Paper plate loading execution head of manipulator

Abstract

The invention discloses a paper plate loading execution head of a manipulator. The paper plate loading execution head of the manipulator comprises a horizontally-rotating arm and a swelling connection rod, wherein the front end of the horizontally-rotating arm is provided with a fixed connection seat and a movable connection seat, and the fixed connection seat and the movable connection seat are hinged; the two connection seats are respectively provided with a proximity switch and a permanent magnet, and an execution head touch stop protection mechanism is formed; the movable connection seat is provided with an upwards-inclined supporting board which forms an included angle of 45 degrees with a plumb line; the supporting board supports a swelling connection rod rotating servo motor, a connecting sleeve, a detection plate and a swelling connection rod; laser ranging sensors are symmetrically distributed on the periphery of the center of circle of the detection plate; when the swelling connection rod and a paper plate core tube correspond, the red navigation laser point of each laser ranging sensor is positioned on the inner edge of the paper plate core tube. The paper plate loading execution head has the outstanding advantages of complex control adaption, flexible and stable action and safety in operation.

Description

technical field [0001] The invention belongs to a manipulator, in particular to a paper tray feeding execution head of a manipulator. Background technique [0002] The inner lining paper of cigarette packs is made of aluminum foil. The cut and formed inner lining paper in the cigarette production line is provided by a paper tray composed of a core tube and aluminum foil wrapped around the core tube. Each aluminum foil paper tray is The weight is about tens of kilograms. Two rows of side-by-side multi-layer paper trays are placed flat on the pallet, and are transported by a forklift to the corresponding paper tray loading and loading part of the cigarette machine. The flat paper trays are manually lifted and turned 90 degrees to become In the vertical roll state, push the paper tray shaft into the feeding part, it can be seen that the labor intensity of the operators is very high. [0003] The utility model "a paper tray automatic supply device" authorized by the notificatio...

AI Technical Summary

Problems solved by technology

[0004] The paper tray grabbing mechanism of the above-mentioned utility model includes at least two vertical rods that are relatively raised and lowered, a drive motor and a conventional stretching member. On the sliding seat connected to the moving part, the lower end of the vertical rod at the bottom is connected with the grabbing and flipping part, which has a large range of motion in the X and Y directions and often cannot adapt to the site conditions where the available space for the feeding part of the paper tray is narrow; in addition, the grabbing The overturning part lacks the touch stop protection function, once an obstacle occurs during the movement and overturning of the paper tray, it may cause an accident

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