A film roll turning gripper

Abstract

The present invention discloses a film roll flip gripper, which positions and supports a small plug and a large plug by means of a positioning shaft and a positioning round head, so that the film roll flip gripper can be adapted to all types of film rolls, and under the push of an elastic limiting mechanism, the positioning round head presses the plug, so that the two film roll flip grippers can grip the film roll, and the friction between the film roll and the film roll flip gripper is increased by means of a flipping anti-skid component, so as to ensure that the film roll and the film roll flip gripper remain relatively still and do not slip during the subsequent film roll flipping process. After grabbing the film roll, the flipping drive device drives the positioning shaft and the pressure plate to rotate, thereby driving the film roll to complete a 90° flip, so that the strapping belt between the two vertical clamps is flipped from the top and bottom of the vertical clamps to the left and right sides of the vertical clamps, so as to prevent the strapping belt from being squeezed and damaged and broken during stacking.

Description

Technical Field

[0001] The invention relates to the technical field of film roll packaging, and in particular to a film roll turning gripper. Background Art

[0002] The coil is a cylindrical roll of plastic film. After the production of the coil is completed, it needs to be transported to various places for sale. In order to protect the integrity of the coil during transportation, reduce wear and tear, and increase the transportation quantity, the coil needs to be suspended packaged. Suspended packaging can be understood as first independently packaging a single coil, the surface of the coil is covered with bubble film, and then the two ends are buckled with a paper cover and foam pad, and the tape is wrapped to fix; then vertical plywood and plugs are installed at both ends of the coil, and then the two vertical plywood are bundled so that the coil is suspended between the two vertical plywood. After the suspension packaging is completed, the film roll needs to be moved from the bundling station to the stacking station, and several film rolls are stacked on the pallet so that the forklift can be used for transportation and shipment. After bundling, the strapping belt between the two vertical plywood is located at the top and bottom of the vertical plywood. In order to avoid the strapping belt being squeezed and damaged and broken during stacking, the film roll 12 needs to be flipped 90° so that the strapping belt 14 is located on the left and right sides of the vertical plywood 13, see Figure 6 As shown, it is urgent to develop a film roll turning gripper that can automatically grab the film roll and turn it over. In addition, since the diameters of different types of film rolls are different, it is necessary to choose a large plug (6-inch plug) or a small plug (3-inch plug) to plug the roll core according to the diameter of the film roll, so the film roll turning gripper is required to be applicable to the grabbing of all types of film rolls. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a film roll turning gripper, which is intended to grab the film roll, transport the film roll to a stacking station, and complete the turning of the film roll during the transportation process.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A film roll flipping gripper, comprising a hanging bracket, a positioning shaft rotatably arranged on the hanging bracket, a flipping drive device transmission-connected to the positioning shaft, and a pressure plate fixed on the positioning shaft; the positioning shaft is sleeved with a positioning round head which can move axially relative to the positioning shaft, and the pressure plate and the positioning round head are provided with in-position sensing mechanisms for sensing whether the grip is in place; a plurality of elastic limiting mechanisms for limiting the moving stroke of the positioning round head are provided between the positioning round head and the pressure plate; a plurality of flipping anti-skid components are provided on the pressure plate, and the flipping anti-skid components are used to keep the vertical clamping plate and the pressure plate relatively still; the positioning round head is used to position the large plug, and the positioning shaft is used to position the small plug.

[0006] As a further improvement of the above technical solution, the elastic limiting mechanism includes a first guide sleeve fixed on the pressure plate, a first guide rod slidably connected to the first guide sleeve, and a first spring sleeved on the first guide rod, the first guide sleeve is arranged on the end surface of the pressure plate facing the positioning round head, one end of the first spring presses on the first guide sleeve, and the other end presses on the positioning round head, the first guide rod passes through the pressure plate, one end of the first guide rod is fixedly connected to the positioning round head, and the other end limits the first guide rod from separating from the pressure plate.

[0007] As a further improvement of the above technical solution, the flip anti-skid assembly includes a second guide sleeve fixed on the pressure plate, a second guide rod slidably connected to the second guide sleeve, and a second spring sleeved on the second guide rod, the second guide rod passes through the pressure plate, one end of the second guide rod is provided with a pressure head, and the other end limits the second guide rod from separating from the pressure plate, the pressure head is densely arranged with spikes, one end of the second spring presses on the second guide sleeve, and the other end presses on the pressure head.

[0008] As a further improvement of the above technical solution, the end of the positioning shaft away from the flip driving device is a truncated cone structure.

[0009] As a further improvement of the above technical solution, the positioning round head includes a round head body with a hollow structure and a retaining edge arranged on the peripheral wall of the round head body.

[0010] As a further improvement of the above technical solution, the in-place sensing mechanism includes an in-place sensor arranged on the pressure plate and a round head in-place contact piece arranged on the positioning round head, and the round head in-place contact piece is used to trigger the in-place sensor.

[0011] As a further improvement of the above technical solution, a plug anti-detachment structure is provided on the pressure plate, and the plug anti-detachment structure includes a third guide sleeve fixed on the pressure plate, a third guide rod slidably connected to the third guide sleeve, and a third spring sleeved on the third guide rod, the third guide rod passes through the pressure plate, one end of the third guide rod is provided with a head for supporting the large plug, and the other end limits the third guide rod from separating from the pressure plate, one end of the third spring presses on the third guide sleeve, and the other end presses on the head.

[0012] As a further improvement of the above technical solution, the flip driving device includes a motor bracket fixedly connected to the suspension bracket and a driving motor arranged on the motor bracket, and the output end of the driving motor is drivingly connected to the positioning shaft through a coupling.

[0013] As a further improvement of the above technical solution, the coupling is provided with four flip-in-place contacts arranged in a circular array, the motor bracket is provided with a flip sensor, and the flip-in-place contacts are used to trigger the flip sensor.

[0014] As a further improvement of the above technical solution, a distance measuring probe is provided on the suspension bracket, and the distance measuring probe is used to detect the distance between the suspension bracket and the film roll.

[0015] Beneficial effects:

[0016] The film roll flip gripper provided by the present invention positions and supports the small plug and the large plug respectively through the positioning shaft and the positioning round head, so that the film roll flip gripper can be adapted to all types of film rolls, and under the push of the elastic limit mechanism, the positioning round head presses the plug, so that the two film roll flip grippers can grip the film roll, and the friction between the film roll and the film roll flip gripper is increased by the flip anti-skid component, ensuring that the film roll and the film roll flip gripper remain relatively still and will not slip during the subsequent film roll flipping process. After grabbing the film roll, the flipping drive device drives the positioning shaft and the pressure plate to rotate, thereby driving the film roll to complete a 90° flip, so that the strapping belt between the two vertical clamps is flipped from the top and bottom of the vertical clamps to the left and right sides of the vertical clamps, to prevent the strapping belt from being squeezed and damaged and broken during stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A three-dimensional film roll flip gripper provided by the present invention Figure 1 .

[0018] Figure 2 for Figure 1 A partial enlarged view of the middle L area.

[0019] Figure 3 A three-dimensional film roll flip gripper provided by the present invention Figure 2 .

[0020] Figure 4 It is a schematic diagram of the structure in which the positioning shaft and the pressure plate are integrally formed.

[0021] Figure 5 It is a schematic diagram of two film roll flip grippers used in conjunction with a three-axis moving device.

[0022] Figure 6 This is a schematic diagram of the suspended packaging film roll after flipping 90°.

[0023] Description of the main component symbols: 1-suspension bracket, 2-positioning shaft, 21-guide cone, 22-pressure plate, 3-flip driving device, 31-motor bracket, 32-drive motor, 33-flip in place contact piece, 34-flip sensor, 5-positioning round head, 51-round head body, 52-retaining edge, 6-in place sensing mechanism, 61-in place sensor, 62-round head in place contact piece, 63-travel switch, 64-distance measuring probe, 7-elastic limiting mechanism, 71-first guide sleeve, 72-first guide rod, 73-first spring, 8-flip anti-slip assembly, 81-second guide sleeve, 82-second guide rod, 83-second spring, 84-pressure head, 85-spike, 91-small plug, 92-large plug, 4-plug anti-slip structure, 41-third guide sleeve, 42-third guide rod, 43-top head, 44-third spring, 10-transport trolley. DETAILED DESCRIPTION

[0024] The present invention provides a film roll flip gripper. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the scope of protection of the present invention.

[0025] See also Figure 1 The present invention provides a film roll flipping gripper, comprising a hanging bracket 1, a positioning shaft 2 rotatably arranged on the hanging bracket 1, a flipping drive device 3 transmission-connected to the positioning shaft 2, and a pressing plate 22 fixed on the positioning shaft 2; the positioning shaft 2 is sleeved with a positioning round head 5 which can move axially relative to it, and the pressing plate 22 and the positioning round head 5 are provided with an in-place sensing mechanism 6 for sensing whether the grip is in place; a plurality of elastic limiting mechanisms 7 for limiting the moving stroke of the positioning round head 5 are provided between the positioning round head 5 and the pressing plate 22; a plurality of flipping anti-skid components 8 are provided on the pressing plate 22, and the flipping anti-skid components 8 are used to keep the vertical clamping plate and the pressing plate 22 relatively still; the positioning round head 5 is used to position the large plug 92, and the positioning shaft 2 is used to position the small plug 91.

[0026] In practical applications, the film roll flipping grippers provided by the present invention are symmetrically arranged with two of them, which are mounted on a three-axis moving device or a multi-axis manipulator for spatial movement, and the two film roll flipping grippers move closer to or farther from each other in the left and right directions to grasp the film roll. Figure 5 As shown, two film roll turning grippers are installed on a three-axis moving device 11. After the film roll 12 is suspended and packaged, it is transported from the bundling station to the grabbing station by a transport trolley 10. At this time, the film roll is located between the two film roll turning grippers. The position of the positioning shaft 2 of the film roll turning gripper is adjusted to be coaxial with the film roll 12, and then each film roll turning gripper moves toward the film roll direction.

[0027] If the film roll is suspended for packaging using a small plug 91 (the diameter of the plug is 3 inches), the positioning shaft 2 is inserted into the center of the small plug 91, and the positioning shaft 2 is clearance-matched with the small plug 91. The positioning shaft 2 supports the film roll, and the clamping end face of the positioning round head 5 rests on the surrounding edge protrusion of the small plug 91. As the film roll flipping gripper continues to move toward the center of the film roll, the elastic limiting mechanism 7 provides thrust to the positioning round head 5, so that the clamping end face of the positioning round head 5 is always pressed against the surrounding edge protrusion of the small plug 91 as the pressure plate 22 gradually approaches the positioning round head 5; at the same time, all the flipping anti-skid components 8 are pressed against the vertical clamping plate 13, increasing the friction between the film roll and the film roll flipping gripper, ensuring that the film roll and the film roll flipping gripper remain relatively still and do not slip during the subsequent film roll flipping process. When the in-position sensing mechanism 6 senses that the pressure plate 22 has moved into position, it indicates that the two positioning round heads 5 have pressed the two small plugs 91 (i.e., the film roll flipping gripper has clamped the two ends of the film roll), and the film roll flipping gripper has successfully grabbed the film roll. Then the film roll is moved away from the transport trolley 10 and moved toward the stacking station. During the movement, the flipping drive device 3 drives the positioning shaft 2 and the pressure plate 22 to rotate, thereby driving the film roll to complete a 90° flip, so that the strapping belt between the two vertical clamps 13 is flipped from the top and bottom of the vertical clamps to the left and right sides of the vertical clamps, to prevent the strapping belt from being squeezed and damaged and broken during stacking. Finally, the film roll is placed at the stacking station, and the two film roll flipping grippers move away from each other to release the film roll.

[0028] If the film roll is suspended and packaged with a large plug 92 (the diameter of the plug is 6 inches), the positioning round head 5 is inserted into the center of the large plug 92, and the large plug 92 is sleeved on the positioning round head 5. The positioning round head 5 supports the large plug 92, and the retaining edge 52 of the positioning round head 5 is against the surrounding edge protrusion of the large plug 92. As the film roll flipping gripper continues to move toward the center of the film roll, the elastic limiting mechanism 7 provides a thrust to the positioning round head 5, so that the retaining edge 52 of the positioning round head 5 is always pressed against the surrounding edge protrusion of the large plug 92 during the process of the pressure plate 22 gradually approaching the positioning round head 5; at the same time, all the flipping anti-skid components 8 are pressed against the vertical clamping plate to increase the friction between the film roll and the film roll flipping gripper to ensure that the film roll and the film roll flipping gripper are in a stable state during the subsequent flipping process. The hand remains relatively still and does not slip; when the in-position sensing mechanism 6 senses that the positioning round head 5 has moved back into position, it indicates that the two positioning round heads 5 are pressing the two large plugs 92 (i.e., the film roll flipping grippers are clamping the two ends of the film roll), and the film roll flipping grippers successfully grab the film roll, and then move the film roll away from the transport trolley 10 and move it toward the stacking station. During the movement, the flipping drive device 3 drives the positioning shaft 2 and the pressure plate 22 to rotate, thereby driving the film roll to complete a 90° flip, so that the strapping belt between the two vertical clamps is flipped from the top and bottom of the vertical clamps to the left and right sides of the vertical clamps, to avoid the strapping belt being squeezed and damaged and broken during stacking. Finally, the film roll is placed at the stacking station, and the two film roll flipping grippers move away from each other to release the film roll.

[0029] Specifically, the elastic limiting mechanism 7 includes a first guide sleeve 71 fixed on the pressure plate 22, a first guide rod 72 slidably connected to the first guide sleeve 71, and a first spring 73 sleeved on the first guide rod 72. The first guide sleeve 71 is arranged on the end surface of the pressure plate 22 facing the positioning round head 5. One end of the first spring 73 presses on the first guide sleeve 71, and the other end presses on the positioning round head 5. The first guide rod 72 passes through the pressure plate 22. One end of the first guide rod 72 is fixed to the positioning round head 5, and the other end limits the first guide rod 72 from separating from the pressure plate 22. It can be understood that a limiting disc is added to limit the first guide rod 72 from separating from the pressure plate 22. Under normal conditions, the first spring 73 is opened to keep the maximum distance between the positioning round head 5 and the pressure plate 22. The limiting disc limits the first guide rod 72 from separating from the pressure plate 22. When the positioning round head 5 is squeezed by the plug, the positioning round head 5 moves toward the pressure plate 22. The first spring 73 is gradually compressed, applying an elastic thrust to the positioning round head 5 to ensure that the two positioning round heads 5 can clamp the film roll.

[0030] In this embodiment, there are multiple elastic limiting mechanisms 7, which are reasonably arranged between the positioning round head 5 and the pressure plate 22. On the one hand, it ensures that the various parts of the positioning round head 5 are evenly stressed, and on the other hand, it ensures that the positioning round head 5 has sufficient clamping force on the roll film, ensuring that the film roll will not deviate or loosen during movement and flipping.

[0031] Furthermore, the flipping anti-skid assembly 8 includes a second guide sleeve 81 fixed on the pressing plate 22, a second guide rod 82 slidably connected to the second guide sleeve 81, and a second spring 83 sleeved on the second guide rod 82. The second guide rod 82 passes through the pressing plate 22. One end of the second guide rod 82 is provided with a pressure head 84, and the other end limits the second guide rod 82 from being separated from the pressing plate 22. It can be understood that the installation of a limiting disc limits the first guide rod 72 from being separated from the pressing plate 22. The pressure head 84 is densely arranged with spikes 85. One end of the second spring 83 presses on the second guide sleeve 81, and the other end presses on the pressure head 84. Under the elastic force of the second spring 83, the spikes 85 on the pressure head 84 penetrate into the wooden vertical clamping plate to form a good grip. Compared with the anti-skid pad set on the pressure head 84, the flipping anti-skid performance of the film roll can be further improved; the second guide rod 82, the pressure head 84 and the spikes 85 can be integrally formed by casting, which is strong and durable and not easy to deform.

[0032] In this embodiment, 30 flip anti-skid components 8 are provided, that is, 15 flip anti-skid components 8 are arranged on the left and right sides of the positioning round head 5 respectively. Through such an arrangement, even if the film roll is heavy, the film roll can be firmly grasped to prevent slipping due to excessive rotational inertia.

[0033] Preferably, the end of the positioning shaft 2 away from the flip drive device 3 is a truncated cone structure. By setting it in this way, a guide cone 21 can be formed on the positioning shaft 2, and the guide cone 21 guides the positioning shaft 2 to insert into the small plug 91, reducing the difficulty of assembly and ensuring that the positioning shaft 2 can be smoothly inserted into the small plug 91.

[0034] Preferably, the positioning round head 5 comprises a round head body 51 of a hollow structure and a retaining edge 52 arranged on the peripheral wall of the round head body 51. The middle part of the round head body 51 is slidably connected with the positioning shaft 2, the peripheral wall of the round head body 51 cooperates with the inner wall of the large plug 92, and the retaining edge 52 fits with the surrounding edge protrusion of the large plug 92 to form axial positioning for the large plug 92. The edge chamfer of the round head body 51 away from the retaining edge 52 makes it easier for the large plug 92 to be inserted into the round head body 51, ensuring successful clamping.

[0035] Preferably, the in-place sensing mechanism 6 includes an in-place sensor 61 arranged on the pressure plate 22 and a round head in-place contact piece 62 arranged on the positioning round head 5. The in-place sensor 61 is preferably a slot-type opposing photoelectric sensor. The round head in-place contact piece 62 triggers the in-place sensor 61 by blocking the light transmitted between the light transmitter and the receiver on the slot-type opposing photoelectric sensor.

[0036] In order to prevent the failure of the in-position sensor 61 and the failure of the in-position sensing of the positioning round head 5, a travel switch 63 is also provided on the pressing plate 22. When the in-position sensor 61 fails, there is no in-position signal fed back to the control system, and the pressing plate 22 continues to move toward the film roll, so that the edge protrusion of the plug triggers the travel switch 63, and the travel switch 63 feeds back a signal to the control system to prevent the film roll flipping gripper from moving excessively.

[0037] Preferably, the pressure plate 22 is provided with a plug anti-detachment structure 4, and the plug anti-detachment structure 4 includes a third guide sleeve 41 fixed on the pressure plate 22, a third guide rod 42 slidably connected to the third guide sleeve 41, and a third spring 44 sleeved on the third guide rod 42, the third guide rod 42 passes through the pressure plate 22, one end of the third guide rod 42 is provided with a head 43 for supporting the large plug 92, and the other end limits the third guide rod 42 from separating from the pressure plate 22, one end of the third spring 44 presses on the third guide sleeve 41, and the other end presses on the head 43. When the film roll flipping gripper grabs the film roll, the positioning shaft 2 is tightly connected to the small plug 91, and similarly, the positioning round head 5 is tightly connected to the large plug 92. When the positioning shaft 2 and the positioning round head 5 are pulled out of the plug, it is easy to bring the plug away from the roll core; under the elastic force of the third spring 44, the top head 43 always pushes the edge protrusion of the plug to the end of the film roll, thereby fixing the plug to prevent the positioning shaft 2 and the positioning round head 5 from bringing the plug away from the roll core under the action of friction during the process of pulling out the film roll.

[0038] Specifically, the flip driving device 3 includes a motor bracket 31 fixedly connected to the suspension bracket 1 and a driving motor 32 arranged on the motor bracket 31, and the output end of the driving motor 32 is connected to the positioning shaft 2 through a coupling. That is, the driving motor 32 drives the positioning shaft 2 and the pressing plate 22 to rotate through the coupling, so that the suspension packaging film roll sandwiched between the two pressing plates 22 is flipped 90 degrees. In order to ensure the accuracy of the flip angle, the coupling is provided with 4 flip-in-place contacts 33 arranged in a circumferential array, and the motor bracket 31 is provided with a flip sensor 34, which is electrically connected to the control system. When the driving motor 32 drives the positioning shaft 2 to rotate 90 degrees, a flip-in-place contact 33 will trigger the flip sensor 34, and the driving motor 32 drives the positioning shaft 2 to rotate unidirectionally. In the initial state, the pressing plate 22 is in a horizontal state. When the pressing plate 22 flips 90 degrees and becomes a vertical state, the pressing plate 22 flips 90 degrees again to reset to the initial state, which is convenient for control.

[0039] Since the film roll flipping gripper is used for grabbing all types of film rolls, and the lengths of film rolls of different types are different, by setting a ranging probe 64 on the suspension bracket 1, the film roll flipping gripper can quickly move toward the end of the film roll to shorten the grabbing time. When the ranging probe 64 detects that the distance between it and the film roll meets the set distance, it means that the film roll flipping gripper is very close to the film roll, and the film roll flipping gripper then moves slowly to ensure that the film roll flipping gripper can grab the film roll smoothly.

[0040] In summary, the film roll flip gripper provided by the present invention positions and supports the small plug 91 and the large plug 92 respectively through the positioning shaft 2 and the positioning round head 5, so that the film roll flip gripper can be adapted to all types of film rolls, and under the push of the elastic limit mechanism 7, the positioning round head 5 presses the plug, so that the two film roll flip grippers can grasp the film roll, and the friction between the film roll and the film roll flip gripper is increased by the flip anti-skid component 8, ensuring that the film roll and the film roll flip gripper remain relatively still and will not slip during the subsequent film roll flipping process. After grabbing the film roll, the flip drive device 3 drives the positioning shaft 2 and the pressure plate 22 to rotate, thereby driving the film roll to complete a 90° flip, so that the strapping belt between the two vertical clamps is flipped from the top and bottom of the vertical clamps to the left and right sides of the vertical clamps, to prevent the strapping belt from being squeezed and damaged and broken during stacking. Finally, the top head 43 in the plug anti-slip structure 4 always pushes the edge protrusion of the plug to the end of the film roll, thereby fixing the plug to prevent the positioning shaft 2 and the positioning round head 5 from being pulled away from the roll core due to friction during the process of pulling out the film roll.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships 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, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all these changes or substitutions should fall within the protection scope of the present invention.

Claims

1. A film roll turning gripper, characterized in that: It includes a hanging bracket, a positioning shaft rotatably arranged on the hanging bracket, a flipping drive device connected to the positioning shaft, and a pressure plate fixed on the positioning shaft; the positioning shaft is sleeved with a positioning round head which can move axially relative to it, and the pressure plate and the positioning round head are provided with in-place sensing mechanisms for sensing whether the grip is in place; a plurality of elastic limiting mechanisms for limiting the moving stroke of the positioning round head are provided between the positioning round head and the pressure plate; a plurality of flipping anti-skid components are provided on the pressure plate, and the flipping anti-skid components are used to keep the vertical clamping plate and the pressure plate relatively still; the positioning round head is used to position the large plug, and the positioning shaft is used to position the small plug; the end of the positioning shaft away from the flipping drive device is a truncated cone structure; the positioning round head includes a round head body with a hollow structure and a retaining edge arranged on the peripheral wall of the round head body.

2. The film roll turning gripper according to claim 1, characterized in that: The elastic limiting mechanism includes a first guide sleeve fixed on the pressure plate, a first guide rod slidably connected to the first guide sleeve, and a first spring sleeved on the first guide rod. The first guide sleeve is arranged on the end surface of the pressure plate facing the positioning round head. One end of the first spring presses on the first guide sleeve, and the other end presses on the positioning round head. The first guide rod passes through the pressure plate, one end of the first guide rod is fixedly connected to the positioning round head, and the other end limits the first guide rod from leaving the pressure plate.

3. The film roll turning gripper according to claim 1, characterized in that: The flip anti-skid assembly includes a second guide sleeve fixed on the pressure plate, a second guide rod slidably connected to the second guide sleeve, and a second spring sleeved on the second guide rod, the second guide rod passes through the pressure plate, one end of the second guide rod is provided with a pressure head, and the other end limits the second guide rod from separating from the pressure plate, the pressure head is densely arranged with spikes, one end of the second spring presses on the second guide sleeve, and the other end presses on the pressure head.

4. The film roll turning gripper according to claim 1, characterized in that: The in-place sensing mechanism comprises an in-place sensor arranged on the pressure plate and a round head in-place contact piece arranged on the positioning round head, and the round head in-place contact piece is used to trigger the in-place sensor.

5. The film roll turning gripper according to claim 1, characterized in that: The pressure plate is provided with a plug anti-detachment structure, and the plug anti-detachment structure includes a third guide sleeve fixed on the pressure plate, a third guide rod slidably connected to the third guide sleeve, and a third spring sleeved on the third guide rod. The third guide rod passes through the pressure plate, one end of the third guide rod is provided with a head for supporting the large plug, and the other end limits the third guide rod from separating from the pressure plate, one end of the third spring presses on the third guide sleeve, and the other end presses on the head.

6. The film roll turning gripper according to claim 1, characterized in that: The flip driving device comprises a motor bracket fixedly connected to the suspension bracket and a driving motor arranged on the motor bracket, and the output end of the driving motor is drivingly connected to the positioning shaft through a coupling.

7. The film roll turning gripper according to claim 6, characterized in that: The coupling is provided with four flip-in-place contacts arranged in a circular array, the motor bracket is provided with a flip sensor, and the flip-in-place contacts are used to trigger the flip sensor.

8. The film roll turning gripper according to claim 1, characterized in that: The suspension bracket is provided with a distance measuring probe, and the distance measuring probe is used to detect the distance between the suspension bracket and the film roll.

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