Machine grabbing device based on paper tube production and processing

Abstract

The machine grabbing device is applied to the technical field of paper tube production, a mechanical arm and a pretreatment mechanism are arranged, the mechanical arm can drive the pretreatment mechanism to move to the position of a paper tube needing to be grabbed, a fixing assembly can be matched with a driving assembly, and the paper tube can be grabbed along with movement of the mechanical arm; the follow-up assembly can be driven to move the dehumidification assembly and the static electricity removal assembly to the inner side of the paper tube, the follow-up assembly can be matched with the driving assembly to adjust the appearance of the adaptation mechanism, and therefore the adaptation mechanism can adapt to the inner diameter of the inner side of the paper tube, and after the adaptation mechanism grabs the paper tube, the dehumidification assembly can be matched with the static electricity removal assembly; and the inner side of the paper tube is subjected to dehumidification and static electricity removal pretreatment, and the stability of the paper tube during conveying is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of paper tube production, and in particular relates to a machine grabbing device based on paper tube production and processing. Background Art

[0002] As we all know, in the field of paper tube production and processing, traditional handling and grabbing methods mostly rely on manual operation, which is inefficient and prone to errors. With the expansion of production scale and the increase in automation needs, existing grabbing equipment has problems such as insufficient precision and poor adaptability. For example, some grabbing devices cannot stably grab paper tubes of different specifications, which easily causes damage to the paper tubes; other devices move slowly, affecting the efficiency of the entire production process. In order to improve the efficiency and quality of paper tube production and processing and reduce manual labor intensity, it is imperative to develop a new type of machine grabbing device. This device needs to have the characteristics of high precision, high speed, and strong adaptability to meet the growing production needs.

[0003] At present, a Chinese invention with publication number: CN117125471A discloses a gripping device for paper tube production, comprising: a bearing base plate; a rotating cylinder installed on the bearing base plate, a gripping movable part is rotatably connected to the rotating cylinder, the gripping movable part comprises: a first driving arm, a second driving arm connected to the first driving arm, and an auxiliary driving arm for connecting the first driving arm and the second driving arm, a driving cylinder is installed on the auxiliary driving arm; and a clamping driving part arranged on the second driving arm, the clamping driving part comprises: a clamping assembly, a clamping driving part for driving the clamping assembly, the setting of the driving cylinder controls the first driving arm and the second driving arm, so that the gripping device can freely extend and retract and flexibly grip the product; at the same time, the four groups of clamps are controlled by the clamping driving part, so that the clamps can better grip the product, avoiding the traditional two-jaw form, which causes damage to the product and affects the subsequent processing.

[0004] The existing machine grabbing device based on paper tube production and processing has the following disadvantages when in use:

[0005] 1. There is a lack of an integrated structure for removing static electricity and dehumidifying the paper tube when grabbing it, so the paper tube cannot be pre-processed when it is grabbed to the next step, which reduces the flexibility of the paper tube when grabbing and transporting;

[0006] 2. There is a lack of adaptive adjustment structure for different inner diameters of paper tubes, so it is impossible to adapt to the inner diameters of paper tubes with different inner diameters, which reduces the flexibility when grabbing paper tubes. Summary of the invention

[0007] The purpose of the present invention is to provide a machine grabbing device based on the existing paper tube production and processing, and its advantages are:

[0008] 1. It has an integrated structure for removing static electricity and dehumidifying paper tubes when grabbing them, so the paper tubes can be pre-processed when they are grabbed to the next step, which improves the flexibility of paper tubes when grabbing and transporting;

[0009] 2. It has an adaptive adjustment structure for different inner diameters of paper tubes, so it can adapt to the inner diameters of paper tubes with different inner diameters, improving the flexibility of grabbing paper tubes.

[0010] The above technical purpose of the present invention is achieved through the following technical solutions: A machine grasping device based on paper tube production and processing, including a mechanical arm, a pretreatment mechanism and an adaptation mechanism, the pretreatment mechanism is bolted to the output end of the mechanical arm, and the adaptation mechanism is bolted to the right side of the pretreatment mechanism. The pretreatment mechanism includes a fixed component, a driving component, a follower component, a dehumidification component and a static electricity removal component. The fixed component is bolted to the output end of the mechanical arm, the driving component is bolted to the front side of the fixed component, the follower component is bolted to the left side of the driving component, the dehumidification component is bolted to the right side of the follower component, and the static electricity removal component is bolted to the surface of the dehumidification component. The adaptation mechanism includes a transmission component, an adjustment component, a moving component and a contact component. The transmission component is bolted to the right side of the fixed component, the adjustment component is rotatably connected to the surface of the transmission component, the moving component is bolted to the right side of the adjustment component, the contact component is bolted to the right side of the moving component, and the right side of the inner side of the contact component is bolted to the right side of the static electricity removal component.

[0011] By adopting the above technical scheme, a robotic arm, a pretreatment mechanism and an adaptation mechanism are set up. The robotic arm is an existing industrial robotic arm, which can drive the pretreatment mechanism to move. The pretreatment mechanism can simultaneously dehumidify and remove static electricity from the paper tube, thereby increasing the stability of the paper tube when entering the next process. The adaptation mechanism can adapt to paper tubes with different inner diameters, and limit the inner diameter of the paper tube to achieve grasping, thereby increasing the flexibility and stability when grasping the paper tube.

[0012] The present invention is further configured as follows: the fixing assembly includes a fixing plate, a fixing rod and a reinforcement rod, the fixing plate is bolted to the output end of the robotic arm, the fixing rod is bolted to the front side of the fixing plate, the reinforcement rod is bolted to the bottom of the fixing plate, and the bottom of the rear side of the fixing rod is bolted to the reinforcement rod.

[0013] By adopting the above technical solution and setting a fixing assembly, the fixing plate can cooperate with the reinforcing rod to support and limit the fixing rod, and the fixing rod can support and limit the driving assembly.

[0014] The present invention is further configured as follows: the driving assembly includes a positioning plate, a driving hydraulic rod and a driving tube, the positioning plate is bolted to the front side of the fixed rod, the driving hydraulic rod is bolted to the left side of the fixed plate, and the driving tube is slidably connected to the left side of the positioning plate.

[0015] By adopting the above technical solution, by setting up a driving component, the positioning plate can cooperate with the driving hydraulic rod to support and limit the follower component, and can drive the follower component to move the driving pipe, and the driving pipe will move the dehumidification component, so that the adaptation mechanism can be adjusted.

[0016] The present invention is further configured as follows: the follower assembly includes a follower plate, a follower rod and a follower ring, the follower plate is bolted to the left side of the driving hydraulic rod, the follower rod is bolted to the left side of the follower plate, the right side of the follower rod is bolted to the driving hydraulic rod, the follower ring is bolted to the front side of the right side of the follower plate, and the right side of the follower ring is bolted to the driving tube.

[0017] By adopting the above technical solution, by setting a follower assembly, the follower plate can cooperate with the follower rod, and as the hydraulic rod sword drives the follower ring, the position of the driving tube can be changed, allowing the driving tube to adjust to the shape of the mechanism.

[0018] The present invention is further configured as follows: the dehumidification component includes an air suction pump, an air duct and an air supply pipe, the air suction pump is connected to the right side of the driving pipe, the air duct is connected to the right side of the air suction pump, and the air supply pipe is connected to the surface of the air suction pipe.

[0019] By adopting the above technical solution, a dehumidification component is set up, and the air pump can cooperate with the air duct to pump external air to the air duct, so that the air duct can evenly transport the air to the air supply pipe, and the air supply pipe can transport the air to the inside of the paper tube, thereby dehumidifying the paper tube.

[0020] The present invention is further configured as follows: the static electricity removal component includes a static electricity removal machine, a magnetic conductive plate and a magnetic conductive ring; the static electricity removal machine is bolted to the right side of the air duct; the magnetic conductive plate is bolted to the left side of the static electricity removal machine; the inner side of the magnetic conductive plate is bolted to the surface of the air duct; the magnetic conductive ring is bolted to the surface of the magnetic conductive plate; and the inner side of the magnetic conductive ring is bolted to the surface of the air duct.

[0021] By adopting the above technical solution, through setting up the static electricity removal component, the static electricity removal machine can cooperate with the magnetic conductive plate. According to the required static electricity removal needs, the electrons for static electricity removal are transported to the magnetic conductive ring through the magnetic conductive plate, so that the electrons for static electricity removal can be brought into contact with the static electricity electrons, thereby achieving the effect of eliminating static electricity.

[0022] The present invention is further configured as follows: the transmission assembly includes a transmission ring, a transmission servo motor and a transmission gear, the transmission ring is bolted to the left side of the positioning plate, the transmission servo motor is bolted to the left side of the transmission ring, and the transmission gear is bolted to the output end at the top of the transmission servo motor.

[0023] By adopting the above technical solution, through setting up the transmission assembly, the transmission ring can cooperate with the transmission servo motor to support and limit the transmission servo motor. The transmission servo motor can drive the transmission gear to drive the adjustment assembly, so that the orientation of the adjustment assembly can be adjusted.

[0024] The present invention is further configured as follows: the adjustment component includes an adjustment disk, an adjustment tooth groove and a transmission disk, and the adjustment component, the adjustment disk is rotatably connected to the surface of the transmission ring of the positioning plate, the adjustment tooth groove is opened on the left side of the adjustment disk, and the transmission disk is bolted to the right side of the adjustment disk.

[0025] By adopting the above technical solution and setting the adjustment component, the adjustment disk can cooperate with the adjustment tooth groove and perform circular motion as the transmission gear rotates, thereby driving the transmission disk to drive the moving component.

[0026] The present invention is further configured as follows: the moving assembly includes a moving disk, a moving block and a moving groove, the moving disk is bolted to the right side of the transmission disk, the moving block is bolted to the top of the right side of the moving disk, and the moving groove is opened at the top of the moving block.

[0027] By adopting the above technical solution, by setting up a moving component, the moving disk can perform circular motion as the transmission disk rotates, so that it can cooperate with the moving block to drive the moving block to perform circular motion. The moving groove can cooperate with the moving block to drive the contact component to perform circular motion together, so that the shape of the contact component can be changed to adapt to the inner diameter of the paper tube.

[0028] The present invention is further configured as follows: the contact assembly includes a contact rod, a contact torsion spring and a contact plate, the contact rod is bolted to the inner side of the movable groove, the contact torsion spring is bolted to the right side of the contact rod, the contact plate is bolted to the right side of the contact torsion spring, and the left side of the contact plate is bolted to the right side of the static electricity removal machine.

[0029] By adopting the above technical solution, through setting up a contact assembly, the contact rod can cooperate with the contact plate, the contact plate can fix the right side of the contact torsion spring, and the contact rod can drive the contact torsion spring to move in a circular motion with the circular motion of the moving block, thereby changing the shape of the contact torsion spring. At the same time, as the driving tube moves, the distance between the contact torsion springs can be changed, so that the contact torsion spring can be close to the inside of the paper tube, thereby limiting the position of paper tubes with different inner diameters.

[0030] In summary, the present invention has the following beneficial effects:

[0031] 1. By setting a mechanical arm and a pre-treatment mechanism, the mechanical arm can drive the pre-treatment mechanism to move to the paper tube to be grabbed, and the fixed component can cooperate with the driving component. As the mechanical arm moves, the follower component can be driven to move the dehumidification component and the anti-static component to the inside of the paper tube. The follower component can cooperate with the driving component to adjust the shape of the adaptation mechanism so that the adaptation mechanism can adapt to the inner diameter of the inside of the paper tube. After the adaptation mechanism grabs the paper tube, the dehumidification component can cooperate with the anti-static component to perform dehumidification and anti-static pre-treatment on the inside of the paper tube, thereby increasing the stability of the paper tube during transportation;

[0032] 2. By setting up an adaptable mechanism, the transmission component can cooperate with the adjustment component to drive the moving component to rotate progressively, thereby changing the orientation of the moving component and changing the shape of the contact component. The contact component can change its own radius while changing its shape as the pretreatment mechanism pushes it, thereby adapting to the inner diameter of the paper tube and grabbing paper tubes with different inner diameters, increasing the flexibility when grabbing the paper tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 It is a schematic diagram of the structure of the pretreatment mechanism of the present invention;

[0035] Figure 3 It is a schematic diagram of the structure of the fixed component, the driving component and the follower component of the present invention;

[0036] Figure 4 It is a schematic diagram of the structure of the dehumidification component and the static electricity removal component of the present invention;

[0037] Figure 5 It is a schematic diagram of the structure of the adaptation mechanism of the present invention;

[0038] Figure 6 It is a schematic diagram of the transmission assembly structure of the present invention;

[0039] Figure 7 It is a schematic diagram of the structure of the regulating component and the moving component of the present invention;

[0040] Figure 8 It is a schematic diagram of the contact assembly structure of the present invention.

[0041] Figure numerals: 1, mechanical arm; 2, pretreatment mechanism; 201, fixed component; 2011, fixed plate; 2012, fixed rod; 2013, reinforcement rod; 202, driving component; 2021, positioning plate; 2022, driving hydraulic rod; 2023, driving pipe; 203, follower component; 2031, follower plate; 2032, follower rod; 2033, follower ring; 204, dehumidification component; 2041, suction pump; 2042, air duct; 2043, air delivery pipe; 205, static electricity removal component; 2051, Anti-static machine; 2052, magnetic plate; 2053, magnetic ring; 3, adaptation mechanism; 301, transmission assembly; 3011, transmission ring; 3012, transmission servo motor; 3013, transmission gear; 302, adjustment assembly; 3021, adjustment disk; 3022, adjustment tooth groove; 3023, transmission disk; 303, moving assembly; 3031, moving disk; 3032, moving block; 3033, moving groove; 304, contact assembly; 3041, contact rod; 3042, contact torsion spring; 3043, contact plate. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0043] Embodiment 1:

[0044] refer to Figure 1-4 A machine grasping device based on paper tube production and processing includes a mechanical arm 1 and a pretreatment mechanism 2, the pretreatment mechanism 2 is bolted to the output end of the mechanical arm 1, the pretreatment mechanism 2 includes a fixed component 201, a driving component 202, a follower component 203, a dehumidification component 204 and a static electricity removal component 205, the fixed component 201 is bolted to the output end of the mechanical arm 1, the driving component 202 is bolted to the front side of the fixed component 201, the follower component 203 is bolted to the left side of the driving component 202, the dehumidification component 204 is bolted to the right side of the follower component 203, and the static electricity removal component 205 is bolted to the surface of the dehumidification component 204. The adaptable mechanism 2 and the robot arm 1 can drive the pretreatment mechanism 2 to move to the paper tube to be grasped, the fixed component 201 can cooperate with the driving component 202, and as the robot arm 1 moves, the follower component 203 can be driven to move the dehumidification component 204 and the static electricity removal component 205 to the inside of the paper tube, the follower component 203 can cooperate with the driving component 202 to adjust the shape of the adaptable mechanism 3, so that the adaptable mechanism 3 can adapt to the inner diameter of the inside of the paper tube. After the adaptable mechanism 3 grasps the paper tube, the dehumidification component 204 can cooperate with the static electricity removal component 205 to perform dehumidification and static electricity removal pretreatment on the inside of the paper tube, thereby increasing the stability of the paper tube during transportation.

[0045] like Figure 3As shown, the fixing component 201 includes a fixing plate 2011, a fixing rod 2012 and a reinforcement rod 2013. The fixing plate 2011 is bolted to the output end of the robot arm 1, the fixing rod 2012 is bolted to the front side of the fixing plate 2011, the reinforcement rod 2013 is bolted to the bottom of the fixing plate 2011, and the bottom of the rear side of the fixing rod 2012 is bolted to the reinforcement rod 2013. By setting the fixing component 201, the fixing plate 2011 can cooperate with the reinforcement rod 2013 to support and limit the fixing rod 2012, and the fixing rod 2012 can support and limit the driving component 202.

[0046] like Figure 3 As shown, the driving component 202 includes a positioning plate 2021, a driving hydraulic rod 2022 and a driving tube 2023. The positioning plate 2021 is bolted to the front side of the fixed rod 2012, the driving hydraulic rod 2022 is bolted to the left side of the fixed plate 2011, and the driving tube 2023 is slidably connected to the left side of the positioning plate 2021. By setting the driving component 202, the positioning plate 2021 can cooperate with the driving hydraulic rod 2022 to support and limit the follower component 203, and can drive the follower component 203 to move the driving tube 2023, and the driving tube 2023 will move the dehumidification component 204, so that the adaptation mechanism 3 can be adjusted.

[0047] like Figure 3 As shown, the follower assembly 203 includes a follower plate 2031, a follower rod 2032 and a follower ring 2033. The follower plate 2031 is bolted to the left side of the driving hydraulic rod 2022, the follower rod 2032 is bolted to the left side of the follower plate 2031, the right side of the follower rod 2032 is bolted to the driving hydraulic rod 2022, the follower ring 2033 is bolted to the front side of the right side of the follower plate 2031, and the right side of the follower ring 2033 is bolted to the driving tube 2023. By setting the follower assembly 203, the follower plate 2031 can cooperate with the follower rod 2032, and as the driving hydraulic rod 2022 and the follower ring 2033 are driven, the position of the driving tube 2023 can be changed, so that the driving tube 2023 can be adjusted to adapt to the shape of the mechanism 3.

[0048] like Figure 4 As shown, the dehumidification component 204 includes an exhaust pump 2041, an air duct 2042 and an air supply pipe 2043. The exhaust pump 2041 is connected to the right side of the driving pipe 2023, the air duct 2042 is connected to the right side of the exhaust pump 2041, and the air supply pipe 2043 is connected to the surface of the air duct 2042. By setting the dehumidification component 204, the exhaust pump 2041 can cooperate with the air duct 2042 to extract external air to the air duct 2042, so that the air duct 2042 can evenly transport the air to the air supply pipe 2043, and the air supply pipe 2043 can transport the air to the inner side of the paper tube, thereby dehumidifying the paper tube.

[0049] like Figure 4 As shown, the static electricity removal component 205 includes a static electricity removal machine 2051, a magnetic plate 2052 and a magnetic ring 2053. The static electricity removal machine 2051 is bolted to the right side of the air duct 2042, the magnetic plate 2052 is bolted to the left side of the static electricity removal machine 2051, the inner side of the magnetic plate 2052 is bolted to the surface of the air duct 2042, the magnetic ring 2053 is bolted to the surface of the magnetic plate 2052, and the inner side of the magnetic ring 2053 is bolted to the surface of the air duct 2042. By setting up the static electricity removal component 205, the static electricity removal machine 2051 can cooperate with the magnetic plate 2052. According to the required static electricity removal needs, the electrons for static electricity removal are transported to the magnetic ring 2053 through the magnetic plate 2052, so that the electrons for static electricity removal can be in contact with the static electricity electrons, thereby achieving the effect of eliminating static electricity.

[0050] Brief description of the use process: First, the robot arm 1 and the pretreatment mechanism 2 are powered on and started, and then the robot arm 1 will drive the fixed plate 2011 to move the positioning plate 2021 on the fixed rod 2012 to the inner side of the paper tube to be grasped, and then drive the hydraulic rod 2022 to drive the follower rod 2032 to drive the follower ring 2033 on the follower plate 2031, and the follower ring 2033 will drive the driving tube 2023 to drive the adaptation mechanism 3, so as to change the shape of the adaptation mechanism 3, and then the vacuum pump 2041 will pump the outside air into the air duct 2042, and then let the air from the air duct 2042 through the air delivery pipe 2043 to the surface of the paper tube, so as to dehumidify the paper tube, and then the static electricity remover 2051 will transmit the electrons opposite to the static electricity removal through the magnetic plate 2052 to the surface of the magnetic ring 2053 and then eliminate the static electricity.

[0051] Embodiment 2:

[0052] refer to Figure 5-8 A machine grasping device based on paper tube production and processing includes an adapting mechanism 3, which is bolted to the right side of a pretreatment mechanism 2. The adapting mechanism 3 includes a transmission component 301, an adjusting component 302, a moving component 303 and a contact component 304. The transmission component 301 is bolted to the right side of a fixed component 201, the adjusting component 302 is rotatably connected to the surface of the transmission component 301, the moving component 303 is bolted to the right side of the adjusting component 302, the contact component 304 is bolted to the right side of the moving component 303, and the right side of the inner side of the contact component 304 is bolted to the right side of a static elimination component 205. By setting the adapting mechanism 3, the transmission component 301 can cooperate with the adjusting component 302 to drive the moving component 303 to rotate progressively, thereby changing the orientation of the moving component 303 and changing the shape of the contact component 304. The contact component 304 can change its own radius as the pretreatment mechanism 2 pushes while changing its shape, thereby adapting to the inner diameter of the paper tube, grasping paper tubes with different inner diameters, and increasing the flexibility of grasping the paper tube.

[0053] like Figure 6 As shown, the transmission assembly 301 includes a transmission ring 3011, a transmission servo motor 3012 and a transmission gear 3013. The transmission ring 3011 is bolted to the left side of the positioning plate 2021, the transmission servo motor 3012 is bolted to the left side of the transmission ring 3011, and the transmission gear 3013 is bolted to the output end at the top of the transmission servo motor 3012. By setting the transmission assembly 301, the transmission ring 3011 can cooperate with the transmission servo motor 3012 to support and limit the transmission servo motor 3012. The transmission servo motor 3012 can drive the transmission gear 3013 to drive the adjustment assembly 302, so that the orientation of the adjustment assembly 302 can be adjusted.

[0054] like Figure 7 As shown, the adjustment component 302 includes an adjustment disk 3021, an adjustment tooth groove 3022 and a transmission disk 3023. The adjustment component 302, the adjustment disk 3021 is rotatably connected to the surface of the transmission ring 3011 of the positioning plate 2021, the adjustment tooth groove 3022 is opened on the left side of the adjustment disk 3021, and the transmission disk 3023 is bolted to the right side of the adjustment disk 3021. By setting the adjustment component 302, the adjustment disk 3021 can cooperate with the adjustment tooth groove 3022, and perform circular motion with the rotation of the transmission gear 3013, so that the transmission disk 3023 can drive the moving component 303.

[0055] like Figure 7 As shown, the moving component 303 includes a moving disk 3031, a moving block 3032 and a moving groove 3033. The moving disk 3031 is bolted to the right side of the transmission disk 3023, the moving block 3032 is bolted to the top of the right side of the moving disk 3031, and the moving groove 3033 is opened on the top of the moving block 3032. By setting the moving component 303, the moving disk 3031 can perform circular motion with the rotation of the transmission disk 3023, so that it can cooperate with the moving block 3032 to drive the moving block 3032 to perform circular motion. The moving groove 3033 can cooperate with the moving block 3032 to drive the contact component 304 to perform circular motion together, so that the shape of the contact component 304 can be changed to adapt to the inner diameter of the inner side of the paper tube.

[0056] like Figure 8As shown, the contact assembly 304 includes a contact rod 3041, a contact torsion spring 3042 and a contact plate 3043. The contact rod 3041 is bolted to the inner side of the movable groove 3033, the contact torsion spring 3042 is bolted to the right side of the contact rod 3041, the contact plate 3043 is bolted to the right side of the contact torsion spring 3042, and the left side of the contact plate 3043 is bolted to the right side of the static eliminator 2051. By setting the contact assembly 304, the contact rod 3041 can be bolted to the contact plate 3043. In cooperation, the contact plate 3043 can fix the right side of the contact torsion spring 3042, and the contact rod 3041 can drive the contact torsion spring 3042 to move in a circular motion with the circular motion of the moving block 3032, thereby changing the shape of the contact torsion spring 3042. At the same time, as the driving tube 2023 moves, the distance between the contact torsion springs 3042 can be changed, so that the contact torsion spring 3042 can be close to the inside of the paper tube, thereby limiting the paper tubes with different inner diameters.

[0057] Brief description of the use process: First, the adaptation mechanism 3 is energized and started. When the surface of the contact torsion spring 3042 is close to the inner side of the paper tube, the transmission servo motor 3012 will drive the transmission gear 3013 to rotate, and the transmission gear 3013 will rotate on the adjusting tooth groove 3022 on the adjusting disk 3021, and drive the adjusting disk 3021 to rotate the transmission disk 3023, and the transmission disk 3023 will drive the moving disk 3031 to drive the moving block 3032, and the moving block 3032 will drive the contact rod 3041 in the moving groove 3033 to perform a circular motion, and the contact torsion spring 3042 will gradually deform with the rotation of the contact rod 3041 and the limitation of the contact plate 3043 and the pretreatment structure, and under the push of the pretreatment mechanism 2, the deformation of the contact torsion spring 3042 itself will gradually approach the inner side of the paper tube until the surface of the contact torsion spring 3042 contacts the inner side of the paper tube, thereby achieving the grabbing of the paper tube.

[0058] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A mechanical grasping device based on paper tube production and processing, comprising a mechanical arm (1), a pre-processing mechanism (2) and an adapting mechanism (3), characterized in that: The pretreatment mechanism (2) is bolted to the output end of the robot arm (1), and the adaptation mechanism (3) is bolted to the right side of the pretreatment mechanism (2). The pretreatment mechanism (2) comprises a fixed component (201), a driving component (202), a follower component (203), a dehumidification component (204) and a static electricity removal component (205). The fixed component (201) is bolted to the output end of the robot arm (1), the driving component (202) is bolted to the front side of the fixed component (201), the follower component (203) is bolted to the left side of the driving component (202), the dehumidification component (204) is bolted to the right side of the follower component (203), and the The static electricity removal component (205) is bolted to the surface of the dehumidification component (204), and the adaptation mechanism (3) includes a transmission component (301), an adjustment component (302), a moving component (303) and a contact component (304). The transmission component (301) is bolted to the right side of the fixed component (201), the adjustment component (302) is rotatably connected to the surface of the transmission component (301), the moving component (303) is bolted to the right side of the adjustment component (302), the contact component (304) is bolted to the right side of the moving component (303), and the right side of the inner side of the contact component (304) is bolted to the right side of the static electricity removal component (205).

2. According to claim 1, a machine grabbing device based on paper tube production and processing is characterized in that: The fixing assembly (201) comprises a fixing plate (2011), a fixing rod (2012) and a reinforcing rod (2013); the fixing plate (2011) is bolted to the output end of the robot arm (1); the fixing rod (2012) is bolted to the front side of the fixing plate (2011); the reinforcing rod (2013) is bolted to the bottom of the fixing plate (2011); and the bottom of the rear side of the fixing rod (2012) is bolted to the reinforcing rod (2013).

3. A machine grabbing device based on paper tube production and processing according to claim 2, characterized in that: The driving assembly (202) comprises a positioning plate (2021), a driving hydraulic rod (2022) and a driving tube (2023); the positioning plate (2021) is bolted to the front side of the fixed rod (2012); the driving hydraulic rod (2022) is bolted to the left side of the fixed plate (2011); and the driving tube (2023) is slidably connected to the left side of the positioning plate (2021).

4. A machine grabbing device based on paper tube production and processing according to claim 3, characterized in that: The follower assembly (203) comprises a follower plate (2031), a follower rod (2032) and a follower ring (2033); the follower plate (2031) is bolted to the left side of a driving hydraulic rod (2022); the follower rod (2032) is bolted to the left side of the follower plate (2031); the right side of the follower rod (2032) is bolted to the driving hydraulic rod (2022); the follower ring (2033) is bolted to the front side of the right side of the follower plate (2031); and the right side of the follower ring (2033) is bolted to the driving tube (2023).

5. According to claim 3, a machine grabbing device based on paper tube production and processing is characterized in that: The dehumidification component (204) includes an air suction pump (2041), an air duct (2042) and an air supply pipe (2043); the air suction pump (2041) is connected to the right side of the driving pipe (2023); the air duct (2042) is connected to the right side of the air suction pump (2041); and the air supply pipe (2043) is connected to the surface of the air suction pipe (2042).

6. A machine grabbing device based on paper tube production and processing according to claim 5, characterized in that: The static electricity removal component (205) comprises a static electricity removal machine (2051), a magnetic conductive plate (2052) and a magnetic conductive ring (2053); the static electricity removal machine (2051) is bolted to the right side of the air duct (2042); the magnetic conductive plate (2052) is bolted to the left side of the static electricity removal machine (2051); the inner side of the magnetic conductive plate (2052) is bolted to the surface of the air duct (2042); the magnetic conductive ring (2053) is bolted to the surface of the magnetic conductive plate (2052); and the inner side of the magnetic conductive ring (2053) is bolted to the surface of the air duct (2042).

7. A machine grabbing device based on paper tube production and processing according to claim 6, characterized in that: The transmission assembly (301) comprises a transmission ring (3011), a transmission servo motor (3012) and a transmission gear (3013); the transmission ring (3011) is bolted to the left side of the positioning plate (2021); the transmission servo motor (3012) is bolted to the left side of the transmission ring (3011); and the transmission gear (3013) is bolted to the output end at the top of the transmission servo motor (3012).

8. A machine grabbing device based on paper tube production and processing according to claim 7, characterized in that: The adjustment component (302) comprises an adjustment disk (3021), an adjustment tooth groove (3022) and a transmission disk (3023). The adjustment component (302) comprises an adjustment disk (3021) which is rotatably connected to the surface of a transmission ring (3011) of a positioning plate (2021), the adjustment tooth groove (3022) is provided on the left side of the adjustment disk (3021), and the transmission disk (3023) is bolted to the right side of the adjustment disk (3021).

9. A machine grabbing device based on paper tube production and processing according to claim 8, characterized in that: The moving assembly (303) includes a moving disk (3031), a moving block (3032) and a moving slot (3033), wherein the moving disk (3031) is bolted to the right side of the transmission disk (3023), the moving block (3032) is bolted to the top of the right side of the moving disk (3031), and the moving slot (3033) is opened at the top of the moving block (3032).

10. A machine grabbing device based on paper tube production and processing according to claim 9, characterized in that: The contact assembly (304) includes a contact rod (3041), a contact torsion spring (3042) and a contact plate (3043), wherein the contact rod (3041) is bolted to the inner side of the movable groove (3033), the contact torsion spring (3042) is bolted to the right side of the contact rod (3041), the contact plate (3043) is bolted to the right side of the contact torsion spring (3042), and the left side of the contact plate (3043) is bolted to the right side of the static eliminator (2051).

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