Automatic end cap picking and feeding device

Abstract

The present invention discloses an automatic end cap picking and feeding device, comprising: a frame; a plurality of storage racks arranged at intervals on the frame, a storage shaft being transversely arranged on the storage rack, and a plurality of paper end caps or pearl cotton end caps being stacked and sleeved on the storage shaft; a plurality of pushing mechanisms being correspondingly arranged on the storage racks, and used for pushing the paper end caps or pearl cotton end caps to slide along the storage shaft to the discharging station; an end cap combination shaft being arranged on the frame, and the paper supply end cap and the pearl cotton end cap being coaxially sleeved; an end cap suction manipulator, used for sucking the paper end cap or pearl cotton end cap at the discharging station and sleeved on the end cap combination shaft; a clamping and feeding manipulator, used for clamping and transferring the paper end cap and pearl cotton end cap combination on the end cap combination shaft to the packaging station. The entire device has an ingenious structure, and achieves the automatic selection, combination and handling of film roll end caps of various specifications, and effectively improves the feeding and packaging efficiency of the film roll end caps.

Description

Technical Field

[0001] The invention relates to the technical field of coil packaging, and in particular to an automatic end cap picking and feeding device. Background Art

[0002] In recent years, with the rapid development of society, countries have higher and higher requirements for the packaging of food, medicine and other items, and the demand for functional plastic films has shown an upward trend, driving high-end film manufacturers to further improve the level of automation. The automation technology and equipment for film stretching / blowing and slitting processes in film production have become relatively mature, and finally produce film rolls.

[0003] The film roll is a cylindrical roll. After the film roll is produced, it needs to be transported to various places for sale. In order to protect the structural integrity of the film roll during transportation and handling, the film roll needs to be packaged and protected. Generally, the end caps are packaged at both ends of the film roll using corresponding packaging equipment to ensure the structural stability of the film roll.

[0004] In the current process of film roll packaging and protection, due to the different packaging requirements for film rolls of different specifications, and the complicated packaging process with many constraints, the automation is difficult, which is mainly reflected in the large changes in the outer diameter and width of the film rolls, and the various specifications of the corresponding consumables required. All types of companies in the industry have to employ a large number of people in the packaging position, and the labor cost pressure of the companies is high, and the demand for automation is urgent.

[0005] The specifications of the film rolls produced by the existing first-class scale enterprises are: the diameter of the circular cross-section of the film roll is 400-550mm, the cylindrical height is 380-1100mm, and the mass is 38-400kg. The specifications of the packaging end caps corresponding to this type of film roll also vary with the changes in the outer diameter of the film roll. Specifically, the diameter of the packaging end caps corresponding to this type of film roll is set to a specification every 10mm change in the outer diameter of the film roll, that is, the specifications of the end caps are as many as 16. The end caps include paper end caps and pearl cotton end caps. The paper end caps and pearl cotton end caps need to be sent to the packaging station in the form of a concentric combination, and then wait for the corresponding packaging equipment to seal the concentric combination of paper end caps and pearl cotton end caps together to the end of the film roll. The packaging is completed after the concentric combination of paper end caps and pearl cotton end caps are sealed at both ends of the film roll.

[0006] The diameter of the paper end cap is 540~690mm, and the diameter of the pearl cotton end cap is 400~550mm. As the outer diameter of the production film roll changes, the packaging operator needs to select from 16 specifications of paper end caps / pearl cotton ends according to the outer diameter information of the film roll, and combine the two end caps concentrically, and then seal them at the end of the film roll. The process is cumbersome and time-consuming, and prone to errors, which affects the loading and packaging efficiency of the end caps, and thus slows down the production efficiency of the product. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an automatic end cap picking and feeding device, which can realize batch storage of film roll end caps of different specifications, and automatically select, combine and transport the film roll end caps of different specifications, thereby improving the feeding and packaging efficiency of the end caps.

[0008] The automatic picking and feeding device for end caps according to the embodiment of the present invention comprises: a frame; a plurality of storage racks arranged at intervals on the frame, a storage shaft being transversely arranged on the storage rack, and a plurality of paper end caps or pearl cotton end caps being stacked and sleeved on the storage shaft; a plurality of pushing mechanisms being correspondingly arranged on the storage racks and used for pushing the paper end caps or pearl cotton end caps to slide along the storage shaft to a discharging station; an end cap combination shaft being arranged on the frame for coaxial sleeve arrangement of the paper end caps and the pearl cotton end caps; an end cap suction manipulator for suctioning the paper end caps or pearl cotton end caps at the discharging station and sleeved onto the end cap combination shaft; a clamping and feeding manipulator for clamping the paper end caps and pearl cotton end caps on the end cap combination shaft and transferring them to a packaging station.

[0009] The end cap automatic picking and feeding device according to the embodiment of the present invention has at least the following beneficial effects:

[0010] The device realizes batch storage of paper end caps and pearl cotton end caps of different specifications by arranging multiple storage racks and storage shafts on the frame. According to the outer diameter information of the film roll of the end cap to be packaged, the pushing mechanism arranged on the storage rack can push the paper end caps or pearl cotton end caps of corresponding specifications to the discharging station one by one, and the end cap suction robot can automatically select the paper end caps and pearl cotton end caps of required specifications, and put the sucked paper end caps and pearl cotton end caps on the end cap combination shaft in turn. The setting of the end cap combination shaft meets the requirement of concentric combination of paper end caps and pearl cotton end caps. Subsequently, the clamping and feeding robot can clamp the paper end caps and pearl cotton end cap combination put on the end cap combination shaft and transfer them to the packaging station of the end caps to wait for the corresponding equipment to be packaged. The entire device has an ingenious structure. The end of the device can be connected to the film roll packaging production line in the workshop, which is easy to operate. It realizes batch storage of paper end caps and pearl cotton end caps of various specifications, and achieves automatic selection, combination and transportation of film roll end caps of various specifications, eliminating the tedious work of manually searching for paper end caps and pearl cotton end caps of corresponding specifications and concentrically combining the two, effectively improving the loading and packaging efficiency of film roll end caps.

[0011] According to some embodiments of the present invention, the end cover combined shaft is a stepped shaft having a plurality of annular step surfaces.

[0012] According to some embodiments of the present invention, a plurality of vacuum adsorption holes are provided on the end cap assembly shaft, and the vacuum adsorption holes are used to adsorb the paper end cap and the pearl cotton end cap onto the end cap assembly shaft.

[0013] According to some embodiments of the present invention, the storage rack is further provided with a V-shaped folding block above the storage shaft, and the V-shaped folding block is parallel to the storage shaft.

[0014] According to some embodiments of the present invention, the pushing mechanism includes a driving component and a push plate slidably mounted on the storage shaft, the driving component can drive the push plate to slide back and forth along the storage shaft, and the push plate is adapted to the shape of the paper end cover or the pearl cotton end cover.

[0015] According to some embodiments of the present invention, the driving assembly includes a tension balancer arranged on the storage rack, a guide rail arranged laterally at the bottom end of the storage rack, and a propulsion bracket slidably installed on the guide rail, the wire rope of the tension balancer is connected to the propulsion bracket, and the push plate is fixed on the propulsion bracket.

[0016] According to some embodiments of the present invention, the end cap suction robot is a four-degree-of-freedom robot, including an XYZ three-axis mobile platform and a vacuum suction cup rotatably arranged on the XYZ three-axis mobile platform, the three-axis mobile platform can drive the vacuum suction cup to and fro between the upper and lower workstations and the end cap combination shaft, and the vacuum suction cup is used to suck the paper end cap or the pearl cotton end cap.

[0017] According to some embodiments of the present invention, the gripping and feeding robot is a three-degree-of-freedom robot, including an XY two-axis moving platform and a clamping claw rotatably arranged on the XY two-axis moving platform, and the clamping claw is used to combine and clamp the paper end cap and the pearl cotton end cap on the end cap combination shaft.

[0018] According to some embodiments of the present invention, a plurality of stoppers are provided at the front end of the storage rack, and the stoppers are used to stop the paper end caps or the pearl cotton end caps.

[0019] According to some embodiments of the present invention, a baffle is detachably provided at the front end of the storage rack, and the baffle is provided with a discharge hole for the paper end cover or the pearl cotton end cover to pass through, and the outer diameter of the discharge hole is adapted to the outer diameter of the paper end cover or the pearl cotton end cover, and a plurality of the baffles are circumferentially arranged on the baffle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1It is a structural schematic diagram of an embodiment of the present invention;

[0022] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0023] Figure 3 It is a schematic diagram of the structure after the storage rack is hidden in the embodiment of the present invention;

[0024] Figure 4 It is a structural schematic diagram of a storage rack in an embodiment of the present invention;

[0025] Figure 5 Schematic diagram of another structure of a storage rack in an embodiment of the present invention.

[0026] Among them: frame 100, storage rack 200, storage shaft 210, V-shaped folding block 220, baffle 230, discharge hole 231, handle 232, block 240, clamp 250, pushing mechanism 300, driving assembly 310, tension balancer 311, guide rail 312, propulsion bracket 313, end cover combination shaft 400, vacuum adsorption hole 410, end cover suction manipulator 500, XYZ three-axis moving platform 510, vacuum suction cup 520, clamping and feeding manipulator 600, XY two-axis moving platform 610, clamp 620, motor 630, discharge station 700, paper end cover 800, pearl cotton end cover 900. DETAILED DESCRIPTION

[0027] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0028] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0029] In the description of the present invention, "several" means one or more, "more" means two or more, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0030] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0031] See also Figure 1 , Figure 4 and Figure 5 The present invention discloses an end cap automatic picking and feeding device, including a frame 100, a plurality of storage racks 200, a plurality of pushing mechanisms 300, an end cap combination shaft 400, an end cap suction robot 500 and a clamping and feeding robot 600.

[0032] Among them, multiple storage racks 200 are arranged at intervals on the frame 100, and a storage shaft 210 is horizontally arranged on the storage rack 200. Several paper end caps 800 or pearl cotton end caps 900 are stacked and sleeved on the storage shaft 210, so as to realize batch storage of paper end caps 800 and pearl cotton end caps 900 of various specifications, which is convenient for subsequent packaging selection.

[0033] A plurality of pushing mechanisms 300 are correspondingly arranged on the storage rack 200 , and the pushing mechanisms 300 are used to push the paper end caps 800 or the pearl cotton end caps 900 to slide along the storage shaft 210 to the discharging station 700 , so as to load the stacked paper end caps 800 or the pearl cotton end caps 900 one by one.

[0034] The end cap assembly shaft 400 is arranged on the frame 100 for the coaxial sleeve of the paper end cap 800 and the pearl cotton end cap 900, and the end cap suction robot 500 is used to suck the paper end cap or the pearl cotton end cap at the discharge station 700 and sleeve it onto the end cap assembly shaft 400, and the clamping and feeding robot 600 is used to clamp the paper end cap 800 and the pearl cotton end cap 900 on the end cap assembly shaft 400 and transfer them to the packaging station.

[0035] It is important to understand that, see Figure 2 The paper end cap 800 and the pearl cotton end cap 900 are both circular in shape and have a center hole. The outer diameter of the center hole of paper end caps 800 or pearl cotton end caps 900 of different specifications is the same. The outer diameter of the storage shaft 210 is compatible with the outer diameter of the center hole of the paper end cap 800 and the pearl cotton end cap 900, but the outer diameter and the center hole diameter of the paper end cap 800 are usually larger than the outer diameter and the center hole diameter of the pearl cotton end cap 900, and the thickness of the two does not exceed 1CM.

[0036] The traditional method of manually sealing the end caps by packaging operators requires packaging operators to find paper end caps 800 and pearl cotton end caps 900 of corresponding film roll specifications, align the center holes of the two concentrically and fit them together, and then seal them on the end of the film roll. This is not only cumbersome and time-consuming, but the combination accuracy of the paper end caps 800 and the pearl cotton end caps 900 is also difficult to guarantee.

[0037] The device realizes batch storage of paper end caps 800 and pearl cotton end caps 900 of different specifications by arranging a plurality of storage racks 200 and storage shafts 210 on a frame 100. According to the outer diameter information of the film roll, the pushing mechanism 300 arranged on the storage rack 200 can push the paper end caps 800 or pearl cotton end caps 900 of corresponding specifications to the discharging station 700 one by one, and the end cap suction manipulator 500 can automatically select the paper end caps 800 of the required specifications. and the pearl cotton end cap 900, and the sucked paper end cap 800 and the pearl cotton end cap 900 are sequentially mounted on the end cap combination shaft 400, and the concentric combination of the paper end cap 800 and the pearl cotton end cap 900 is realized by the setting of the end cap combination shaft 400; subsequently, the clamping and feeding robot 600 can clamp the paper end cap 800 and the pearl cotton end cap 900 combination mounted on the end cap combination shaft 400 and transfer it to the packaging station of the end cap to complete the feeding of the end cap.

[0038] Obviously, the structure of the entire device is ingenious. The end of the device can be connected to the film roll packaging production line of the workshop, which is easy to operate and realizes batch storage of paper end caps 800 and pearl cotton end caps 900 of various specifications. At the same time, it achieves automatic selection, combination and transportation of film roll end caps of various specifications, eliminating the tedious work of manually finding paper end caps and pearl cotton end caps of corresponding specifications and concentrically combining the two, greatly improving the loading and packaging efficiency of film roll end caps.

[0039] In some embodiments of the present invention, participating Figure 2 and Figure 3 In order to achieve accurate suction of the paper end cap 800 or the pearl cotton end cap 900 by the end cap suction robot 500, the end cap suction robot 500 is a four-degree-of-freedom robot. The end cap suction robot 500 includes an XYZ three-axis moving platform 510 and a vacuum suction cup 520 rotatably arranged on the XYZ three-axis moving platform 510. The three-axis moving platform 510 can drive the vacuum suction cup 520 to and fro between the discharge station 700 and the end cap combination shaft 400. The vacuum suction cup 520 is used to suck the paper end cap 800 or the pearl cotton end cap 900.

[0040] Specifically, in one embodiment, the XYZ three-axis mobile platform 510 includes an X-axis motion arm, a Y-axis motion arm, and a Z-axis motion arm. The X-axis motion arm, the Y-axis motion arm, and the Z-axis motion arm can be a screw nut structure driven by a servo motor, or a cylinder slide structure, and of course, a rodless cylinder structure. The specific structures of the X-axis motion arm, the Y-axis motion arm, and the Z-axis motion arm are not restricted, and any structure that can enable the XYZ three-axis mobile platform 510 to provide freedom in the X, Y, and Z-axis directions is possible.

[0041] In this embodiment, in order to facilitate the vacuum suction cup 520 to accurately suck up materials in a linear manner and put the materials on the end cover combination shaft 400, a driving motor is installed on the Z-axis motion arm, and the output end of the driving motor is connected to a mounting block, and a linear cylinder is installed on the mounting block. The vacuum suction cup 520 is arranged on the output end of the linear cylinder. Through the above arrangement, the vacuum suction cup 520 has four degrees of freedom, namely, the degrees of freedom in the X direction, the Y direction, the Z direction and the rotation direction, which facilitates the vacuum suction cup 520 to suck and unload materials.

[0042] In addition, in some embodiments of the present invention, see Figure 2 The gripping and feeding robot 600 is a three-degree-of-freedom robot. The gripping and feeding robot 600 includes an XY two-axis moving platform 610 and a clamping claw 620 rotatably arranged on the XY two-axis moving platform 610. The clamping claw 620 is used for combining and gripping the paper end cover 800 and the pearl cotton end cover 900 on the end cover combination shaft 400.

[0043] Specifically, in this embodiment, the XY two-axis mobile platform 610 includes a vertically mounted X-axis cylinder slide and a Y-axis cylinder slide, a motor 630 is installed on the X-axis cylinder slide, the output end of the motor 630 is connected to a rotating arm, and a clamp 620 is arranged on the rotating arm, and the clamp 620 is a cylinder clamp or a finger cylinder.

[0044] It should be understood that when the paper end cap and the pearl cotton end cap are stably sleeved on the end cap combination shaft 400, the Y-axis cylinder slide drives the clamping jaw 620 to the position of the end cap combination shaft 400, and the motor 630 drives the rotating arm to rotate, thereby rotating the clamping jaw 620, and the two claws of the clamping jaw 620 are respectively positioned on the outside of the paper end cap and the pearl cotton end cap, and then the clamping jaw 620 moves to achieve the combined clamping of the paper end cap and the pearl cotton end cap; the X-axis cylinder slide drives the clamping jaw 620 to move along the X-axis direction so that the paper end cap and the pearl cotton end cap are moved out of the end cap combination shaft 400 together, and the Y-axis cylinder slide drives the clamping jaw 620 to feed the combined paper end cap and the pearl cotton end cap to the packaging station; at this time, the X-axis cylinder slide is reset, and the motor 630 drives the rotating arm to reset, thereby driving the clamping jaw 620 to reset, so that the paper end cap and the pearl cotton end cap are accurately positioned at the packaging station, thereby completing the combined feeding of the paper end cap and the pearl cotton end cap.

[0045] In some embodiments of the present invention, see Figure 1 and Figure 2 In order to make the end cover combination shaft 400 match the paper end cover 800 and the pearl cotton end cover 900 with different center apertures, the end cover combination shaft 400 is a stepped shaft with multiple annular step surfaces. In addition, in order to make the paper end cover 800 and the pearl cotton end cover 900 stably sleeved on the end cover combination shaft 400, a plurality of vacuum adsorption holes 410 are opened on the end cover combination shaft 400. The vacuum adsorption holes 410 are used to adsorb the paper end cover 800 and the pearl cotton end cover 900 on the end cover combination shaft 400.

[0046] It can be understood that the end cap assembly shaft 400 is equivalent to a transfer station in the process of transporting the paper end cap 800 and the pearl cotton end cap 900 to the packaging station. The end cap suction robot 500 first sucks and transfers a piece of paper end cap 800 from the discharging station 700 to the position of the end cap assembly shaft 400. When the paper end cap 800 on the end cap suction robot 500 is close to the end cap assembly shaft 400 and the axis of the paper end cap 800 is aligned with the axis of the end cap assembly shaft 400 on a straight line, the vacuum suction hole 410 connected to a vacuum pump or a vacuum suction nozzle can suck the paper end cap 800 on the end cap suction robot 500 and put it on the annular step surface of the end cap assembly shaft 400; similarly, the end cap suction robot 5 00 returns to the discharging station 700 and chooses to absorb the pearl cotton end cap 900 of another storage rack 200. When the end cap absorption robot 500 absorbs and transfers the pearl cotton end cap 900 to the position of the end cap combination shaft 400, the vacuum adsorption hole can also absorb and sleeve the pearl cotton end cap 900 onto the smaller annular step surface of the end cap combination shaft 400. This completes the concentric combination of the paper end cap 800 and the pearl cotton end cap 900, which facilitates the subsequent clamping and feeding robot 600 to clamp and transfer the paper end cap 800 and the pearl cotton end cap 900 to the packaging station, which not only improves the alignment and combination accuracy of the paper end cap 800 and the pearl cotton end cap 900, but also indirectly improves the efficiency and quality of the roll film packaging end cap.

[0047] In some embodiments of the present invention, see Figure 4 and Figure 5 The pushing mechanism 300 includes a driving assembly 310 and a push plate (not shown in the figure) slidably mounted on the storage shaft 210. The driving assembly 310 can drive the push plate to slide back and forth along the storage shaft 210. The push plate is adapted to the shape of the paper end cover 800 or the pearl cotton end cover 900. Specifically, the driving assembly 310 includes a tension balancer 311 arranged on the storage rack 200, a guide rail 312 horizontally arranged at the bottom end of the storage rack 200, and a pushing bracket 313 slidably mounted on the guide rail 312. The steel wire rope of the tension balancer 311 is connected to the pushing bracket 313, and the push plate is fixed on the pushing bracket 313.

[0048] It should be understood that in the present invention, whether it is the paper end cover 800 or the pearl cotton end cover 900, due to the material characteristics of the two, they both have structural properties that are easily deformed. By arranging a push plate that is compatible with the shape of the paper end cover 800 or the pearl cotton end cover 900 on the storage shaft 210, the push plate is used to push the stacked paper end covers 800 or the pearl cotton end covers 900 to slide along the storage shaft 210. The push plate can be in close contact with the paper end cover 800 or the pearl cotton end cover 900 located at the rear end of the storage shaft 210, so that the thrust at each position of the paper end cover 800 or the pearl cotton end cover 900 is uniform, thereby avoiding deformation of the paper end cover 800 or the pearl cotton end cover 900 due to pressure, and ensuring the structural stability of the paper end cover 800 or the pearl cotton end cover 900 during the discharging process.

[0049] See also Figure 5 In this embodiment, the push support 313 has four legs connected to the rear end of the push plate, so as to ensure that the push plate is subjected to uniform thrust. In the initial state, taking a storage rack 200 storing paper end covers 800 as an example, 50-55 paper end covers 800 are stacked and sleeved on the storage shaft 210, and the paper end cover 800 at the rear end of the storage shaft 210 is in contact with the push plate plane. When the paper end cover 800 needs to be discharged, the steel wire rope of the tension balancer 311 pulls the propulsion bracket 313 and moves it forward in a straight line along the guide rail 312, and the propulsion bracket 313 pushes the stacked paper end covers 800 to slide along the storage shaft 210 through the push plate. When the frontmost paper end cover 800 slides to the discharge station 700, the baffle 230 and multiple blocks 240 stop the push plate and all the paper end covers 800 from sliding, and the paper end cover 800 at the discharge station 700 waits for the end cover suction robot 500 to suck and discharge the paper.

[0050] In some embodiments of the present invention, see Figure 5 Taking into account the structural properties of the paper end cover 800 and the pearl cotton end cover 900 that are easy to deform, in order to enable the paper end cover 800 and the pearl cotton end cover 900 to stably slide straight along the storage shaft 210 to the discharge station 700, the storage rack 200 is further provided with a V-shaped folding block 220 above the storage shaft 210, and the V-shaped folding block 220 is parallel to the storage shaft 210.

[0051] It should be understood that the circumferential edge of the paper end cap 800 is uniformly provided with a plurality of V-shaped teeth. When a plurality of paper end caps 800 are stacked and sleeved on the storage shaft 210, the edges of all the paper end caps 800 form a long V-shaped groove, and the setting of the V-shaped folding block 220 is just adapted to the V-shaped groove of the paper end cap 800, and the number of the V-shaped grooves is equal to the V-shaped teeth. Under the dual guiding action of the storage shaft 210 and the V-shaped folding block 220, all the paper end caps 800 can stably slide in a straight line along the storage shaft 210, which is conducive to the positioning and absorption of the end cap absorption robot 500. In addition, the V-shaped folding block 220 is provided with a thrust spring, which has an adaptive adjustment function, so that the V-shaped folding block 220 can adapt to paper end caps 800 of different specifications, and has strong applicability.

[0052] In some embodiments of the present invention, see Figure 5 In order to prevent the paper end cover 800 or the pearl cotton end cover 900 from sliding out of the storage shaft 210, a plurality of blocks 240 are provided at the front end of the storage rack 200. The blocks 240 are used to stop the paper end cover 800 or the pearl cotton end cover 900. The blocks 240 and the discharge station 700 are in the same vertical plane. When the paper end cover 800 or the pearl cotton end cover 900 moves to the discharge station 700, the paper end cover 800 or the pearl cotton end cover 900 is stopped by the blocks 240, thereby preventing the paper end cover 800 or the pearl cotton end cover 900 from sliding out of the storage shaft 210.

[0053] Specifically, in the present embodiment, the storage rack 200 is frame-shaped, and a baffle 230 is detachably provided at the front end of the storage rack 200. The baffle 230 is provided with a discharge hole 231 through which the paper supply end cover 800 or the pearl cotton end cover 900 passes. The outer diameter of the discharge hole 231 is adapted to the outer diameter of the paper end cover 800 or the pearl cotton end cover 900. A plurality of blocks 240 are circumferentially arranged on the baffle 230. The baffle 230 can be fixed to the front frame of the storage rack 200 by a clamp 250. A handle 232 is also provided on the baffle 230. The cooperation of the clamp 250 and the handle 232 can realize the removal and replacement of the baffle 230.

[0054] It should be understood that the baffle 230 is made of plastic material to avoid damaging the paper end cap 800 or the pearl cotton end cap 900. When the paper end cap 800 or the pearl cotton end cap 900 is sucked by the end cap suction robot 500, the paper end cap 800 or the pearl cotton end cap 900 collides with the block 240 and is recessed toward the center for a certain distance, then breaks away from the stop of the block 240 and is sucked by the end cap suction robot 500. Thanks to the uniform circumferential arrangement of the multiple blocks 240, the paper end cap 800 or the pearl cotton end cap 900 is deformed regularly. Through the subsequent suction and bonding by the end cap combination shaft 400, the paper end cap 800 or the pearl cotton end cap 900 can evenly restore its original planar state to maintain structural stability.

[0055] Obviously, the automatic picking and feeding device for end caps of the present invention has an ingenious structure, which realizes batch storage of paper end caps 800 and pearl cotton end caps 900 of various specifications, and at the same time achieves automatic selection, combination and transportation of film roll end caps of various specifications, eliminating the tedious work of manually searching for paper end caps and pearl cotton end caps of corresponding specifications and concentrically combining the two, thereby greatly improving the loading and packaging efficiency of film roll end caps.

[0056] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. The end cap automatic picking and feeding device is characterized by: include: frame; A plurality of storage racks are arranged on the frame at intervals, a storage shaft is transversely arranged on the storage rack, a plurality of paper end caps or pearl cotton end caps are stacked and sleeved on the storage shaft, and a V-shaped folding block is also arranged above the storage shaft on the storage rack, and the V-shaped folding block is parallel to the storage shaft; A plurality of pushing mechanisms are correspondingly arranged on the storage rack, and are used to push the paper end cover or the pearl cotton end cover to slide along the storage shaft to the discharging station; An end cover assembly shaft is arranged on the frame, and the end cover assembly shaft is a stepped shaft with a plurality of annular step surfaces, on which the paper end cover and the pearl cotton end cover are coaxially sleeved; An end cap suction manipulator is used to suck the paper end cap or the pearl cotton end cap at the discharging station and put it on the end cap assembly shaft; The gripping and feeding robot is used to grip the paper end cap and the pearl cotton end cap combination on the end cap combination shaft and transfer them to the packaging station.

2. The end cap automatic picking and feeding device according to claim 1 is characterized in that: A plurality of vacuum adsorption holes are provided on the end cap assembly shaft, and the vacuum adsorption holes are used to adsorb the paper end cap and the pearl cotton end cap on the end cap assembly shaft.

3. The end cap automatic picking and feeding device according to claim 1 is characterized in that: The pushing mechanism includes a driving component and a push plate slidably sleeved on the material storage shaft. The driving component can drive the push plate to slide back and forth along the material storage shaft. The push plate is adapted to the shape of the paper end cover or the pearl cotton end cover.

4. The end cap automatic picking and feeding device according to claim 3 is characterized in that: The driving assembly includes a tension balancer arranged on the storage rack, a guide rail arranged transversely at the bottom end of the storage rack, and a propulsion bracket slidably installed on the guide rail. The steel wire rope of the tension balancer is connected to the propulsion bracket, and the push plate is fixed on the propulsion bracket.

5. The end cap automatic picking and feeding device according to claim 1, characterized in that: The end cap suction robot is a four-degree-of-freedom robot, including an XYZ three-axis mobile platform and a vacuum suction cup rotatably arranged on the XYZ three-axis mobile platform. The three-axis mobile platform can drive the vacuum suction cup to and fro between the discharge station and the end cap combination shaft. The vacuum suction cup is used to suck the paper end cap or the pearl cotton end cap.

6. The end cap automatic picking and feeding device according to claim 1, characterized in that: The gripping and feeding robot is a three-degree-of-freedom robot, comprising an XY two-axis moving platform and a clamping claw rotatably arranged on the XY two-axis moving platform, and the clamping claw is used to combine and grip the paper end cap and the pearl cotton end cap on the end cap combination shaft.

7. The end cap automatic picking and feeding device according to claim 1, characterized in that: A plurality of stoppers are provided at the front end of the storage rack, and the stoppers are used to stop the paper end cap or the pearl cotton end cap.

8. The end cap automatic picking and feeding device according to claim 7, characterized in that: A baffle is detachably provided at the front end of the storage rack, and the baffle is provided with a discharge hole for the paper end cover or the pearl cotton end cover to pass through, and the outer diameter of the discharge hole is adapted to the outer diameter of the paper end cover or the pearl cotton end cover, and a plurality of the baffles are circumferentially arranged on the baffle.

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