A paper tube gluing robot

Abstract

The present invention discloses a paper tube gluing robot, and relates to the technical field of manipulators. The present invention comprises a base, an industrial robot arm body is installed on the top of the base, an interface component for providing power supply and data transmission for the industrial robot arm body is arranged on the left side of the base, an extension plate is fixedly connected to the right side of the base, a clamping and positioning component for limiting the outside of the paper tube is arranged on the top of the extension plate, a conveyor belt for conveying the paper tube is longitudinally penetrated through the middle of the clamping and positioning component, a first motor is fixedly installed at the end of the industrial robot arm body, a mounting shaft is fixedly connected to the output end of the first motor, a gluing mechanism for gluing the inner wall of the paper tube is installed on the surface of the mounting shaft, and the effect of facilitating adaptive gluing of paper tubes of different specifications is achieved in use, and there is no need to repeatedly adjust equipment parameters, so that the gluing process is more convenient, and the gluing efficiency is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a paper tube gluing robot. Background Art

[0002] A paper tube is a tubular object made of paper, also known as a paper tube or paperboard tube. It is usually made of multiple layers of paper through a specific process and has a cylindrical structure. Paper tubes are widely used in the market, involving multiple industries such as food industry, transportation and postal services, automobile manufacturing, textiles, packaging, health products, art supplies, etc. In order to improve the overall structural strength of paper tubes, lining is generally added to the inner wall of the paper tube, and the lining is usually connected to the inner wall of the paper tube by glue, so it is necessary to apply glue on the inner wall of the paper tube to achieve the connection between the two.

[0003] In the process of using robots to glue paper tubes, the spraying position and range are generally preset, and the robot continuously repeats the action to complete the gluing. Therefore, it is suitable for gluing batches of paper tubes of the same specifications. However, in the actual processing process, it may be necessary to glue paper tubes of different lengths and diameters. At this time, the operating parameters of the robot need to be adjusted, which makes the operation process more cumbersome. It is difficult to adaptively glue paper tubes of different specifications and it is difficult to improve the gluing efficiency.

[0004] For this purpose, a paper tube gluing robot is proposed. Summary of the invention

[0005] The purpose of the present invention is to solve the problems mentioned in the above background technology, and the present invention provides a paper tube gluing robot.

[0006] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0007] A paper tube gluing robot comprises a base, an industrial robot arm body is installed on the top of the base, an interface component for providing power supply and data transmission for the industrial robot arm body is arranged on the left side of the base, an extension plate is fixedly connected to the right side of the base, a clamping and positioning component for limiting the outside of the paper tube is arranged on the top of the extension plate, a conveyor belt for conveying the paper tube is longitudinally penetrated through the middle of the clamping and positioning component, a first motor is fixedly installed on the end of the industrial robot arm body, a mounting shaft is fixedly connected to the output end of the first motor, a gluing mechanism for applying glue to the inner wall of the paper tube is installed on the surface of the mounting shaft, an extension approach component for adjusting the distance between the glue outlet position of the gluing mechanism and the inner wall of the paper tube is arranged on the surface of the mounting shaft, a range control component for controlling the axial movement of the glue outlet position of the gluing mechanism along the mounting shaft is also arranged on the surface of the mounting shaft, the gluing mechanism comprises a glue storage box, and the glue storage box is sleeved on the surface of the mounting shaft, and the interior of the glue storage box The invention relates to a method for distributing glue to a user, wherein the glue supply pump is fixedly installed inside the glue storage box, the glue outlet end of the glue supply pump is fixedly connected to a connecting hose, the end of the connecting hose is fixedly connected to a shunt block, and a glue spray nozzle is fixedly installed on the surface of the shunt block. The extension approach component comprises a mounting rod, and the mounting rod is slidably connected to the mounting shaft, an electric push rod is fixedly installed on the inner wall of the mounting rod, and the telescopic end of the electric push rod is movably plugged into the mounting rod, and the end of the telescopic end of the mounting rod is fixedly connected to the shunt block, a laser rangefinder is fixedly installed on the front of the mounting rod, and the laser rangefinder is electrically connected to the electric push rod, the range control component comprises a second motor, and the second motor is fixedly installed on the inner wall of the mounting shaft, a screw rod is fixedly connected to the output end of the second motor, and the screw rod is threadedly connected to the mounting rod, a slide groove is provided on the surface of the mounting shaft, and the inner wall of the slide groove is slidably connected to the surface of the mounting rod, a first pressure sensor is fixedly installed on the right end of the mounting shaft, and the range control component also comprises a height limit component.

[0008] Furthermore, the clamping and positioning assembly includes a control box, and the control box is fixedly connected to the top surface of the extension plate, a third motor is fixedly installed on the right side of the control box, an output end of the third motor is fixedly connected to a double-headed screw, a surface of the double-headed screw is threadedly connected to two connecting rods, and the connecting rods are movably plugged into the control box, and an inclined clamp is fixedly connected to the end of the connecting rod.

[0009] Furthermore, the height limit assembly includes a first retaining ring and a second retaining ring, and the inner walls of the first retaining ring and the second retaining ring are fixedly connected to the surface of the mounting shaft, a spring is fixedly connected to the right side surface of the first retaining ring, a free end of the spring is fixedly connected to a mounting plate, and the glue storage box is fixedly mounted on the surface of the mounting plate, and a second pressure sensor is fixedly mounted on the left side surface of the mounting rod.

[0010] The beneficial effects of the present invention are as follows:

[0011] 1. Fit one end of the paper tube to the surface of the conveyor belt, and use the conveyor belt to transport the paper tube to the clamping and positioning component. When the paper tube reaches the clamping and positioning component, use the clamping and positioning component to center and clamp the paper tube, and then operate the industrial robot arm body to control the movement of the first motor and the installation shaft so that the installation shaft enters the inside of the paper tube, and ensure that the axis of the installation shaft and the axis of the paper tube are collinear. The range control component can determine that the bottom end of the installation shaft reaches the lowest position inside the paper tube. At this time, the glue outlet position of the gluing mechanism is also at the lowest point inside the paper tube. At this time, by extending the approach component, the glue outlet position of the gluing mechanism can be controlled to maintain a preset distance from the inner wall of the paper tube to ensure the spraying effect of the gluing mechanism. The inner wall of the paper tube can be sprayed by the operation of the gluing mechanism. After the glue liquid is sprayed, the range control component can be used to control the glue outlet position of the glue coating mechanism to move upward, so as to spray the inner wall of the paper tube at different heights. The range control component can control the moving range of the glue outlet position of the glue coating mechanism according to the height of the paper tube. The first motor can be used to drive the mounting shaft to rotate, thereby driving the glue outlet position of the glue coating mechanism to rotate, so as to perform comprehensive rotational spraying on the inner wall of the paper tube. After the spraying is completed, the industrial robot arm body controls the first motor and the mounting shaft to reset, and the range control component and the extended proximity component control the glue coating mechanism to reset. In use, the effect of adaptive gluing of paper tubes of different specifications is achieved without repeatedly adjusting the equipment parameters, making the gluing process more convenient and further improving the gluing efficiency.

[0012] 2. The present invention can realize the centering clamping of the paper tube through the clamping and positioning component. When paper tubes of different specifications are clamped, their axis positions remain consistent, so that after the industrial robot arm body controls the installation shaft to enter the paper tube, it can ensure that the axis of the installation shaft coincides with the axis of the paper tube, thereby facilitating the accuracy of the position during subsequent gluing.

[0013] 3. The gluing mechanism of the present invention sprays glue on the inner wall of the paper tube by spraying, and cooperates with the first motor to control the installation shaft and the rotation of the gluing mechanism, and the range control component drives the gluing mechanism to move, so as to achieve comprehensive and uniform spraying on the inner wall of the paper tube, so that the glue is more evenly distributed, thereby ensuring the bonding stability of the subsequent lining. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0015] Figure 2 It is a top cross-sectional view of the clamping and positioning assembly structure of the present invention;

[0016] Figure 3 It is a schematic diagram of the installation shaft structure of the present invention;

[0017] Figure 4 It is a front cross-sectional view of the mounting shaft structure of the present invention;

[0018] Figure 5 is a front cross-sectional view of the mounting rod structure of the present invention;

[0019] Figure 6 It is a side view of the structure of the glue storage box of the present invention;

[0020] Figure 7 is a side view of the base structure of the present invention;

[0021] 1. Base; 2. Industrial robot arm body; 3. Interface assembly; 4. First motor; 5. Mounting shaft; 6. Glue coating mechanism; 601. Glue storage box; 602. Glue supply pump; 603. Connecting hose; 604. Diverter block; 605. Glue spray nozzle; 7. Extension approach assembly; 701. Mounting rod; 702. Electric push rod; 703. Laser rangefinder; 8. Range control assembly; 801. Second motor; 802. Screw rod; 803. Slide groove; 804. First pressure sensor; 805. Second pressure sensor; 806. First retaining ring; 807. Mounting plate; 808. Spring; 809. Second retaining ring; 9. Conveyor belt; 10. Extension plate; 11. Clamping and positioning assembly; 111. Control box; 112. Third motor; 113. Double-headed screw; 114. Connecting rod; 115. Inclined clamp block. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0025] The electrical components mentioned in this article are all connected to an external main controller and 220V mains electricity, and the main controller can be a conventional known device for controlling a computer or the like.

[0026] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They 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 cannot be understood as a limitation on the present invention.

[0027] like Figures 1 to 7 As shown, a paper tube gluing robot comprises a base 1, an industrial robot arm body 2 is mounted on the top of the base 1, an interface component 3 for providing power supply and data transmission to the industrial robot arm body 2 is arranged on the left side of the base 1, an extension plate 10 is fixedly connected to the right side of the base 1, a clamping and positioning component 11 for limiting the outside of the paper tube is arranged on the top of the extension plate 10, a conveyor belt 9 for conveying the paper tube is longitudinally penetrated through the middle of the clamping and positioning component 11, a first motor 4 is fixedly mounted on the end of the industrial robot arm body 2, a mounting shaft 5 is fixedly connected to the output end of the first motor 4, a gluing mechanism 6 for gluing the inner wall of the paper tube is mounted on the surface of the mounting shaft 5, an extension approach component 7 for adjusting the glue outlet position of the gluing mechanism 6 and the distance between the inner wall of the paper tube is arranged on the surface of the mounting shaft 5, and a range control component 8 for controlling the axial movement of the glue outlet position of the gluing mechanism 6 along the mounting shaft 5 is also arranged on the surface of the mounting shaft 5.

[0028] More specifically, one end of the paper tube is fitted with the surface of the conveyor belt 9, and the conveyor belt 9 is used to transport the paper tube to the clamping and positioning component 11. When the paper tube reaches the clamping and positioning component 11, the clamping and positioning component 11 is used to center and clamp the paper tube, and then the industrial robot arm body 2 is operated to control the movement of the first motor 4 and the installation shaft 5, so that the installation shaft 5 enters the inside of the paper tube, and ensure that the axis of the installation shaft 5 and the axis of the paper tube are in line. The range control component 8 can determine that the bottom end of the installation shaft 5 reaches the lowest position inside the paper tube. At this time, the glue outlet position of the glue coating mechanism 6 is also located at the lowest point inside the paper tube. At this time, the operation of the extension approach component 7 can control the glue outlet position of the glue coating mechanism 6 and the inner wall of the paper tube to maintain the pre- A distance is set to ensure the spraying effect of the gluing mechanism 6. Through the operation of the gluing mechanism 6, the glue can be sprayed on the inner wall of the paper tube, and then the range control component 8 can control the glue outlet position of the gluing mechanism 6 to move upward, so as to spray the inner wall of the paper tube at different heights, and the range control component 8 can control the moving range of the glue outlet position of the gluing mechanism 6 according to the height of the paper tube, and then through the operation of the first motor 4, the installation shaft 5 can be driven to rotate, thereby driving the glue outlet position of the gluing mechanism 6 to rotate, so as to fully rotate and spray the inner wall of the paper tube. After the spraying is completed, the industrial robot arm body 2 controls the first motor 4 and the installation shaft 5 to reset, and the range control component 8 and the extension approach component 7 control the gluing mechanism 6 to reset.

[0029] The clamping and positioning assembly 11 includes a control box 111, and the control box 111 is fixedly connected to the top surface of the extension plate 10, a third motor 112 is fixedly installed on the right side of the control box 111, an output end of the third motor 112 is fixedly connected to a double-headed screw 113, a surface of the double-headed screw 113 is threadedly connected to two connecting rods 114, and the connecting rods 114 are movably plugged into the control box 111, and an inclined clamp 115 is fixedly connected to the end of the connecting rod 114.

[0030] It should be noted that when the conveyor belt 9 transports the paper tube to the position of the clamping and positioning assembly 11, the third motor 112 is operated to drive the double-headed screw 113 to rotate, and the two sets of connecting rods 114 will be driven to move under the action of the thread, thereby pushing the inclined clamping block 115 to move, and the two inclined clamping blocks 115 are used to clamp and fix the paper tube from the left and right sides.

[0031] The glue coating mechanism 6 includes a glue storage box 601, and the glue storage box 601 is sleeved on the surface of the mounting shaft 5. The glue storage box 601 is filled with glue liquid. A glue supply pump 602 is fixedly installed inside the glue storage box 601. The glue outlet end of the glue supply pump 602 is fixedly connected to a connecting hose 603. The end of the connecting hose 603 is fixedly connected to a diverter block 604. A glue spray nozzle 605 is fixedly installed on the surface of the diverter block 604.

[0032] More specifically, after the installation shaft 5 enters the interior of the paper tube, the glue supply pump 602 is operated, and its glue inlet end is used to suck glue from the interior of the glue storage box 601, and the glue is transported through the connecting hose 603. The glue will enter the interior of the diversion block 604, and then the glue can be sprayed on the interior of the paper tube through the glue spray nozzle 605.

[0033] The extension approach component 7 includes a mounting rod 701, and the mounting rod 701 is slidably connected to the mounting shaft 5. An electric push rod 702 is fixedly installed on the inner wall of the mounting rod 701, and the telescopic end of the electric push rod 702 is movably plugged into the mounting rod 701, and the telescopic end of the mounting rod 701 is fixedly connected to the diverter block 604. A laser rangefinder 703 is fixedly installed on the front of the mounting rod 701, and the laser rangefinder 703 is electrically connected to the electric push rod 702.

[0034] It should be noted that the distance from the laser rangefinder 703 to the inner wall of the paper tube can be measured by the laser rangefinder 703. In actual use, the distance from the installation position of the laser rangefinder 703 to the axis of the installation shaft 5 is measured in advance, and the radius of the paper tube can be obtained by adding the distance measured by the laser rangefinder 703. After that, the telescopic end of the electric push rod 702 is driven to extend, so as to push the diverter block 604 and the glue nozzle 605 to move, so that the glue nozzle 605 is close to the inner wall of the paper tube, so that the glue nozzle 605 and the inner wall of the paper tube are kept at an optimal distance, thereby ensuring the spraying effect of the glue nozzle 605. Since the laser rangefinder 703 can measure the radius of the paper tube, the actual stroke of the electric push rod 702 can be accurately controlled, thereby ensuring that the glue nozzle 605 accurately reaches the optimal position, so that the glue nozzle 605 can maintain the same spraying effect on the inner walls of paper tubes with different radii.

[0035] The range control component 8 includes a second motor 801, and the second motor 801 is fixedly mounted on the inner wall of the mounting shaft 5. The output end of the second motor 801 is fixedly connected with a screw rod 802, and the screw rod 802 is threadedly connected to the mounting rod 701. A slide groove 803 is opened through the surface of the mounting shaft 5, and the inner wall of the slide groove 803 is slidably connected to the surface of the mounting rod 701. A first pressure sensor 804 is fixedly mounted on the right end of the mounting shaft 5. The range control component 8 also includes a height limit component.

[0036] More specifically, when the industrial robot arm body 2 controls the installation shaft 5 to enter the inside of the paper tube, the installation shaft 5 remains in a vertical state and descends, and the axis of the installation shaft 5 is made to be colinear with the axis of the paper tube. Finally, the first pressure sensor 804 will contact the surface of the conveyor belt 9. At this time, the installation shaft 5 reaches the final position, and the initial state of the diverter block 604 is also located at the end of the installation shaft 5, so the diverter block 604 also reaches the lowest position, and the second motor 801 is operated to drive the screw rod 802 to rotate, and under the action of the thread, the installation rod 701 will be driven to slide along the inner wall of the slide groove 803, thereby driving the diverter block 604 and the glue nozzle 605 to rise, so that the glue nozzle 605 is sprayed to a higher position, and the height limit component can be used to control the highest position of the diverter block 604 and the glue nozzle 605 rising inside the paper tube. Therefore, the range control component 8 can be used to control the moving range of the glue nozzle 605 in the paper tube, so as to adapt to the glue spraying on the inner walls of paper tubes of different lengths.

[0037] The height limit assembly includes a first stop ring 806 and a second stop ring 809, and the inner walls of the first stop ring 806 and the second stop ring 809 are fixedly connected to the surface of the mounting shaft 5, a spring 808 is fixedly connected to the right side of the first stop ring 806, a free end of the spring 808 is fixedly connected to the mounting plate 807, and the glue storage box 601 is fixedly installed on the surface of the mounting plate 807, and a second pressure sensor 805 is fixedly installed on the left side of the mounting rod 701.

[0038] It should be noted that, in the initial state, due to the elastic force of the spring 808, the mounting plate 807 will be pushed to move in the direction away from the first baffle ring 806, so that the mounting plate 807 will fit the surface of the second baffle ring 809. In the working state, when the industrial robot arm body 2 controls the first motor 4 and the mounting shaft 5 to move, so that the mounting shaft 5 enters the inside of the paper tube, the mounting plate 807 will fit the top of the paper tube until the first pressure sensor 804 contacts the surface of the conveyor belt 9. During the movement of the mounting shaft 5, the top of the paper tube will push the mounting plate 807 to move upward and compress the spring 808. During the movement of the mounting rod 701, the second pressure sensor 805 will be driven to move, and the second pressure sensor 805 will eventually come into contact with the mounting plate 807. When the second pressure sensor 805 detects pressure, the second motor 801 stops running, and the mounting rod 701 will be controlled to suspend running, so that the mounting rod 701 reaches the highest position, so that the glue nozzle 605 can spray the highest position of the inner wall of the paper tube.

[0039] The glue storage box 601 is a circular ring structure, and a sealing cover is threadedly connected to the left side of the glue storage box 601.

[0040] More specifically, by configuring the glue storage box 601 to be a circular ring structure with a circular channel in the middle thereof, the glue storage box 601 will not obstruct the mounting shaft 5 during movement, and by configuring a sealing cover, external impurities can be prevented from entering the interior of the glue storage box 601 and causing an adverse effect on the glue liquid, and by opening the sealing cover, glue liquid can be added to the interior of the glue storage box 601 in time when the glue liquid is insufficient.

[0041] The opposite sides of the two inclined clamping blocks 115 are V-shaped structures, and the surfaces of the inclined clamping blocks 115 are provided with a rubber layer.

[0042] It should be noted that since the paper tube is a cylindrical structure as a whole, by setting the clamping surface of the inclined clamping block 115 to a V-shape, it is convenient to adapt to paper tubes of different specifications and achieve stable clamping of paper tubes of different specifications. By adding a rubber layer to the clamping surface of the inclined clamping block 115, the friction with the surface of the paper tube is increased, making it less likely for the paper tube to slide and avoiding crushing on the surface of the paper tube.

[0043] In summary: fit one end of the paper tube to the surface of the conveyor belt, and use the conveyor belt to transport the paper tube to the clamping and positioning component. When the paper tube reaches the clamping and positioning component, use the clamping and positioning component to center and clamp the paper tube, and then operate the industrial robot arm body to control the movement of the first motor and the installation shaft so that the installation shaft enters the inside of the paper tube, and ensure that the axis of the installation shaft and the axis of the paper tube are colinear. The range control component can be used to determine that the bottom end of the installation shaft reaches the lowest position inside the paper tube. At this time, the glue outlet position of the gluing mechanism is also at the lowest point inside the paper tube. At this time, by extending the approach component, the glue outlet position of the gluing mechanism can be controlled to maintain a preset distance from the inner wall of the paper tube to ensure the spraying effect of the gluing mechanism. The inner wall of the paper tube can be gluing by running the gluing mechanism. The glue liquid is sprayed, and then the glue outlet position of the glue coating mechanism can be controlled to move upward through the range control component, so as to spray different heights of the inner wall of the paper tube, and the range control component can control the moving range of the glue outlet position of the glue coating mechanism according to the height of the paper tube, and then the first motor is operated to drive the installation shaft to rotate, thereby driving the glue outlet position of the glue coating mechanism to rotate, so as to perform comprehensive rotation spraying on the inner wall of the paper tube. After the spraying is completed, the industrial robot arm body controls the first motor and the installation shaft to reset, and the range control component and the extension approach component control the glue coating mechanism to reset. In use, the effect of facilitating adaptive gluing of paper tubes of different specifications is achieved, and there is no need to repeatedly adjust the equipment parameters, making the gluing process more convenient and further improving the gluing efficiency. The present invention can realize the centering clamping of the paper tube through the clamping and positioning component. When the paper tubes of different specifications are clamped, the axis position thereof remains consistent, so that after the industrial robot arm body controls the installation shaft to enter the paper tube, it can ensure that the axis of the installation shaft coincides with the axis of the paper tube, thereby facilitating the accuracy of the position during subsequent gluing. The gluing mechanism of the present invention sprays glue on the inner wall of the paper tube by spraying, and cooperates with the first motor to control the installation shaft and the rotation of the gluing mechanism, and the range control component drives the gluing mechanism to move, so as to achieve comprehensive and uniform spraying on the inner wall of the paper tube, so that the glue is more evenly distributed, thereby ensuring the bonding stability of the subsequent lining.

[0044] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A paper tube gluing robot, characterized in that: The invention comprises a base (1), an industrial robot arm body (2) is mounted on the top of the base (1), an interface component (3) for providing power supply and data transmission to the industrial robot arm body (2) is arranged on the left side of the base (1), an extension plate (10) is fixedly connected to the right side of the base (1), a clamping and positioning component (11) for limiting the outside of a paper tube is arranged on the top of the extension plate (10), a conveyor belt (9) for conveying paper tubes is longitudinally penetrated through the middle of the clamping and positioning component (11), a first motor (4) is fixedly mounted on the end of the industrial robot arm body (2), an output end of the first motor (4) is fixedly connected to a mounting shaft (5), and the The surface of the mounting shaft (5) is provided with a glue coating mechanism (6) for coating glue on the inner wall of the paper tube, the surface of the mounting shaft (5) is provided with an extension approach component (7) for adjusting the distance between the glue outlet position of the glue coating mechanism (6) and the inner wall of the paper tube, the surface of the mounting shaft (5) is also provided with a range control component (8) for controlling the axial movement of the glue outlet position of the glue coating mechanism (6) along the mounting shaft (5), the glue coating mechanism (6) comprises a glue storage box (601), and the glue storage box (601) is sleeved on the surface of the mounting shaft (5), the glue storage box (601) contains glue liquid, and the glue storage box (601) is fixedly installed with a glue supply pump (602) inside, and the glue supply pump (602) is fixedly installed inside. 02) is fixedly connected to the glue outlet end of the connecting hose (603), the end of the connecting hose (603) is fixedly connected to the diverter block (604), the surface of the diverter block (604) is fixedly installed with a glue spray nozzle (605), the extending approach component (7) includes a mounting rod (701), and the mounting rod (701) is slidably connected to the mounting shaft (5), the inner wall of the mounting rod (701) is fixedly installed with an electric push rod (702), and the telescopic end of the electric push rod (702) is movably plugged into the mounting rod (701), and the telescopic end of the mounting rod (701) is fixedly connected to the diverter block (604), and the front of the mounting rod (701) is fixedly installed with a laser rangefinder ( 703), and the laser rangefinder (703) is electrically connected to the electric push rod (702), the range control component (8) includes a second motor (801), and the second motor (801) is fixedly mounted on the inner wall of the mounting shaft (5), the output end of the second motor (801) is fixedly connected to a lead screw (802), and the lead screw (802) is threadedly connected to the mounting rod (701), a sliding groove (803) is formed through the surface of the mounting shaft (5), and the inner wall of the sliding groove (803) is slidably connected to the surface of the mounting rod (701), a first pressure sensor (804) is fixedly mounted on the right end of the mounting shaft (5), and the range control component (8) further includes a height limit component.

2. A paper tube gluing robot according to claim 1, characterized in that: The clamping and positioning assembly (11) comprises a control box (111), and the control box (111) is fixedly connected to the top surface of the extension plate (10), a third motor (112) is fixedly mounted on the right side surface of the control box (111), an output end of the third motor (112) is fixedly connected to a double-headed screw (113), a surface of the double-headed screw (113) is threadedly connected to two connecting rods (114), and the connecting rods (114) are movably plugged into the control box (111), and an end of the connecting rod (114) is fixedly connected to an inclined clamping block (115).

3. A paper tube gluing robot according to claim 1, characterized in that: The height limiting assembly comprises a first retaining ring (806) and a second retaining ring (809), and the inner walls of the first retaining ring (806) and the second retaining ring (809) are fixedly connected to the surface of the mounting shaft (5), a spring (808) is fixedly connected to the right side surface of the first retaining ring (806), a free end of the spring (808) is fixedly connected to the mounting plate (807), and the glue storage box (601) is fixedly mounted on the surface of the mounting plate (807), and a second pressure sensor (805) is fixedly mounted on the left side surface of the mounting rod (701).

4. The paper tube gluing robot according to claim 1, characterized in that: The glue storage box (601) is a circular ring structure, and a sealing cover is threadedly connected to the left side of the glue storage box (601).

5. The paper tube gluing robot according to claim 2, characterized in that: The opposite side surfaces of the two inclined surface clamping blocks (115) are V-shaped structures, and a rubber layer is provided on the surface of the inclined surface clamping blocks (115).

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