Large-size paper tube turnover robot

Abstract

The invention discloses a large-size paper tube turnover robot which comprises a three-axis guide rail and a shelf, the three-axis guide rail comprises an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail, two sets of connecting mechanisms are symmetrically connected to the Z-axis guide rail, and the opposite sides of the two sets of connecting mechanisms are connected with clamping mechanisms correspondingly; the bottom ends of the two connecting mechanisms are connected with inner supporting mechanisms correspondingly. The clamping mechanism comprises two symmetrically-arranged arc-shaped clamping frames, the inner walls of the opposite sides of the two arc-shaped clamping frames are connected with a plurality of silica gel suction cups at equal intervals through mounting frames correspondingly, the silica gel suction cups are attached to the periphery of a paper tube, and the silica gel suction cups on each arc-shaped clamping frame are connected with ventilation pipes at the same time. And one end of the ventilation pipe is tightly connected with an air pump. The large-size paper tube turnover robot disclosed by the invention has the effects that clamping of large-size paper tubes can be completed under the assistance of clamping force and suction force, and stable turnover is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of paper tube turnover equipment, and in particular to a large-size paper tube turnover robot. Background Art

[0002] Paper tube is a tubular object made of kraft paper through slitting, paper tape unwinding, double-sided gluing, double-sided gluing, paper tape tube rolling, tube slitting, paper tube drying and cooling, etc., thus providing reel matching for high-end precision stainless steel, ultra-thin aluminum filling, aluminum strip, PS board base and other materials.

[0003] For industries such as large-diameter paper cores used in the metallurgical industry, since the inner diameter of the paper tubes used is as high as tens of centimeters, how to achieve effective turnover after the paper tubes are produced is the key. The conventional method is to use a clamping device for turnover, but due to the large size and weight of large-sized paper tubes, a larger clamping force is required to clamp the paper tubes. However, excessive clamping force can easily cause damage to the surface of the paper tubes, deformation and other defects, which directly affects the quality of the paper tubes. Summary of the invention

[0004] The present invention discloses a large-size paper tube turnover robot, which aims to solve the technical problem that due to the large size and weight of large-size paper tubes, a larger clamping force is needed to clamp the paper tubes, but too large a clamping force can easily cause the surface of the paper tubes to be damaged, deformed, and other undesirable products, directly affecting the quality of the paper tubes.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A large-size paper tube turnover robot comprises a three-axis guide rail and a shelf, wherein the three-axis guide rail comprises an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail, and the Z-axis guide rail is symmetrically connected with two sets of connecting mechanisms, and the opposite sides of the two sets of connecting mechanisms are respectively connected with clamping mechanisms, and the bottom ends of the two sets of connecting mechanisms are respectively connected with internal support mechanisms;

[0007] The clamping mechanism comprises two symmetrically arranged arc-shaped clamping frames, and the inner walls of the opposite sides of the two arc-shaped clamping frames are respectively connected with a plurality of silicone suction cups at equal distances through mounting frames, and the plurality of silicone suction cups are attached to the outer circumference of the paper tube, and the plurality of silicone suction cups on each arc-shaped clamping frame are simultaneously connected with a ventilation pipe, and one end of the ventilation pipe is tightly connected with an air pump, and a groove one is respectively arranged on the opposite side of each arc-shaped clamping frame, and the ventilation pipe and the air pump are simultaneously located in the groove one;

[0008] The top of each arc-shaped clamping frame is respectively fixedly connected to a support frame 2, and the outer walls on the two opposite sides of one of the support frames 2 are respectively hinged with a group of connecting rods 1, and the inner walls on the two opposite sides of another support frame 2 are respectively hinged with a group of connecting rods 1, and multiple groups of connecting rods 1 are simultaneously hinged to a support frame 3, and the top of the support frame 3 is fixedly connected to a hydraulic rod;

[0009] The hydraulic rod is fixed to the top of the support frame 1, and the support frame 1 is connected to the connecting mechanism. Waist-shaped grooves 1 are symmetrically arranged on both sides of the support frame 1. The top of each of the support frames 2 is respectively fixedly connected with a plurality of sliders 1, and the plurality of sliders 1 are respectively and correspondingly clamped in the plurality of waist-shaped grooves 1.

[0010] By providing a clamping mechanism, in the clamping mechanism, the extension and retraction of the hydraulic rod can drive the three support frames to move vertically up and down, and the two arc-shaped clamping frames can be clamped inward and opened outward simultaneously. When the two arc-shaped clamping frames clamp inward, a plurality of silicone suction cups arranged on the inner walls form a negative pressure under the action of the air pump, and the lack of clamping force is compensated by the adsorption force. Under this structure, the two arc-shaped clamping frames do not need to provide excessive clamping force, and the paper tube is limited by both sides. At the same time, the suction force of the plurality of silicone suction cups is compensated, so that the deformation of the paper tube is avoided while the paper tube is stably clamped, thereby realizing the effective turnover of large-size paper tubes.

[0011] In a preferred solution, the inner support mechanism includes a side support shell, a rotating disk is movably connected inside the side support shell, and a clamping edge is fixedly connected to the inner periphery of the side support shell, one side of the rotating disk is attached to the inner wall of the side support shell, and the other side of the rotating disk is attached to the inner wall of the clamping edge, and a motor 2 is fixedly connected to the outer wall of one side of the side support shell;

[0012] A plurality of waist-shaped grooves 2 are equidistantly arranged on one side of the side support shell, a plurality of arc-shaped slide grooves are equidistantly arranged on the turntable, and a slide rod 1 is connected to each of the corresponding waist-shaped grooves 2 and the arc-shaped slide groove, and one end of each slide rod 1 is fixedly connected to a roller body 1;

[0013] A plurality of waist-shaped grooves 3 are equidistantly arranged on the same side of the side support shell, and the plurality of waist-shaped grooves 3 and the plurality of waist-shaped grooves 2 are staggered, each waist-shaped groove 3 is respectively connected to a slider 2, and one side of each slider is respectively fixedly connected to a roller body 2;

[0014] A groove 2 is provided on one side of each waist-shaped groove 3, and a slider 2 is provided in the groove 2 at the same time. A spring is fixedly connected to the outer wall of one side of each slider 2, and the other end of each spring is fixedly connected to the inner wall of the corresponding groove 2;

[0015] A plurality of latching teeth are fixedly connected to an outer wall of one side of the turntable, and a gear is meshed with the plurality of latching teeth, a motor 1 is fixedly connected to one side of the gear, a notch 1 is provided on one side of the side support shell, and the gear passes through the notch 1, a bearing frame is connected to the outer wall of the same side of the side support shell, and the motor 1 is mounted on the bearing frame;

[0016] Polishing belts are sleeved on multiple roller bodies 1 at the same time, and multiple roller bodies 2 are pressed on the outer periphery of the polishing belt. Multiple grooves 3 are equidistantly arranged on the outer periphery of the polishing belt. A convex strip is arranged on the outer wall of each roller body 2, and the convex strip is correspondingly clamped in the groove 3.

[0017] By providing an inner support mechanism, the inner support mechanism is aligned with the two ends of the paper tube respectively. In the inner support mechanism, the overall structure is driven to rotate by motor 2, so that the outer wall of the polishing belt can be fitted to the inner wall of the end of the paper tube and rotate. During the rotation, roller body 1 can shape the inner wall of the end of the paper tube. At the same time, through the setting of the polishing belt, the inner wall of the paper tube can be polished synchronously during the shaping process to ensure the smoothness of the inner wall of the paper tube. In addition, when motor 1 drives the turntable to rotate through gears and clamping teeth, multiple roller bodies 1 can be adapted to the inner walls of paper tubes of different thicknesses. Through the setting of multiple roller bodies 2, it can be ensured that the polishing belt can be tightly wrapped around the roller body 1 with different diameters. Through the setting of the convex strip, the connection between the polishing belt and roller body 2 can be limited to avoid displacement of the polishing belt during rotation and polishing.

[0018] In a preferred solution, the connection mechanism includes a clamping frame and an annular bracket, the clamping frame is movably clamped with the side support shell, and the motor 2 is installed outside the side support shell, the outer walls on the two opposite sides of the clamping frame are respectively fixedly connected with sliders 3, the inner walls on the two opposite sides of the annular bracket are respectively provided with linear guide rails 2, and the sliders 3 are movably connected to the linear guide rails 2;

[0019] A notch 2 is provided on one side of the annular bracket, a grinding plate is fixedly connected to the other side of the annular bracket, an L-shaped bracket is fixedly connected to the top of the annular bracket, and a hinge rod is movably connected to one end of the L-shaped bracket, both ends of the hinge rod are fixed to a support frame 4, and the support frame 4 is connected to the support frame 1;

[0020] The support frame four is provided with waist-shaped grooves four on opposite sides, and two sliding rods two are movably connected in the two waist-shaped grooves four, and two sliding rods two are connected to the opposite ends of the two sliding rods two at the same time. The outer wall of the bottom end of the support frame four is fixedly connected with a linear guide rail one, and the sliding rod four is movably connected to the linear guide rail one, and each of the sliding rods two is hinged with a connecting rod two, and one end of each connecting rod two is hinged to the outer walls of the L-shaped bracket on the opposite sides.

[0021] By providing a connecting mechanism, in the connecting mechanism, the linear guide rail 2 drives the slider 3 to move, so that the inner support mechanism can be retracted into the annular bracket and separated from the paper tube, which is convenient for disassembly of the paper tube. By providing the grinding plate, the paper scraps brought out by the polishing belt when polishing in the paper tube can be transferred to the surface of the grinding plate, thereby ensuring the polishing effect of the next round of polishing belt and reducing the replacement frequency of the polishing belt. In addition, when the inner support mechanism is retracted, the linear guide rail 1 drives the slider 4 to move, so that the L-shaped bracket drives the annular bracket to tilt upward, until the clamping mechanism clamps the paper tube and rises driven by the Z-axis of the three-axis guide rail, and then the annular bracket is returned to its position, thereby avoiding the situation that the shelf is attached to the bottom of both ends of the paper tube and the inner support mechanism cannot be aligned with the two ends of the paper tube.

[0022] From the above, it can be seen that the large-size paper tube turnover robot provided by the present invention can complete the clamping of large-size paper tubes with the assistance of clamping force and suction force, and has the technical effect of stable turnover. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of a large-size paper tube turnover robot proposed in the present invention.

[0024] Figure 2 This is a schematic diagram of the main turnover structure of a large-size paper tube turnover robot proposed in the present invention.

[0025] Figure 3 This is a single-side structural schematic diagram of a large-size paper tube turnover robot proposed in the present invention.

[0026] Figure 4 This is a schematic diagram of the disassembly of the clamping mechanism of a large-size paper tube turnover robot proposed in the present invention.

[0027] Figure 5 This is a schematic diagram of the disassembled right side inner support mechanism of a large-size paper tube turnover robot proposed in the present invention.

[0028] Figure 6 This is a schematic diagram of the disassembled left inner support mechanism of a large-size paper tube turnover robot proposed in the present invention.

[0029] Figure 7 This is a schematic diagram of the internal disassembly of the side support shell of a large-size paper tube turnover robot proposed in the present invention.

[0030] Figure 8 This is a schematic diagram of the disassembly of the connection mechanism of a large-size paper tube turnover robot proposed in the present invention.

[0031] In the figure: 1, three-axis guide rail; 2, clamping mechanism; 3, shelf; 4, internal support mechanism; 5, connecting mechanism; 201, hydraulic rod; 202, support frame 1; 203, waist groove 1; 204, slider 1; 205, support frame 2; 206, ventilation pipe; 207, air pump; 208, arc clamping frame; 209, mounting frame; 210, silicone suction cup; 211, groove 1; 212, connecting rod 1; 213, support frame 3;

[0032] 401, polishing belt; 402, roller body 1; 403, roller body 2; 404, convex strip; 405, slide rod 1; 406, gear; 407, motor 1; 408, bearing frame; 409, motor 2; 410, side support shell; 411, waist groove 2; 412, waist groove 3; 413, arc slide groove; 414, turntable; 415, clamping tooth; 416, slider 2; 417, spring; 418, notch 1; 419, clamping edge; 420, groove 2;

[0033] 501. Snap-on bracket; 502. Slider three; 503. Support bracket four; 504. Articulated rod; 505. Waist-shaped groove four; 506. Linear guide one; 507. Slider two; 508. Slider four; 509. L-shaped bracket; 510. Notch two; 511. Linear guide two; 512. Annular bracket; 513. Grinding plate; 514. Connecting rod two. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0035] The large-size paper tube turnover robot disclosed in the present invention is mainly used in the scenario of large-size paper tube turnover.

[0036] Reference Figure 1-Figure 4 A large-size paper tube turnover robot comprises a three-axis guide rail 1 and a shelf 3. The three-axis guide rail 1 comprises an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail. Two sets of connecting mechanisms 5 are symmetrically connected to the Z-axis guide rail. The opposite sides of the two sets of connecting mechanisms 5 are respectively connected to a clamping mechanism 2. The bottom ends of the two sets of connecting mechanisms 5 are respectively connected to an inner support mechanism 4.

[0037] The clamping mechanism 2 includes two symmetrically arranged arc-shaped clamping frames 208, and the inner walls of the opposite sides of the two arc-shaped clamping frames 208 are equidistantly connected with a plurality of silicone suction cups 210 through mounting frames 209, and the plurality of silicone suction cups 210 are attached to the outer circumference of the paper tube, and the plurality of silicone suction cups 210 on each arc-shaped clamping frame 208 are simultaneously connected with a vent pipe 206, and one end of the vent pipe 206 is tightly connected with an air pump 207, and a groove 211 is respectively arranged on the opposite side of each arc-shaped clamping frame 208, and the vent pipe 206 and the air pump 207 are simultaneously located in the groove 211;

[0038] The top of each arc-shaped clamping frame 208 is respectively fixedly connected to a support frame 205, and the outer walls of the two opposite sides of one support frame 205 are respectively hinged with a group of connecting rods 1 212, and the inner walls of the two opposite sides of another support frame 205 are respectively hinged with a group of connecting rods 1 212, and multiple groups of connecting rods 1 212 are simultaneously hinged to a support frame 3 213, and the top of the support frame 3 213 is fixedly connected to a hydraulic rod 201;

[0039] The hydraulic rod 201 is fixed to the top of the support frame 202, and the support frame 202 is connected to the connecting mechanism 5. The two sides of the support frame 202 are symmetrically provided with waist-shaped grooves 203. The top of each support frame 205 is respectively fixedly connected with a plurality of sliders 204, and the plurality of sliders 204 are respectively correspondingly clamped in the plurality of waist-shaped grooves 203. In the clamping mechanism 2, the support frame 3 213 can be driven to move vertically up and down through the extension and contraction of the hydraulic rod 201, thereby driving one end of the plurality of connecting rods 212 to descend. Based on the limitation of the waist-shaped groove 203 on the moving path of the slider 204, the angles of the plurality of connecting rods 212 are changed, and the two arc-shaped clamping frames 208 are driven synchronously through the support frame 205. The two arc-shaped clamping frames 208 are translated to both sides, thereby realizing the inward clamping and outward opening of the two arc-shaped clamping frames 208. When the two arc-shaped clamping frames 208 are clamped inwardly, the multiple silicone suction cups 210 arranged on the inner wall thereof form negative pressure under the action of the air pump 207, and are tightly adsorbed on the outer periphery of the paper tube, and the insufficient clamping force is compensated by the adsorption force, and then the paper tube is driven to the next process by the lifting and translation of the three-axis guide rail 1. Under this structure, the two arc-shaped clamping frames 208 do not need to provide excessive clamping force, and the paper tube is limited by both sides. At the same time, the suction force of the multiple silicone suction cups 210 is compensated, and the deformation of the paper tube is avoided while the paper tube is stably clamped, thereby realizing the effective turnover of large-sized paper tubes.

[0040] Reference Figure 5-Figure 7In a preferred embodiment, the internal support mechanism 4 includes a side support shell 410, a turntable 414 is movably connected inside the side support shell 410, and a clamping edge 419 is fixedly connected to the inner periphery of the side support shell 410, one side of the turntable 414 is attached to the inner wall of the side support shell 410, and the other side of the turntable 414 is attached to the inner wall of the clamping edge 419, and a motor 2 409 is fixedly connected to the outer wall of one side of the side support shell 410.

[0041] Reference Figure 5-Figure 7 In a preferred embodiment, a plurality of waist-shaped grooves 411 are equidistantly arranged on one side of the side support shell 410, and a plurality of arc-shaped slide grooves 413 are equidistantly arranged on the turntable 414. A sliding rod 405 is connected to the corresponding single waist-shaped groove 411 and the arc-shaped slide groove 413 at the same time, and one end of each sliding rod 405 is fixedly connected to a roller body 402.

[0042] Reference Figure 5-Figure 7 In a preferred embodiment, a plurality of waist-shaped grooves three 412 are equidistantly arranged on the same side of the side support shell 410, and the plurality of waist-shaped grooves three 412 and the plurality of waist-shaped grooves two 411 are staggered, each waist-shaped groove three 412 is respectively connected to a slider two 416, and one side of each slider 416 is respectively fixedly connected to a roller body two 403.

[0043] Reference Figure 5-Figure 7 In a preferred embodiment, a groove 2 420 is provided on one side of each waist-shaped groove 3 412, and a slider 2 416 is also provided in the groove 2 420, and a spring 417 is fixedly connected to an outer wall of one side of each slider 2 416, and the other end of each spring 417 is fixedly connected to the inner wall of the corresponding groove 2 420.

[0044] Reference Figure 5-Figure 7 In a preferred embodiment, a plurality of latch teeth 415 are fixedly connected to an outer wall of one side of the turntable 414, and the plurality of latch teeth 415 are meshed with a gear 406, a motor 407 is fixedly connected to one side of the gear 406, a slot 418 is provided on one side of the side support shell 410, and the gear 406 passes through the slot 418, a bearing frame 408 is connected to the outer wall of the same side of the side support shell 410, and the motor 407 is installed on the bearing frame 408.

[0045] Reference Figure 5-7In a preferred embodiment, a plurality of roller bodies 402 are simultaneously sleeved with polishing belts 401, and a plurality of roller bodies 403 are pressed on the outer periphery of the polishing belt 401, and a plurality of grooves 3 are equidistantly arranged on the outer periphery of the polishing belt 401, and a convex strip 404 is arranged on the outer wall of each roller body 403, and the convex strip 404 is correspondingly snapped into the groove 3, and the inner support mechanism 4 is respectively aligned with the two ends of the paper tube, and based on the drive of the Y axis of the three-axis guide rail 1, the inner support mechanism 4 can be adapted to the use of paper tubes of different lengths. In the inner support mechanism 4, the overall structure is driven to rotate by the motor 2 409, so that the outer wall of the polishing belt 401 can be fitted to the inner wall of the end of the paper tube and rotated. During the rotation process, the roller body 402 can shape the inner wall of the end of the paper tube to compensate for the different inner diameters of the two ends of the paper tube after being pressed, and at the same time, the polishing belt The setting of 401 can grind the inner wall of the paper tube synchronously during the shaping process, effectively deal with the burrs generated at the end cutting position, and ensure the smoothness of the inner wall of the paper tube. In addition, in the structure in which the motor 1 407 drives the turntable 414 to rotate through the gear 406 and the clamping tooth 415, the multiple arc-shaped slide grooves 413 can switch positions, drive the multiple roller bodies 1 402 to retract or expand outward, so as to adapt to the use of the inner wall of paper tubes with different thicknesses, and through the setting of multiple roller bodies 2 403, the tensile force of the spring 417 can maintain the stable extrusion of the polishing belt 401, so as to ensure that the polishing belt 401 can be tightly wrapped around the roller body 1 402 with different diameters, and through the setting of the convex strip 404, the connection between the polishing belt 401 and the roller body 2 403 can be limited to avoid the displacement of the polishing belt 401 during the rotation and grinding process.

[0046] Reference Figure 6 and Figure 8 In a preferred embodiment, the connecting mechanism 5 includes a clamping frame 501 and an annular bracket 512, the clamping frame 501 is movably clamped with the side support shell 410, and the motor 2 409 is installed outside the side support shell 410, the outer walls on both sides of the clamping frame 501 are respectively fixedly connected with sliders 3 502, and the inner walls on both sides of the annular bracket 512 are respectively provided with linear guide rails 2 511, and the sliders 3 502 are movably connected to the linear guide rails 2 511.

[0047] Reference Figure 8 In a preferred embodiment, a notch 2 510 is provided on one side of the annular bracket 512, a grinding plate 513 is fixedly connected to the other side of the annular bracket 512, an L-shaped bracket 509 is fixedly connected to the top of the annular bracket 512, and one end of the L-shaped bracket 509 is movably connected to a hinge rod 504, both ends of the hinge rod 504 are fixed on a support frame 4 503, and the support frame 4 503 is connected to a support frame 1 202.

[0048] Reference Figure 8In a preferred embodiment, waist-shaped grooves 4 505 are respectively provided on opposite sides of the support frame 4 503, and two sliding rods 2 507 are respectively movably connected in the two waist-shaped grooves 405, and the opposite ends of the two sliding rods 2 507 are simultaneously connected with sliders 4 508, and the outer wall of the bottom end of the support frame 4 503 is fixedly connected with a linear guide rail 1 506, and the slider 4 508 is movably connected to the linear guide rail 1 506, and each sliding rod 2 507 is respectively hinged with a connecting rod 2 514, and one end of each connecting rod 2 514 is respectively hinged to the outer walls of the opposite sides of the L-shaped bracket 509. In the connecting mechanism 5, the slider 3 502 is driven to move by the linear guide rail 2 511, so that the inner support mechanism 4 can be retracted into the annular bracket 512 and separated from the paper tube, so as to facilitate the disassembly of the paper tube. In addition, the motor 2 409 drives the multiple rollers 1 402 to move in the annular bracket 51 2, and the polishing belt 401 is in contact with the surface of the grinding plate 513 in sequence, so that the paper scraps brought out by the polishing belt 401 when polishing in the paper tube can be transferred to the surface of the grinding plate 513, thereby ensuring the grinding effect of the next round of polishing belt 401 and reducing the replacement frequency of the polishing belt 401. In addition, when the inner support mechanism 4 is retracted, the slider 4 508 is driven to move by the linear guide rail 1 506, and based on the limitation of the L-shaped bracket 509 by the hinge rod 504 and the transmission of the connecting rod 2 514, the L-shaped bracket 509 can drive the annular bracket 512 to tilt upward, so that the lowest point of the annular bracket 512 is raised, until the clamping mechanism 2 clamps the paper tube and rises driven by the Z axis of the three-axis guide rail 1, and then the annular bracket 512 is returned to its position, thereby avoiding the situation that the shelf is attached to the bottom of both ends of the paper tube and the inner support mechanism 4 cannot be aligned with the two ends of the paper tube.

[0049] Working principle of the present invention:

[0050] In the clamping mechanism 2, the extension and retraction of the hydraulic rod 201 can drive the support frame 3 213 to move vertically up and down, thereby driving one end of the multiple connecting rods 1 212 to descend, and based on the limitation of the moving path of the slider 1 204 by the waist groove 1 203, the angles of the multiple connecting rods 1 212 are changed, and the two arc-shaped clamping frames 208 are driven to move to both sides through the support frame 2 205 synchronously, thereby realizing the inward clamping and outward opening of the two arc-shaped clamping frames 208;

[0051] When the two arc-shaped clamping frames 208 clamp inward, the multiple silicone suction cups 210 arranged on the inner wall thereof form negative pressure under the action of the air pump 207, and are tightly adsorbed on the outer periphery of the paper tube, and the lack of clamping force is compensated by the adsorption force, and then the paper tube is driven to the next process by the lifting and translation of the three-axis guide rail 1. Under this structure, the two arc-shaped clamping frames 208 do not need to provide too high a clamping force, and the paper tube is limited by both sides. At the same time, the suction force of the multiple silicone suction cups 210 is compensated, and the deformation of the paper tube is avoided while the paper tube is stably clamped, so that the effective turnover of large-sized paper tubes is achieved;

[0052] In addition, the inner support mechanism 4 is respectively aligned with the two ends of the paper tube. Based on the drive of the Y axis of the three-axis guide rail 1, the inner support mechanism 4 can be adapted to the use of paper tubes of different lengths. In the inner support mechanism 4, the motor 2 409 drives the entire structure to rotate, so that the outer wall of the polishing belt 401 can be fitted to the inner wall of the end of the paper tube and rotate. During the rotation process, the roller 1 402 can shape the inner wall of the end of the paper tube to compensate for the different inner diameters of the two ends of the paper tube after being compressed. At the same time, through the setting of the polishing belt 401, the inner wall of the paper tube can be polished synchronously during the shaping process, and the burrs generated at the cutting position of the end can be effectively processed to ensure the smoothness of the inner wall of the paper tube.

[0053] In addition, in the structure where the motor 1 407 drives the turntable 414 to rotate through the gear 406 and the latch 415, the multiple arc-shaped slide grooves 413 can switch positions, driving the multiple roller bodies 1 402 to retract or expand outward to adapt to the inner wall of paper tubes with different thicknesses. Moreover, through the arrangement of the multiple roller bodies 2 403, the polishing belt 401 can be kept stably squeezed by the tensile force of the spring 417, ensuring that the polishing belt 401 can be tightly wrapped around the roller body 1 402 with different diameters. Through the arrangement of the convex strip 404, the connection between the polishing belt 401 and the roller body 2 403 can be limited to avoid displacement of the polishing belt 401 during the rotation and grinding process. At the same time, in the connecting mechanism 5, the linear guide rail 2 511 drives the slider 3 502 to move, so that the inner support mechanism 4 can be retracted into the annular bracket 512 and separated from the paper tube, which is convenient for disassembly of the paper tube.

[0054] In addition, the motor 2 409 drives the plurality of rollers 1 402 to rotate in the annular bracket 512, and the polishing belt 401 is sequentially contacted with the surface of the grinding plate 513, so that the paper scraps brought out by the polishing belt 401 when polishing in the paper tube can be transferred to the surface of the grinding plate 513, thereby ensuring the polishing effect of the next round of the polishing belt 401 and reducing the replacement frequency of the polishing belt 401;

[0055] In addition, when the inner support mechanism 4 is in the retracted state, the slider 4 508 is driven to move by the linear guide rail 1 506. Based on the limitation of the L-shaped bracket 509 by the hinge rod 504 and the transmission of the connecting rod 2 514, the L-shaped bracket 509 can drive the annular bracket 512 to tilt upward, so that the lowest point of the annular bracket 512 rises, until the clamping mechanism 2 clamps the paper tube and rises driven by the Z axis of the three-axis guide rail 1, and then the annular bracket 512 is returned to its position, thereby avoiding the situation where the shelf is attached to the bottom of the two ends of the paper tube and the inner support mechanism 4 cannot be aligned with the two ends of the paper tube.

[0056] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A large-size paper tube turnover robot, comprising a three-axis guide rail (1) and a shelf (3), characterized in that: The three-axis guide rail (1) comprises an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail, the Z-axis guide rail is symmetrically connected to two groups of connection mechanisms (5), the opposite sides of the two groups of connection mechanisms (5) are respectively connected to clamping mechanisms (2), and the bottom ends of the two groups of connection mechanisms (5) are respectively connected to internal support mechanisms (4); The clamping mechanism (2) comprises two symmetrically arranged arc-shaped clamping frames (208), and the inner walls of the opposite sides of the two arc-shaped clamping frames (208) are equidistantly connected with a plurality of silicone suction cups (210) through mounting frames (209), and the plurality of silicone suction cups (210) are attached to the outer circumference of the paper tube, and the plurality of silicone suction cups (210) on each arc-shaped clamping frame (208) are simultaneously connected with a ventilation pipe (206), and one end of the ventilation pipe (206) is tightly connected with an air pump (207), and a groove 1 (211) is respectively arranged on the opposite side of each arc-shaped clamping frame (208), and the ventilation pipe (206) and the air pump (207) are simultaneously located in the groove 1 (211); The top of each arc-shaped clamping frame (208) is respectively fixedly connected to a support frame 2 (205), the outer walls on the two opposite sides of one of the support frames 2 (205) are respectively hinged with a group of connecting rods 1 (212), and the inner walls on the two opposite sides of another of the support frames 2 (205) are respectively hinged with a group of connecting rods 1 (212), and multiple groups of connecting rods 1 (212) are simultaneously hinged to a support frame 3 (213), and the top of the support frame 3 (213) is fixedly connected to a hydraulic rod (201); The hydraulic rod (201) is fixed to the top of a support frame (202), and the support frame (202) is connected to a connecting mechanism (5). Waist-shaped grooves (203) are symmetrically arranged on both sides of the support frame (202). The top of each support frame (205) is respectively fixedly connected to a plurality of sliders (204), and the plurality of sliders (204) are respectively correspondingly clamped in the plurality of waist-shaped grooves (203).

2. A large-size paper tube turnover robot according to claim 1, characterized in that: The inner support mechanism (4) includes a side support shell (410), a turntable (414) is movably connected inside the side support shell (410), and a clamping edge (419) is fixedly connected to the inner periphery of the side support shell (410), one side of the turntable (414) is in contact with the inner wall of the side support shell (410), and the other side of the turntable (414) is in contact with the inner wall of the clamping edge (419), and a motor 2 (409) is fixedly connected to the outer wall of one side of the side support shell (410).

3. A large-size paper tube turnover robot according to claim 2, characterized in that: A plurality of waist-shaped grooves (411) are equidistantly arranged on one side of the side support shell (410), and a plurality of arc-shaped sliding grooves (413) are equidistantly arranged on the rotating disk (414). A sliding rod (405) is connected to each of the corresponding waist-shaped grooves (411) and the arc-shaped sliding groove (413), and one end of each sliding rod (405) is fixedly connected to a roller body (402).

4. A large-size paper tube turnover robot according to claim 3, characterized in that: A plurality of waist-shaped grooves three (412) are equidistantly arranged on the same side of the side support shell (410), and the plurality of waist-shaped grooves three (412) and the plurality of waist-shaped grooves two (411) are arranged in a staggered manner, and a slider two (416) is respectively connected in each waist-shaped groove three (412), and a roller body two (403) is respectively fixedly connected to one side of each slider (416).

5. A large-size paper tube turnover robot according to claim 4, characterized in that: A groove 2 (420) is provided on one side of each waist-shaped groove 3 (412), and a slider 2 (416) is also provided in the groove 2 (420). A spring (417) is fixedly connected to an outer wall of one side of each slider 2 (416), and the other end of each spring (417) is fixedly connected to the inner wall of the corresponding groove 2 (420).

6. A large-size paper tube turnover robot according to claim 5, characterized in that: A plurality of latching teeth (415) are fixedly connected to an outer wall of one side of the rotating disk (414), and a gear (406) is meshed with the plurality of latching teeth (415); a motor (407) is fixedly connected to one side of the gear (406); a notch (418) is provided on one side of the side supporting shell (410), and the gear (406) passes through the notch (418); a bearing frame (408) is connected to the outer wall of the same side of the side supporting shell (410), and the motor (407) is mounted on the bearing frame (408).

7. A large-size paper tube turnover robot according to claim 6, characterized in that: A polishing belt (401) is sleeved on a plurality of roller bodies (402) at the same time, and a plurality of roller bodies (403) are pressed on the outer periphery of the polishing belt (401), a plurality of grooves (403) are equidistantly arranged on the outer periphery of the polishing belt (401), and a convex strip (404) is arranged on the outer wall of each roller body (403), and the convex strip (404) is correspondingly engaged in the groove (404).

8. The large-size paper tube turnover robot according to claim 2, characterized in that: The connection mechanism (5) comprises a clamping frame (501) and an annular bracket (512); the clamping frame (501) is movably clamped with the side support shell (410), and the second motor (409) is installed outside the side support shell (410); the outer walls on the two opposite sides of the clamping frame (501) are respectively fixedly connected with the third slider (502); the inner walls on the two opposite sides of the annular bracket (512) are respectively provided with the second linear guide rail (511), and the third slider (502) is movably connected to the second linear guide rail (511).

9. A large-size paper tube turnover robot according to claim 8, characterized in that: One side of the annular bracket (512) is provided with a second notch (510), the other side of the annular bracket (512) is fixedly connected to a grinding plate (513), the top of the annular bracket (512) is fixedly connected to an L-shaped bracket (509), and one end of the L-shaped bracket (509) is movably connected to a hinge rod (504), both ends of the hinge rod (504) are fixed on a support frame four (503), and the support frame four (503) is connected to a support frame one (202).

10. A large-size paper tube turnover robot according to claim 9, characterized in that: The support frame four (503) is provided with waist-shaped grooves four (505) on opposite sides, and two sliding rods two (507) are movably connected in the two waist-shaped grooves four (505), and the two sliding rods two (507) are connected to the opposite ends of the two sliding rods two (507) at the same time. The outer wall of the bottom end of the support frame four (503) is fixedly connected with a linear guide rail one (506), and the sliding rod four (508) is movably connected to the linear guide rail one (506), and each of the sliding rods two (507) is hinged with a connecting rod two (514), and one end of each connecting rod two (514) is hinged to the outer walls of the L-shaped bracket (509) on both sides facing each other.

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