A large size paper tube turnover robot

Abstract

The application 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 groups of connecting mechanisms are symmetrically connected to the Z-axis guide rail, clamping mechanisms are respectively connected to opposite sides of the two groups of connecting mechanisms, and inner supporting mechanisms are respectively connected to bottom ends of the two groups of connecting mechanisms; the clamping mechanism comprises two symmetrically arranged arc-shaped clamping shelves, inner walls of opposite sides of the two arc-shaped clamping shelves are respectively connected with a plurality of silica gel suction cups through mounting racks at equal intervals, the plurality of silica gel suction cups are attached to the outer periphery of the paper tube, the plurality of silica gel suction cups on each arc-shaped clamping shelf are simultaneously connected with air pipes, and one end of the air pipe is tightly connected with an air pump. The large-size paper tube turnover robot disclosed by the application can complete the clamping of the large-size paper tube through the auxiliary clamping force and suction force, and realizes the effect of stable turnover.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of paper tube turnover equipment, and particularly to a large-size paper tube turnover robot. BACKGROUND

[0002] Paper tubes are tubular objects processed from kraft paper through cutting, paper tape unwinding, paper tape double-sided glue dipping, paper tape double-sided glue scraping, paper tape tube winding, tube cutting, paper tube drying and cooling, etc., thereby providing a reel supporting for high-end precision stainless steel, ultra-thin aluminum filling material, aluminum plate strip, PS plate base and other materials.

[0003] For the large-diameter paper core industry in the metallurgical industry, since the inner diameter of the paper tube used is as high as dozens of centimeters, how to realize effective turnover after the paper tube is produced and formed is the key. The conventional way is to use a clamping device for turnover, but since the large-size paper tube has a large volume and weight, a large clamping force is required to clamp the paper tube, but too large a clamping force can easily cause damage and deformation of the paper tube surface, directly affecting the quality of the paper tube. SUMMARY

[0004] The present application discloses a large-size paper tube turnover robot, which aims to solve the technical problem that since the large-size paper tube has a large volume and weight, a large clamping force is required to clamp the paper tube, but too large a clamping force can easily cause damage and deformation of the paper tube surface, directly affecting the quality of the paper tube.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] A large-size paper tube turnover robot, comprising a three-axis guide rail and a resting rack, the three-axis guide rail comprising an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail, two groups of connecting mechanisms being symmetrically connected on the Z-axis guide rail, a clamping mechanism being connected to the opposite side of each group of connecting mechanisms, and an inner supporting mechanism being connected to the bottom end of each group of connecting mechanisms.

[0007] The clamping mechanism comprises two symmetrically arranged arc-shaped clamping racks, and a plurality of silica gel suction cups are equidistantly connected to the inner wall of the opposite side of each arc-shaped clamping rack through a mounting rack, the plurality of silica gel suction cups being attached to the outer periphery of the paper tube, the plurality of silica gel suction cups on each arc-shaped clamping rack being simultaneously connected to an air pipe, one end of the air pipe being tightly connected to an air pump, and a recess one being arranged on the opposite side of each arc-shaped clamping rack, the air pipe and the air pump being simultaneously located in the recess one.

[0008] The top end of each of the arc-shaped clamping frames is fixedly connected with a support two, the opposite sides of one of the support two are hingedly connected with a group of connecting rods one, the opposite sides of the other of the support two are hingedly connected with a group of connecting rods one, a plurality of groups of the connecting rods one are simultaneously hingedly connected with a support three, and the top end of the support three is fixedly connected with a hydraulic rod;

[0009] The hydraulic rod is fixed to the top end of the support one, the support one is connected with a connecting mechanism, the two sides of the support one are symmetrically provided with waist-shaped grooves one, the top end of each of the support two is fixedly connected with a plurality of sliding blocks one, and the sliding blocks one are correspondingly clamped in the waist-shaped grooves one.

[0010] The clamping mechanism is provided, the hydraulic rod is extended or retracted, the support three is vertically moved up and down, the inward clamping and outward opening of the two arc-shaped clamping frames are simultaneously realized, when the two arc-shaped clamping frames are inward clamped, the plurality of silica gel suction cups arranged on the inner wall of the arc-shaped clamping frame form negative pressure under the action of the air pump, and the clamping force is compensated by the adsorption force, in this structure, the two arc-shaped clamping frames do not need to provide high clamping force, the paper tube is limited by the two sides, the deformation of the paper tube is avoided when the paper tube is stably clamped, and the effective turnover of the large-size paper tube is realized.

[0011] In one preferred scheme, the inner support mechanism includes a side support shell, a rotating disc movably connected in the side support shell, and a clamping edge fixedly connected to the inner periphery of the side support shell, one side of the rotating disc is attached to the inner wall of the side support shell, the other side of the rotating disc is attached to the inner wall of the clamping edge, and one side of the side support shell is fixedly connected with a motor two;

[0012] A plurality of waist-shaped grooves two are equidistantly and penetratively arranged on one side of the side support shell, a plurality of arc-shaped sliding grooves are equidistantly and penetratively arranged on the rotating disc, a single one of the waist-shaped grooves two and the arc-shaped sliding grooves are simultaneously connected with a sliding rod one, and one end of each of the sliding rods one is fixedly connected with a roller body one;

[0013] A plurality of waist-shaped grooves three are equidistantly and penetratively arranged on the same side of the side support shell, the plurality of waist-shaped grooves three and the plurality of waist-shaped grooves two are arranged in a staggered manner, each of the waist-shaped grooves three is connected with a sliding block two, and one side of each of the sliding blocks two is fixedly connected with a roller body two;

[0014] One side of each of the waist-shaped grooves three is provided with a recess two, and the sliding block two is simultaneously arranged in the recess two, one side of each of the sliding blocks two is fixedly connected with a spring, and the other end of each of the springs is fixedly connected to the inner wall of the corresponding recess two;

[0015] The side outer wall of the rotating disc is fixedly connected with a plurality of clamping teeth, and the plurality of clamping teeth are engaged with a gear, one side of the gear is fixedly connected with a motor one, one side of the side support shell is provided with a notch one, and the gear passes through the notch one, the same side outer wall of the side support shell is connected with a bearing frame, and the motor one is installed on the bearing frame;

[0016] A plurality of polishing belts are simultaneously sleeved on the plurality of roller bodies one, and a plurality of roller bodies two are pressed on the outer periphery of the polishing belt, a plurality of grooves three are equidistantly arranged on the outer periphery of the polishing belt, the outer wall of each roller body two is provided with a convex strip, and the convex strip is correspondingly clamped in the groove three.

[0017] By arranging the inner supporting mechanism, the inner supporting mechanism is aligned with the two ends of the paper tube, in the inner supporting mechanism, the overall structure is driven to rotate by the motor two, so that the outer wall of the polishing belt is attached to the inner wall of the paper tube end head and rotates, in the rotating process, the roller body one can shape the inner wall of the paper tube end head, and at the same time, by arranging the polishing belt, the inner wall of the paper tube can be polished synchronously in the shaping process, so as to ensure the smoothness of the inner wall of the paper tube, in addition, the rotating disc is driven to rotate by the motor one through the gear and the clamping teeth, so that the plurality of roller bodies one can adapt to the inner wall of the paper tube with different thicknesses, and by arranging the plurality of roller bodies two, the polishing belt can be tightly wrapped around the roller body one with different diameters, and by arranging the convex strip, the connection between the polishing belt and the roller body two can be limited, so as to avoid displacement of the polishing belt in the rotating and polishing process.

[0018] In one preferred scheme, the connecting mechanism includes a clamping frame and an annular support, the clamping frame is movably clamped with the side support shell, and the motor two is installed outside the side support shell, the opposite two side outer walls of the clamping frame are fixedly connected with sliding blocks three respectively, the opposite two inner walls of the annular support are provided with linear guide rails two respectively, and the sliding blocks three are movably connected with the linear guide rails two;

[0019] One side of the annular support is provided with a notch two, the other side of the annular support is fixedly connected with a grinding plate, the top end of the annular support is fixedly connected with an L-shaped support, one end of the L-shaped support is movably connected with a hinged rod, the two ends of the hinged rod are fixed to the support four, and the support four is connected with the support one;

[0020] The opposite two sides of the support four are respectively provided with waist-shaped grooves four, and two sliding rods two are movably connected in the two waist-shaped grooves four respectively, the opposite ends of the two sliding rods two are connected with a sliding block four simultaneously, the bottom end outer wall of the support four is fixedly connected with a linear guide rail one, and the sliding block four is movably connected with the linear guide rail one, each sliding rod two is hingedly connected with a connecting rod two, and one end of each connecting rod two is hingedly connected with the opposite two side outer walls of the L-shaped support.

[0021] By setting up the connecting mechanism, in the connecting mechanism, the straight line guide rail two drive slider three movement, can make the inner support mechanism retract to the annular support, and the paper tube is separated, the paper tube is convenient to disassemble, through the setting of the grinding plate, the paper scraps brought in the paper tube when polishing the polishing belt are transferred to the surface of the grinding plate, thereby guaranteeing the polishing effect of the next round of polishing belt, reducing the replacement frequency of the polishing belt, in addition, under the retracted state of the inner support mechanism, the straight line guide rail one drives the slider four movement, can make the L type support drive the annular support to incline upward, until the clamping mechanism clamps the paper tube and rises under the drive of the three axis guide rail Z axis, then make the annular support return to the original position, thereby avoiding the situation that the paper tube two end bottom is adhered to the paper tube, and the inner support mechanism cannot be aligned with the paper tube.

[0022] From the above, the large-size paper tube turnover robot provided by the application can complete the clamping of the large-size paper tube through the auxiliary clamping force and suction force, and has the technical effect of stable turnover. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The figure is a schematic diagram of the overall structure of the large-size paper tube turnover robot.

[0024] Figure 2 The figure is a schematic diagram of the main turnover structure of the large-size paper tube turnover robot.

[0025] Figure 3 The figure is a schematic diagram of the single-side structure of the large-size paper tube turnover robot.

[0026] Figure 4 The figure is a schematic diagram of the clamping mechanism of the large-size paper tube turnover robot.

[0027] Figure 5 The figure is a schematic diagram of the right inner support mechanism of the large-size paper tube turnover robot.

[0028] Figure 6 The figure is a schematic diagram of the left inner support mechanism of the large-size paper tube turnover robot.

[0029] Figure 7 The figure is a schematic diagram of the inside of the side support shell of the large-size paper tube turnover robot.

[0030] Figure 8 The figure is a schematic diagram of the connecting mechanism of the large-size paper tube turnover robot.

[0031] In the figure: 1, three-axis guide rail; 2, clamping mechanism; 3, shelf; 4, inner support mechanism; 5, coupling mechanism; 201, hydraulic rod; 202, support one; 203, waist-shaped groove one; 204, sliding block one; 205, support two; 206, air pipe; 207, air pump; 208, arc clamping frame; 209, mounting frame; 210, silica gel suction cup; 211, groove one; 212, connecting rod one; 213, support three;

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

[0033] 501, clamping frame; 502, sliding block three; 503, support four; 504, hinged rod; 505, waist-shaped groove four; 506, linear guide rail one; 507, slide rod two; 508, sliding block four; 509, L-shaped support; 510, notch two; 511, linear guide rail two; 512, annular support; 513, grinding plate; 514, connecting rod two. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all.

[0035] The large-size paper tube turnover robot disclosed by the application is mainly applied to the scene of large-size paper tube turnover.

[0036] Reference Figures 1-4 A large-size paper tube turnover robot, comprising three-axis guide rail 1 and shelf 3, three-axis guide rail 1 comprises X-axis guide rail, Y-axis guide rail and Z-axis guide rail, two groups of coupling mechanisms 5 are symmetrically connected on the Z-axis guide rail, the opposite sides of the two groups of coupling mechanisms 5 are respectively connected with clamping mechanisms 2, and the bottom ends of the two groups of coupling mechanisms 5 are respectively connected with inner support mechanisms 4.

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

[0038] The top end of each arc-shaped clamping frame 208 is respectively fixedly connected with a support frame two 205, and the opposite two sides of one of the support frame two 205 are respectively hinged with a group of connecting rods one 212, and the opposite two sides of the other support frame two 205 are respectively hinged with a group of connecting rods one 212, and a plurality of groups of connecting rods one 212 are simultaneously hinged with a support frame three 213, and the top end of the support frame three 213 is fixedly connected with a hydraulic rod 201;

[0039] The hydraulic rod 201 is fixed to the top end of the support frame one 202, the support frame one 202 is connected with the connecting mechanism 5, and the two sides of the support frame one 202 are symmetrically provided with a plurality of waist-shaped grooves one 203, and the top end of each support frame two 205 is respectively fixedly connected with a plurality of sliding blocks one 204, and the plurality of sliding blocks one 204 are respectively correspondingly clamped in the plurality of waist-shaped grooves one 203, in the clamping mechanism 2, the extension and retraction of the hydraulic rod 201 can drive the vertical movement of the support frame three 213, thereby driving one end of the plurality of connecting rods one 212 to descend, based on the limiting of the waist-shaped grooves one 203 to the moving path of the sliding blocks one 204, the angle of the plurality of connecting rods one 212 is changed, and the two arc-shaped clamping frames 208 are simultaneously translated to the two sides through the support frame two 205, 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 inwardly clamped, the plurality of silica gel 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 adsorption force is used to compensate for the deficiency of the clamping force, and the paper tube is driven to the next process by the lifting and translation of the three-axis guide rail 1, in this structure, the two arc-shaped clamping frames 208 do not need to provide too high clamping force, and the paper tube is limited from both sides, and the adsorption force of the plurality of silica gel suction cups 210 is used to compensate for the deficiency, so that the paper tube is stably clamped while avoiding deformation, and the effective circulation of the large-size paper tube is realized.

[0040] Referring to Figures 5-7In a preferred embodiment, the inner supporting mechanism 4 comprises a side supporting shell 410, a rotating disc 414 movably connected in the side supporting shell 410, and a clamping edge 419 fixedly connected to the inner periphery of the side supporting shell 410. One side of the rotating disc 414 is attached to the inner wall of the side supporting shell 410, and the other side of the rotating disc 414 is attached to the inner wall of the clamping edge 419. A motor 409 is fixedly connected to the outer wall of one side of the side supporting shell 410.

[0041] Referring to Figures 5-7 In a preferred embodiment, a plurality of waist-shaped grooves 411 are equidistantly and longitudinally arranged on one side of the side supporting shell 410. A plurality of arc-shaped sliding grooves 413 are equidistantly and longitudinally arranged on the rotating disc 414. A sliding rod 405 is simultaneously connected in each of the corresponding waist-shaped groove 411 and arc-shaped sliding groove 413. One end of each sliding rod 405 is fixedly connected to a roller body 402.

[0042] Referring to Figures 5-7 In a preferred embodiment, a plurality of waist-shaped grooves 412 are equidistantly and longitudinally arranged on the same side of the side supporting shell 410. The plurality of waist-shaped grooves 412 and the plurality of waist-shaped grooves 411 are arranged alternately. A sliding block 416 is connected in each of the waist-shaped grooves 412. One side of each sliding block 416 is fixedly connected to a roller body 403.

[0043] Referring to Figures 5-7 In a preferred embodiment, a recess 420 is arranged on one side of each waist-shaped groove 412. The sliding block 416 is simultaneously arranged in the recess 420. One side of each sliding block 416 is fixedly connected to a spring 417. The other end of each spring 417 is fixedly connected to the inner wall of the corresponding recess 420.

[0044] Referring to Figures 5-7 In a preferred embodiment, a plurality of clamping teeth 415 are fixedly connected to one side of the rotating disc 414. The plurality of clamping teeth 415 are engaged with a gear 406. One side of the gear 406 is fixedly connected to a motor 407. A slot 418 is arranged on one side of the side supporting shell 410. The gear 406 passes through the slot 418. A bearing bracket 408 is connected to the outer wall of the same side of the side supporting shell 410. The motor 407 is installed on the bearing bracket 408.

[0045] Referring to Figures 5-7In a preferred implementation, the plurality of roller bodies one 402 are simultaneously sleeved with the polishing belt 401, and the plurality of roller bodies two 403 press the outer periphery of the polishing belt 401, the outer periphery of the polishing belt 401 is equidistantly provided with a plurality of grooves three, the outer wall of each roller body two 403 is provided with a convex strip 404, and the convex strip 404 is correspondingly clamped in the groove three, the inner supporting mechanism 4 is aligned with the two ends of the paper tube, based on the driving of the three-axis guide rail 1Y axis, the inner supporting mechanism 4 can adapt to paper tubes of different lengths, in the inner supporting mechanism 4, the overall structure is driven by the motor two 409 to rotate, so that the outer wall of the polishing belt 401 is attached to the inner wall of the paper tube end rotating, in the rotating process, the roller body one 402 can shape the inner wall of the paper tube end, compensate for the different inner diameters of the two ends of the paper tube after being pressed, and simultaneously polish the inner wall of the paper tube during shaping, effectively treat burrs generated at the end cutting position, and ensure the smoothness of the inner wall of the paper tube. In addition, in the structure that the motor one 407 drives the rotating disc 414 to rotate through the gear 406 and the clamping tooth 415, the plurality of arc-shaped sliding grooves 413 can switch positions, drive the plurality of roller bodies one 402 to retract or expand outward, and adapt to the inner wall of paper tubes of different thicknesses, and through the plurality of roller bodies two 403, the spring 417 can be stretched to stably press the polishing belt 401, so that the polishing belt 401 can be tightly wrapped around the roller body one 402 with different diameters, and through the convex strip 404, the connection between the polishing belt 401 and the roller body two 403 can be limited, so as to avoid displacement of the polishing belt 401 during rotating and polishing.

[0046] Referring to Figure 6 and Figure 8 In a preferred implementation, the coupling mechanism 5 includes a clamping frame 501 and an annular support 512, the clamping frame 501 is movably clamped with the side support shell 410, and the motor two 409 is installed outside the side support shell 410, the opposite outer walls of the clamping frame 501 are respectively fixedly connected with sliding blocks three 502, and the opposite inner walls of the annular support 512 are respectively provided with linear guide rails two 511, and the sliding blocks three 502 are movably connected with the linear guide rails two 511.

[0047] Referring to Figure 8 In a preferred implementation, one side of the annular support 512 is provided with a notch two 510, the other side of the annular support 512 is fixedly connected with a grinding plate 513, the top end of the annular support 512 is fixedly connected with an L-shaped support 509, one end of the L-shaped support 509 is movably connected with a hinged rod 504, the two ends of the hinged rod 504 are fixed to a support four 503, and the support four 503 is connected with the support one 202.

[0048] Referring to Figure 8In a preferred implementation, the opposite sides of the support frame four 503 are respectively provided with waist-shaped grooves four 505, and two sliding rods two 507 are movably connected in the two waist-shaped grooves four 505 respectively, the opposite ends of the two sliding rods two 507 are connected with a sliding block four 508 simultaneously, the bottom outer wall of the support frame four 503 is fixedly connected with a linear guide rail one 506, and the sliding block four 508 is movably connected to the linear guide rail one 506, each sliding rod two 507 is hingedly connected with a connecting rod two 514, and one end of each connecting rod two 514 is hingedly connected to the opposite outer walls of the L-shaped support 509, in the connecting mechanism 5, the sliding block three 502 is driven to move through the linear guide rail two 511, so that the inner support mechanism 4 is retracted into the annular support 512 and is separated from the paper tube, the paper tube is convenient to disassemble, in addition, the plurality of roller bodies one 402 are driven to rotate in the annular support 512 by the motor two 409, and the polishing belt 401 is sequentially in contact with the surface of the grinding plate 513, so that the paper scraps brought out by the polishing belt 401 during polishing in the paper tube are transferred to the surface of the grinding plate 513, thereby guaranteeing the polishing effect of the next round of polishing belt 401, reducing the replacement frequency of the polishing belt 401, in addition, under the retracted state of the inner support mechanism 4, the sliding block four 508 is driven to move through the linear guide rail one 506, the L-shaped support 509 is limited based on the hinged rod 504, and the L-shaped support 509 drives the annular support 512 to incline upward based on the transmission of the connecting rod two 514, so that the lowest point of the annular support 512 is raised until the clamping mechanism 2 clamps the paper tube and rises under the driving of the three-axis guide rail 1Z axis, and then the annular support 512 is homed, thereby avoiding the situation that the resting frame 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.

[0049] The working principle of the present application is as follows:

[0050] In the clamping mechanism 2, the support frame three 213 is vertically moved up and down by the extension and retraction of the hydraulic rod 201, thereby driving one end of the plurality of connecting rods one 212 to descend, changing the angle of the plurality of connecting rods one 212 based on the limitation of the movement path of the sliding block one 204 by the waist-shaped groove one 203, and simultaneously driving the two arc-shaped clamping frames 208 to translate to the two sides by the support frame two 205, 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 are inwardly clamped, the plurality of silica gel suction cups 210 provided on the inner wall of the two arc-shaped clamping frames 208 form negative pressure under the action of the air pump 207, and are tightly adsorbed to the outer periphery of the paper tube, and the adsorption force compensates for the deficiency of the clamping force, and the paper tube is driven to the next process by the lifting and translation of the three-axis guide rail 1, in this structure, the two arc-shaped clamping frames 208 do not need to provide too high clamping force, and the paper tube is limited from both sides, and at the same time, the plurality of silica gel suction cups 210 compensate for the adsorption force, which stabilizes the clamping of the paper tube while avoiding deformation of the paper tube, and effectively circulates the large-size paper tube;

[0052] In addition, the inner support mechanism 4 is aligned with the two ends of the paper tube respectively, and based on the driving of the three-axis guide rail 1Y axis, the inner support mechanism 4 can be adapted to the use of paper tubes of different lengths. In the inner support mechanism 4, the outer wall of the polishing belt 401 can be rotated to fit the inner wall of the paper tube end by driving the overall structure to rotate by the motor two 409. In the rotating process, the roller body one 402 can shape the inner wall of the paper tube end, compensate for the different inner diameters of the two ends of the paper tube after being pressed, and simultaneously polish the inner wall of the paper tube during the shaping process by the setting of the polishing belt 401, effectively treat the burrs generated at the end cutting position, and guarantee the smoothness of the inner wall of the paper tube.

[0053] In addition, in the structure that the motor one 407 drives the rotating disc 414 to rotate through the gear 406 and the clamping tooth 415, the multiple arc-shaped sliding grooves 413 can switch positions, drive the multiple roller bodies one 402 to retract or expand outward, adapt to the inner wall of paper tubes of different thicknesses, and through the setting of the multiple roller bodies two 403, the stable extrusion of the polishing belt 401 can be maintained by the stretching force of the spring 417, so that the polishing belt 401 can be tightly wrapped outside the roller body one 402 under different diameters, and through the setting of the convex strip 404, the connection between the polishing belt 401 and the roller body two 403 can be limited to avoid displacement of the polishing belt 401 during rotation and polishing. At the same time, in the connecting mechanism 5, the inner support mechanism 4 can be retracted into the annular support 512 and separated from the paper tube by driving the sliding block three 502 to move through the linear guide rail two 511, so as to facilitate the disassembly of the paper tube.

[0054] In addition, the multiple roller bodies one 402 are driven by the motor two 409 to rotate in the annular support 512, and the polishing belt 401 sequentially contacts the surface of the grinding plate 513, so that the paper scraps brought out by the polishing belt 401 during polishing in the paper tube are transferred to the surface of the grinding plate 513, thereby guaranteeing the polishing effect of the next round of polishing belt 401 and reducing the replacement frequency of the polishing belt 401.

[0055] In addition, in the retracted state of the inner support mechanism 4, the sliding block four 508 is driven to move by the linear guide rail one 506, the L-shaped support 509 is limited by the hinged rod 504, and the L-shaped support 509 drives the annular support 512 to tilt upward based on the transmission of the connecting rod two 514, so that the lowest point of the annular support 512 is raised until the clamping mechanism 2 clamps the paper tube and rises under the driving of the three-axis guide rail 1Z axis, and then the annular support 512 is homed. In this way, the situation that the inner support mechanism 4 cannot be aligned with the two ends of the paper tube can be avoided when the rest shelf is fitted to the bottom of the two ends of the paper tube.

[0056] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacement or change within the technical range disclosed by the present application according to the technical solution and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A large-size paper tube turnover robot comprising a three-axis guide rail (1) and a rest rack (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, two groups of connecting mechanisms (5) are symmetrically connected to the Z-axis guide rail, clamping mechanisms (2) are connected to opposite sides of the two groups of connecting mechanisms (5) respectively, and inner supporting mechanisms (4) are connected to bottom ends of the two groups of connecting mechanisms (5) respectively. The inner supporting mechanism (4) comprises a side supporting shell (410), a rotating disc (414) is movably connected in the side supporting shell (410), a clamping edge (419) is fixedly connected to the inner periphery of the side supporting shell (410), one side of the rotating disc (414) is attached to the inner wall of the side supporting shell (410), the other side of the rotating disc (414) is attached to the inner wall of the clamping edge (419), and a second motor (409) is fixedly connected to the outer wall of one side of the side supporting shell (410). A plurality of waist-shaped grooves two (411) are equidistantly and penetratively arranged on one side of the side supporting shell (410), a plurality of arc-shaped sliding grooves (413) are equidistantly and penetratively arranged on the rotating disc (414), and a same sliding rod one (405) is simultaneously connected in each corresponding waist-shaped groove two (411) and arc-shaped sliding groove (413). A plurality of waist-shaped grooves three (412) are equidistantly and penetratively arranged on the same side of the side supporting shell (410), 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 sliding block two (416) is connected in each waist-shaped groove three (412). A recess two (420) is arranged on one side of each waist-shaped groove three (412), the sliding block two (416) is arranged in the recess two (420), a spring (417) is fixedly connected to the outer wall of one side of each sliding block two (416), and the other end of each spring (417) is fixedly connected to the inner wall of the corresponding recess two (420). A plurality of clamping teeth (415) are fixedly connected to the outer wall of one side of the rotating disc (414), the plurality of clamping teeth (415) are engaged with a gear (406), one side of the gear (406) is fixedly connected with a first motor (407), a slot one (418) is arranged on one side of the side supporting shell (410), the gear (406) penetrates through the slot one (418), a bearing frame (408) is connected to the outer wall of the same side of the side supporting shell (410), and the first motor (407) is installed on the bearing frame (408). A same polishing belt (401) is simultaneously sleeved on the plurality of roller bodies one (402), the plurality of roller bodies two (403) are pressed on the outer periphery of the polishing belt (401), a plurality of recesses three are equidistantly arranged on the outer periphery of the polishing belt (401), a protruding strip (404) is arranged on the outer wall of each roller body two (403), and the protruding strip (404) is correspondingly clamped in the recess three.

2. A large size paper tube turnover robot according to claim 1, characterized in that, The clamping mechanism (2) comprises two symmetrically arranged arc-shaped clamping frames (208), and the opposite inner walls of the two arc-shaped clamping frames (208) are connected with a plurality of silica gel suction cups (210) through mounting frames (209) at equal intervals, respectively. The top end of each arc-shaped clamping frame (208) is fixedly connected with a support frame two (205), and the opposite two sides of one support frame two (205) are hingedly connected with a group of connecting rods one (212), and the opposite two sides of the other support frame two (205) are hingedly connected with a group of connecting rods one (212), and a plurality of groups of connecting rods one (212) are simultaneously hingedly connected with a support frame three (213), and the top end of the support frame three (213) is fixedly connected with a hydraulic rod (201). The hydraulic rod (201) is fixed to the top end of the support frame one (202), the support frame one (202) is connected with the connecting mechanism (5), and the two sides of the support frame one (202) are symmetrically provided with a waist-shaped groove one (203).

3. A large size paper tube turnover robot according to claim 2, characterized in that, The connecting mechanism (5) comprises a clamping frame (501) and an annular support (512), the clamping frame (501) is movably clamped with the side support shell (410), and the motor two (409) is installed outside the side support shell (410), the opposite two sides of the clamping frame (501) are fixedly connected with a sliding block three (502), and the opposite two sides of the annular support (512) are provided with a linear guide rail two (511), and the sliding block three (502) is movably connected with the linear guide rail two (511).

4. A large size paper tube turnover robot according to claim 3, characterized in that, One side of the annular support (512) is provided with a notch two (510), the other side of the annular support (512) is fixedly connected with a grinding plate (513), the top end of the annular support (512) is fixedly connected with an L-shaped support (509), one end of the L-shaped support (509) is movably connected with a hinged rod (504), the two ends of the hinged rod (504) are fixed on a support frame four (503), and the support frame four (503) is connected with the support frame one (202).

5. A large size paper tube turnover robot according to claim 4, characterized in that, The opposite sides of the support four (503) are respectively provided with the waist-shaped groove four (505), and the two waist-shaped groove fours (505) are movably connected with the slide rods two (507) respectively, and the opposite ends of the two slide rods two (507) are connected with the slide blocks four (508) simultaneously, the bottom outer wall of the support four (503) is fixedly connected with the linear guide rail one (506), and the slide blocks four (508) are movably connected on the linear guide rail one (506), and the slide rods two (507) are respectively hinged with the connecting rods two (514), and one end of each connecting rod two (514) is respectively hinged to the opposite sides of the outer wall of the L-shaped support (509).

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