power device 821, a second mounting beam 822, a third mounting beam 823, a third slider 824, a second X-axis guide 825, and a second mount 826. The fourth power device 821 is preferably a servo motor, the body of the fourth power device 821 is fixedly mounted on the second mounting beam 822 through a bolt, the second finger element 81 is fixedly mounted on the third mounting beam 823 through a bolt, the third sliding block 824 is fixedly connected with the third mounting beam 823 through a bolt, the third sliding block 824 is sleeved on the second X axial guide rail 825 and can slide on the second X axial guide rail 825, the second X axial guide rail 825 is arranged in parallel with the X axis, the second X axial guide rail 825 is fixedly mounted on the second mounting seat 826 through a bolt, the second mounting beam 822 is fixedly connected with the second mounting seat 826 through a bolt, and the fourth power device 821 is connected with the third mounting beam 823 through a connecting rod.

The second robot Y-axis transport mechanism 83 includes a fifth power device 831, a second belt transport device 832, a fourth slider 833, a fifth slider 834, a second Y-axis guide 835, and a third Y-axis guide 836. The fourth slider 833 is sleeved on the second Y-axis guide 835 and can slide on the second Y-axis guide 835, the fifth slider 834 is sleeved on the third Y-axis guide 836, and can slide on a third Y-axis guide rail 836, both the second Y-axis guide rail 835 and the third Y-axis guide rail 836 are arranged in parallel with the Y-axis, both the second Y-axis guide rail 835 and the third Y-axis guide rail 836 are fixedly mounted on the machine body 10 through bolts, both a driving wheel and a driven wheel of the second belt conveyor 832 are mounted on the machine body 10, both the fourth slider 833 and the fifth slider 834 are fixedly connected with the second mounting seat 826 through bolts, the second mounting seat 826 is further connected to a belt of the second belt conveyor 832 through a connecting block, the fifth power device 831 is preferably a servo motor, an output shaft of the fifth power device 831 is fixedly connected to a driving wheel of the second belt conveyor, and a body of the fifth power device 831 is fixedly connected to the body 10 through a bolt.

The third robot device 9 includes a third finger 91 and a third robot Y-axis transport mechanism 92. The third finger 91 is provided on the third robot Y-axis transport mechanism 92.

The third robot Y-axis transport mechanism 92 includes a sixth power device 921, a third belt transport device 922, a sixth slider 923, and a fourth mounting beam 924. The sixth power device 921 is preferably a servo motor, an output shaft of the sixth power device 921 is connected to a driving wheel of the third belt conveyor 922, a body of the sixth power device 921 is fixedly connected to the third belt conveyor 922 through a bolt, the fourth mounting beam 924 is fixedly connected to a belt of the third belt conveyor 922 through a link, the sixth slider 923 is also sleeved on the third Y-axis guide rail 836 and can slide on the third Y-axis guide rail 836, the sixth slider 923 is located below the fifth slider 834, the sixth slider 923 is fixedly connected to the fourth mounting beam 924 through a bolt, and the third finger 91 is fixedly mounted on the fourth mounting beam 924 through a bolt.

The multi-manipulator paper towel stacking mechanism of the present embodiment further includes a control device, and the control device is respectively connected to the first vacuum knife roll 3, the second vacuum knife roll 4, the first paper shifting fork 5, the second paper shifting fork 6, the first power device 721, the second power device 731, the third power device 741 of the first manipulator device 7, the fourth power device 821, the fifth power device 831 of the second manipulator device 8, and the sixth power device 921 of the third manipulator device 9, so that the control device can control the first vacuum knife roll 3, the second vacuum knife roll 4, the first paper shifting fork 5, the second paper shifting fork 6, the first manipulator device 7, the second manipulator device 8, and the third manipulator device 9 to fold and stack paper towels.

The multi-robot paper towel stacking mechanism according to the present embodiment further includes a first paper guide roller 101 and a second paper guide roller 102. The first paper guide roller 101 is provided on the left side of the first vacuum cutter roller 3, and the second paper guide roller 102 is provided on the right side of the second vacuum cutter roller 4. The first paper guide roller 101 and the second paper guide roller 102 are mounted on the frame through bearings and are respectively connected with a transmission device. The paper towel folding machine can also be provided with a paper towel raw material supporting roll and a plurality of paper guide rolls for guiding, and the paper towel raw material supporting roll and the paper guide rolls are both installed on the machine frame through bearings. Thus, the first paper guide roll 101 guides the web stock to the first vacuum knife roll 3 and the second paper guide roll 102 guides the web stock to the second vacuum knife roll 4 for further processing.

The conventional working principle of the multi-manipulator paper towel stacking mechanism of the embodiment is as follows: when the automatic paper towel feeding device works, the number of the folded paper towels is set through the control device, and the external paper towel feeding device can be arranged at the bottom of the conveying channel. The first vacuum knife roll 3 and the second vacuum knife roll 4 are operated, and the tissues are folded at the first stop block 12 and the first stop block 13 and are alternately pressed down by the first shifting fork 5 and the second shifting fork 6, whereby the tissues are continuously folded and stacked to form a tissue stack.

When the folded paper towel enters the conveying passage, the first finger member 71 is driven by the second power device 731 to move rapidly along the X-axis toward the conveying passage and driven by the first power device 721 to be inserted into the conveying passage in an arc, so that the end of the first finger member 71 can press the upper side of one end of the paper towel, i.e. the end of the paper towel hangs down from the first finger member 71 and is located below the first finger member 71, and at this time, the first finger member 71 can also be driven by the third power device 741 to move downward according to the stacking speed of the paper towels to receive other folded paper towels.

After the first finger 71 is inserted into position, the second finger 81 is driven by the fifth power device 831 to move the second finger 81 below the first finger 71, and then the second finger 81 is inserted into a position approximately in the middle of the napkin hanging down from the end of the finger portion of the first finger 71 by the fourth power device 821, the insertion depth can be about half of the conveying channel, the air outlet hole 711 on the first finger piece 71 can be connected with an air pipe on the opening on the back of the first finger piece 71, the air pipe can supply air to the air outlet hole 711, under the action of the air flow, the portion of the napkin hanging from the end of the finger portion of the first finger member 71 above the second finger member 81 can be pressed down on the second finger member 81, and the second finger 81 is also able to move downwards at this time matched to the speed of stacking the towels by the fifth motive power means 831.

At the same time, the third finger element 91 is raised by means of the sixth power means 921 rapidly up to the level of the second finger element 81, which presses the portion of the tissue hanging down from the end of the finger portion of the first finger element 71, which is below the second finger element 81, up against the second finger element 81.

The second finger element 81 can then be retracted horizontally by the fourth power means 821, while the first finger element 71 can also be withdrawn from the towels by means of the first power means 721 and removed from the transport path by means of the second power means 731, so that the stack of towels in the first finger element 71 is transferred to be supported by the third finger element 91, and the third finger element 91 can press together the towels which were originally pressed on the upper and lower parts, respectively, of the second finger element 81 to form a half-fold due to the disengagement of the first finger element 71 and the second finger element 81.

Then, the third finger member 91 can move downward at a speed matched with the stacking speed of the tissues under the driving of the sixth power device 921, until the number of tissues supported by the third finger member 91 reaches a set number, that is, the thickness of the tissue stack reaches a requirement, when the next tissue is folded and falls, the first finger member 71 is driven by the second power device 731 to move rapidly toward the conveying path along the X axis again, and is driven by the first power device 721 to be reinserted into the conveying path again at an arc, so that the end of the first finger member 71 can press the upper side of one end of the tissue, and at this time, the first finger member 71 can replace the third finger member 91 to support the tissues, that is, the tissue stacking is realized by the first finger member 71. Simultaneously, third finger 91 can rely on sixth power device 921 to transfer outside paper handkerchief conveyor department fast with the paper handkerchief buttress that the thickness that its this moment bore met the demand, later third finger 91 truns into rebound … … so recycling, then can fold out the paper handkerchief buttress that individual tip has carried out half-folding, need not shut down at the production process, paper handkerchief buttress tip half-folding and continuous automatic folding production have been realized, the production efficiency is greatly improved, automated production to realizing the paper handkerchief provides the guarantee.

What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.

Claims

1. The multi-manipulator paper towel stacking mechanism is characterized by comprising a machine body, a first cutting knife roll, a second cutting knife roll, a first vacuum knife roll, a second vacuum knife roll, a first paper shifting fork, a second paper shifting fork, a first manipulator device, a second manipulator device and a third manipulator device, wherein the first cutting knife roll, the second vacuum knife roll, the first paper shifting fork, the second paper shifting fork and the third manipulator device are arranged on the machine body, the first cutting knife roll is matched with the first vacuum knife roll, the second cutting knife roll is matched with the second vacuum knife roll, the first paper shifting fork is positioned below the first vacuum knife roll, the second paper shifting fork is positioned below the second paper shifting fork, the third manipulator device is positioned below the second manipulator device, the first manipulator device is provided with an air outlet, the third manipulator device comprises a third manipulator finger piece and a third manipulator Y-axis conveying mechanism, and the third finger piece is arranged on the Y-axis conveying mechanism of the third manipulator.

2. The mechanism of claim 1, wherein the first robot device comprises a first finger, a first robot swing mechanism, a first robot X-axis feeding mechanism and a first robot Y-axis conveying mechanism, the first robot X-axis feeding mechanism is disposed on the first robot Y-axis conveying mechanism, the first robot swing mechanism is disposed on the first robot X-axis feeding mechanism, the first finger is disposed on the first robot swing mechanism, and the air outlet is disposed on the first finger.

3. The multi-manipulator tissue stacking mechanism of claim 2, wherein the first manipulator oscillating mechanism comprises a first power device, a first mounting beam, a shaft, a link, and a link, wherein the shaft is mounted on the first mounting beam, the first finger is mounted on the shaft, the first power device is mounted on the first mounting beam and connected to one end of the link, the link is connected to the other end of the link, and the link is mounted on the shaft.

4. The multi-manipulator paper towel stacking mechanism according to claim 3, wherein the first manipulator X-axis feeding mechanism comprises a second power device, a first mounting seat, a first slider and a first X-axis guide rail, the second power device is mounted on the first mounting seat and connected to the first slider, the first mounting beam is connected to the first slider, the first X-axis guide rail is mounted on the first mounting seat, and the first slider is disposed on the first X-axis guide rail and slidably engaged with the first X-axis guide rail.

5. The multi-manipulator paper towel stacking mechanism according to claim 4, wherein the first manipulator Y-axis conveying mechanism comprises a third power device, a first belt conveying device, a second slider and a first Y-axis guide rail, the second slider is arranged on the first Y-axis guide rail and is in sliding fit with the first Y-axis guide rail, the first mounting seat is connected with the first belt conveying device and is connected with the second slider, and the first belt conveying device is connected with the third power device.

6. The multi-robot tissue folding mechanism of claim 1 wherein the second robot device includes a second finger, a second robot X-axis feed mechanism and a second robot Y-axis transport mechanism, the second robot X-axis feed mechanism being disposed on the second robot Y-axis transport mechanism, the second finger being disposed on the second robot X-axis feed mechanism.

7. The multi-manipulator paper towel stacking mechanism according to claim 6, wherein the second manipulator X-axis feeding mechanism comprises a fourth power device, a second mounting beam, a third slider, a second X-axis guide rail and a second mounting base, the fourth power device is mounted on the second mounting beam, the second finger is mounted on the third mounting beam, the third slider is connected with the third mounting beam, the third slider is arranged on the second X-axis guide rail and is in sliding fit with the second X-axis guide rail, the second X-axis guide rail is mounted on the second mounting base, the second mounting beam is connected with the second mounting base, and the fourth power device is connected with the third mounting beam.

8. The multi-manipulator paper towel stacking mechanism according to claim 6, wherein the second manipulator Y-axis conveying mechanism comprises a fifth power device, a second belt conveying device, a fourth slider, a fifth slider, a second Y-axis guide rail and a third Y-axis guide rail, the fourth slider is arranged on the second Y-axis guide rail and is in sliding fit with the second Y-axis guide rail, the fifth slider is arranged on the third Y-axis guide rail and is in sliding fit with the third Y-axis guide rail, the second belt conveying device, the fourth slider and the fifth slider are all connected with the second mounting base, and the second belt conveying device is connected with the fifth power device.

9. The multi-robot paper towel stacking apparatus according to claim 8, wherein the third robot Y-axis transport mechanism comprises a sixth power device, a third belt transport device, a sixth sliding block and a fourth mounting beam, the sixth power device is connected to the third belt transport device, the third belt transport device is connected to the fourth mounting beam, the sixth sliding block is disposed on the third Y-axis guide rail and slidably engaged with the third Y-axis guide rail, the sixth sliding block is disposed below the fifth sliding block, the sixth sliding block is connected to the fourth mounting beam, and the third finger is mounted on the fourth mounting beam.

10. The multi-manipulator paper towel stacking mechanism according to claim 1, comprising a control device, wherein the control device is connected to the first vacuum knife roller, the second vacuum knife roller, the first paper pulling fork, the second paper pulling fork, the first manipulator device, the second manipulator device and the third manipulator device respectively.