A transport device for transporting paper rolls to a paper storage rack

Abstract

The present invention relates to the technical field of paper roll transportation equipment, and specifically relates to a transportation device for transporting paper rolls to a paper storage rack, including a paper roll body, a transportation mechanism, an adjustment mechanism, and a clamping unit. Connecting grooves are symmetrically formed at both ends of the paper roll body for connecting with the output end of a paper winding machine. The transportation mechanism includes a first transport vehicle, a second transport vehicle, a telescopic chassis, a lifting bracket, and a lifting support. The adjustment mechanism includes a rotator and a vision sensor. The vision sensor is arranged on the lifting bracket, and the rotator is arranged on the lifting support. The clamping unit includes a clamping mechanism and an inner support mechanism. The clamping mechanism is arranged on the lifting bracket and has two clamping output ends that can move towards each other. A clamping wheel bracket is arranged on each clamping output end, and two clamping rollers are arranged on the clamping wheel bracket. The inner support mechanism is arranged on the rotator and is used to tightly support the inner edge of the end of the paper roll body from the circumferential direction.

Description

Technical Field

[0001] The present invention relates to the technical field of paper roll transportation equipment, and specifically relates to a transportation device for transporting paper rolls to a paper storage rack. Background Art

[0002] In the existing production mode, there are significant technical shortcomings in the paper roll handling link:

[0003] There are many manual intervention links: The angle calibration when the paper roll is docked with the paper winding machine depends on manual operation, which is time-consuming and poses safety hazards;

[0004] The equipment has poor versatility: Traditional fixtures cannot adapt to paper rolls of multiple specifications, and tooling needs to be frequently replaced, affecting production continuity;

[0005] The safety risks are prominent: Manual operation involves mechanical moving areas, posing risks of accidents such as limb crushing.

[0006] Therefore, it is necessary to design a new type of paper roll handling equipment to solve the above problems. Summary of the Invention

[0007] Based on this, in view of the problems in the prior art, it is necessary to provide a transportation device for transporting paper rolls to a paper storage rack.

[0008] To solve the problems in the prior art, the technical solution adopted by the present invention is: A transportation device for transporting paper rolls to a paper storage rack, including a paper roll body, a transportation mechanism, an adjustment mechanism, and a clamping unit. Connecting grooves are symmetrically formed at both ends of the paper roll body for connecting with the output end of the paper winding machine. The transportation mechanism includes a first transport vehicle, a second transport vehicle, a telescopic chassis, a lifting bracket, and a lifting support. One end of the telescopic chassis is connected to the first transport vehicle, and the other end is connected to the second transport vehicle. The lifting bracket is arranged on the first transport vehicle, and the lifting support is arranged on the second transport vehicle. The adjustment mechanism includes a rotator and a vision sensor. The vision sensor is arranged on the lifting bracket, and the rotator is arranged on the lifting support. The clamping unit includes a clamping mechanism and an inner support mechanism. The clamping mechanism is arranged on the lifting bracket. The clamping mechanism has two clamping output ends that can move towards each other. A clamping wheel frame is arranged on each clamping output end, and two clamping rollers are arranged on the clamping wheel frame. The inner support mechanism is arranged on the rotator and is used to tightly support the inner edge of the end of the paper roll body from the circumferential direction.

[0009] Further, the clamping mechanism includes a supporting vertical plate fixedly arranged on the lifting bracket, a bearing block fixedly arranged on the supporting vertical plate, two supporting bases symmetrically and fixedly arranged on the lifting bracket, a power cylinder rotatably arranged at the bottom of each supporting base, and two clamping arms symmetrically arranged on the bearing block. The bottom end of each clamping arm is rotatably connected to the bearing block. The two power cylinders correspond to the two clamping arms one by one. The output shaft of each power cylinder is hinged to the corner of the corresponding clamping arm. A clamping wheel bracket is arranged on each clamping arm.

[0010] Further, the clamping arm is the clamping output end of the clamping mechanism.

[0011] Further, the clamping mechanism further includes a limit box fixedly arranged on each clamping arm, a sliding support block slidably arranged in each limit box, an adjusting screw rod rotatably arranged in the limit box, and a driving motor fixedly arranged at the end of the limit box. A clamping wheel bracket is fixedly arranged on each sliding support block. The adjusting screw rod is in threaded connection with the sliding support block. The output shaft of the driving motor is coaxially and fixedly connected to the adjusting screw rod.

[0012] Further, the clamping mechanism further includes a supporting slider slidably arranged on the bearing block, a supporting plate fixedly arranged on the supporting slider, a supporting wheel bracket elastically connected to the supporting plate, and a plurality of supporting rollers rotatably arranged on the supporting wheel bracket at equal intervals along the arc of the supporting wheel bracket. The supporting slider is in transmission connection with the two clamping arms.

[0013] Further, a shifting gear is fixedly arranged at one end of each clamping arm connected to the bearing block. Connecting racks are fixedly arranged on both sides of the supporting slider. Two reversing gears are symmetrically and rotatably arranged on the bearing block. The shifting gear is in transmission connection with the connecting rack on the corresponding side through the reversing gear.

[0014] Further, two limiting slide rods are symmetrically arranged on the supporting wheel bracket. The limiting slide rods penetrate through the supporting plate. A reset spring is coaxially sleeved on each limiting slide rod. A limiting ring is fixedly arranged at one end of each limiting slide rod away from the supporting wheel bracket. One end of the reset spring abuts against the supporting wheel bracket, and the other end abuts against the supporting plate.

[0015] Further, the inner support mechanism includes a rotating disk coaxially and fixedly connected to the output shaft of the rotator, two connecting support plates symmetrically and fixedly arranged on the rotating disk, a limiting outer cylinder coaxially arranged with the rotating disk and fixedly connected to the two connecting support plates, a bearing outer ring fixedly arranged at one end of the limiting outer cylinder away from the rotating disk, several articulated bumps fixedly arranged on the bearing outer ring in a ring shape, connecting swing arms articulated on each articulated bump, several positioning ribs formed on the inner wall of the bearing outer ring in a ring shape, a movable inner cylinder coaxially arranged in the limiting outer cylinder, several limiting grooves annularly formed on the outer wall of the movable inner cylinder, a movable inner ring coaxially arranged at one end of the movable inner cylinder away from the rotating disk, several pairs of articulated ears annularly arranged on the movable inner ring, several L-shaped swing arms annularly arranged on the movable inner ring, inner support arc blocks fixedly arranged at one end of each L-shaped swing arm away from the movable inner ring, and a pusher for driving the movable inner cylinder to move along the axis of the limiting outer cylinder. The positioning ribs and the limiting grooves correspond to each other one by one and are slidably connected. Several articulated bumps correspond to several pairs of articulated ears one by one. The L-shaped swing arms correspond to the articulated ears one by one, and the corners of the L-shaped swing arms are rotatably connected to the articulated ears. Several connecting swing arms correspond to several L-shaped swing arms one by one, and the end of the connecting swing arm away from the articulated bump is rotatably connected to the end of the L-shaped swing arm away from the inner support arc block.

[0016] Further, the pusher includes a pushing inner cylinder coaxially and rotatably arranged at one end of the limiting outer cylinder close to the rotator, a worm gear ring coaxially and fixedly arranged on the pushing inner cylinder, a mounting bracket fixedly arranged on the limiting outer cylinder, a worm rotatably arranged on the mounting bracket, and a power motor fixedly arranged on the mounting bracket. The output shaft of the power motor is coaxially and fixedly connected to the worm. The worm is meshed with the worm gear ring. The pushing inner cylinder is in threaded connection with the movable inner cylinder.

[0017] Further, the inner support arc blocks are all made of wear-resistant rubber material.

[0018] The beneficial effects of the present invention compared with the prior art are as follows:

[0019] First: Through the linkage of the visual sensor and the rotator, the automatic azimuth calibration of the connecting groove of the paper roll body is realized, and the paper roll machine interface can be accurately aligned without manual intervention. The closed-loop control of visual feedback and mechanical linkage ensures the rapid and stable calibration process, significantly shortens the operation time, avoids the angle deviation problem caused by manual operation, and effectively improves the continuous operation efficiency of the production line.

[0020] Second: The clamping mechanism adopts a combined design of an adjustable clamping wheel frame and an elastic supporting wheel frame, combined with the radial expansion structure of the inner support mechanism, which can stably clamp paper roll bodies with different diameters. The automatic positioning of the clamping wheel frame is realized by driving the motor to adjust the screw. It can adapt to various specifications without changing the tooling, significantly enhances the compatibility of the equipment with different products, and reduces the cost of changing products of multiple varieties.

[0021] Third: The clamping mechanism forms a three-point support through two sets of clamping rollers and supporting rollers, combined with the radial clamping of the inner support mechanism, to achieve synchronous clamping of the outer edge and inner wall of the paper roller body. The elastic supporting wheel frame ensures uniform distribution of contact pressure, and the wear-resistant rubber inner support arc block provides anti-slip friction to prevent the paper roller body from slipping during transportation. Fully automated operation keeps personnel out of the mechanical movement area, effectively reducing safety risks and meeting industrial production safety regulations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the three-dimensional structure of an embodiment;

[0023] Figure 2 is a front view of an embodiment;

[0024] Figure 3 is a schematic diagram of the three-dimensional structure of the clamping mechanism of the embodiment;

[0025] Figure 4 is a schematic diagram of the three-dimensional structure of the clamping arm of the embodiment;

[0026] Figure 5 is a schematic diagram of the exploded three-dimensional structure of the clamping arm of the embodiment;

[0027] Figure 6 is a three-dimensional structural schematic diagram of the inner support mechanism of the embodiment;

[0028] Figure 7 is a three-dimensional structural cross-sectional view of the limiting outer cylinder of the embodiment;

[0029] Figure 8 It is a schematic diagram of the three-dimensional structure decomposition of the limiting outer cylinder of the embodiment.

[0030] The numbers in the figure are: 1, paper roller body; 2, connecting groove; 3, first transport vehicle; 4, lifting bracket; 5, bearing block; 6, clamping arm; 7, limit box; 8, adjusting screw; 9, clamping wheel frame; 10, clamping roller; 11, sliding support block; 12, driving motor; 13, shifting gear; 14, reversing gear; 15, supporting slider; 16, supporting plate; 17, supporting wheel frame; 18, supporting roller; 19, limit slide bar; 20, reset spring; 21, connecting rack; 22, supporting base; 23, power cylinder; 2 4. Supporting vertical plate; 25. Second transport vehicle; 26. Lifting support; 27. Rotator; 28. Rotating disk; 29. Connecting support plate; 30. Limiting outer cylinder; 31. Load-bearing outer ring; 32. Articulated protrusion; 33. Connecting swing arm; 34. Positioning protrusion; 35. Movable inner cylinder; 36. Movable inner ring; 37. Articulated ear; 38. L-shaped swing arm; 39. Inner supporting arc block; 40. Limiting groove; 41. Move inner cylinder; 42. Worm gear ring; 43. Mounting bracket; 44. Worm; 45. Power motor; 46. Telescopic chassis. Detailed implementation manners

[0031] To further understand the features, technical means, specific purposes, and functions achieved by the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0032] Reference Figures 1 to 8 :

[0033] A transportation device for transporting a paper roll to a paper storage rack, comprising a paper roll body 1, a transportation mechanism, an adjustment mechanism, and a clamping unit. Connecting grooves 2 are symmetrically formed at both ends of the paper roll body 1 for connecting with the output end of a paper winding machine. The transportation mechanism includes a first transport vehicle 3, a second transport vehicle 25, a telescopic chassis 46, a lifting bracket 4, and a lifting support 26. One end of the telescopic chassis 46 is connected to the first transport vehicle 3, and the other end is connected to the second transport vehicle 25. The lifting bracket 4 is disposed on the first transport vehicle 3, and the lifting support 26 is disposed on the second transport vehicle 25. The adjustment mechanism includes a rotator 27 and a vision sensor. The vision sensor is disposed on the lifting bracket 4, and the rotator 27 is disposed on the lifting support 26 (as Figure 6 shown). The clamping unit includes a clamping mechanism and an inner support mechanism. The clamping mechanism is disposed on the lifting bracket 4. The clamping mechanism has two clamping output ends that can move towards each other. A clamping wheel frame 9 is disposed on each clamping output end, and two clamping rollers 10 are disposed on the clamping wheel frame 9. The inner support mechanism is disposed on the rotator 27 and is used to tightly support the inner edge of the end of the paper roll body 1 from the circumferential direction.

[0034] When the device is running, it adjusts to an appropriate spacing through the telescopic chassis 46, the first transport vehicle 3, and the second transport vehicle 25, and then synchronously traverses horizontally to the placement location of the paper roll body 1. Then the telescopic chassis 46 retracts a certain distance. After that, the lifting bracket 4 and the lifting support 26 lift a certain height. After the lifting bracket 4 is lifted, it causes the two clamping output ends of the clamping mechanism to move, driving the clamping rollers 10 on the clamping wheel frame 9 to clamp one end of the paper roll body 1. At the same time, the inner support mechanism tightly supports the inner edge of the other end of the paper roll body 1 from the circumferential direction. Thus, the transfer of the paper roll body 1 from the placement location to the transport mechanism is completed. Then, a vision sensor (the vision sensor is a mature existing technology and will not be elaborated here too much) monitors whether the connection groove 2 (the connection groove 2 is set to face directly upward for easy connection with the paper winder) on the paper roll body 1 clamped by the clamping mechanism faces directly upward. If the connection groove 2 faces directly upward, then the first transport vehicle 3 and the second transport vehicle 25 run synchronously to transport the paper roll body 1 to the paper roll storage location on the paper shelf. Then the clamping mechanism and the inner support mechanism release the paper roll body 1, and the device resets to facilitate the next transportation of the paper roll body 1. If the connection groove 2 does not face directly upward, then the rotator 27 of the adjustment mechanism drives the inner support mechanism to rotate, thereby driving the paper roll body 1 to rotate and adjust. With the cooperation of the vision sensor, finally, the connection groove 2 is adjusted to face directly upward, eliminating manual adjustment, saving time, and at the same time avoiding human participation and preventing the risk of rolling.

[0035] In order to show the detailed structure of the clamping mechanism, the following features are specifically set:

[0036] The clamping mechanism includes a supporting vertical plate 24 fixedly arranged on the lifting bracket 4, a bearing block 5 fixedly arranged on the supporting vertical plate 24, two supporting bases 22 symmetrically and fixedly arranged on the lifting bracket 4, a power cylinder 23 rotatably arranged at the bottom of each supporting base 22, and two clamping arms 6 symmetrically arranged on the bearing block 5. The bottom end of each clamping arm 6 is rotatably connected to the bearing block 5. The two power cylinders 23 correspond to the two clamping arms 6 one by one. The output shaft of each power cylinder 23 is hinged to the corner of the corresponding clamping arm 6. Each clamping arm 6 is provided with a clamping wheel frame 9.

[0037] The clamping arm 6 is the clamping output end of the clamping mechanism.

[0038] When the device is running, the two power cylinders 23 run synchronously. The output shaft of the power cylinder 23 drives the clamping arm 6 to flip around the connection with the bearing block 5, and during this process, the power cylinder 23 also rotates adaptively on the supporting base 22. After the clamping arm 6 flips, it drives the clamping wheel frame 9 to flip close to the paper roll body 1, and then clamps the paper roll body 1 through the clamping rollers 10.

[0039] To ensure that the device can clamp the paper roll body 1 with various diameters, the following features are specifically set:

[0040] The clamping mechanism further includes a limit box 7 fixedly arranged on each clamping arm 6, a sliding support block 11 slidably arranged in each limit box 7, an adjusting screw 8 rotatably arranged in the limit box 7, and a driving motor 12 fixedly arranged at the end of the limit box 7. A clamping wheel frame 9 is fixedly arranged on each sliding support block 11. The adjusting screw 8 is in threaded connection with the sliding support block 11, and the output shaft of the driving motor 12 is coaxially fixedly connected with the adjusting screw 8.

[0041] When it is necessary to clamp the paper roll body 1 with different diameters, the driving motor 12 drives the adjusting screw 8 to rotate. Under the action of the thread, the adjusting screw 8 rotates, causing the sliding support block 11 to move along the length of the limit box 7, thereby being able to adjust the position of the clamping wheel frame 9, facilitating the clamping roller 10 to perfectly fit the paper roll body 1 when the device clamps the paper roll body 1 with different diameters.

[0042] To ensure that the clamping mechanism can better clamp the paper roll body 1, the following features are specifically set:

[0043] The clamping mechanism further includes a supporting slider 15 slidably arranged on the bearing block 5, a supporting plate 16 fixedly arranged on the supporting slider 15, a supporting wheel frame 17 elastically connected to the supporting plate 16, and a number of supporting rollers 18 rotatably arranged on the supporting wheel frame 17 at equal intervals along the arc of the supporting wheel frame 17. The supporting slider 15 is in transmission connection with the two clamping arms 6.

[0044] When the two clamping arms 6 flip to clamp the paper roll body 1, the movement of the clamping arm 6 drives the supporting slider 15 to move upward. The upward movement of the supporting slider 15 drives the supporting plate 16 to move, and the movement of the supporting plate 16 drives the supporting wheel frame 17 to move, thereby driving the supporting rollers 18 to press against the paper roll body 1, and cooperating with the two groups of clamping rollers 10 to realize the clamping of the paper roll body 1 in three directions, facilitating the subsequent device to adjust the paper roll body 1 stably.

[0045] To show the connection relationship between the clamping arm 6 and the supporting slider 15, the following features are specifically set:

[0046] A shifting gear 13 is fixedly arranged at one end of each clamping arm 6 connected to the bearing block 5. Connecting racks 21 are fixedly arranged on both sides of the supporting slider 15. Two reversing gears 14 are symmetrically rotatably arranged on the bearing block 5. The shifting gear 13 is in transmission connection with the connecting rack 21 on the corresponding side through the reversing gear 14.

[0047] When the clamping arm 6 swings to clamp the paper roller body 1, the movement of the clamping arm 6 drives the toggle gear 13 to rotate, and the rotation of the toggle gear 13 drives the reversing gear 14 to rotate. The reversing gear 14 rotates and then engages with the connecting rack 21, causing the supporting slider 15 to move upward under the drive of the connecting rack 21.

[0048] In order to demonstrate the elastic connection structure between the supporting wheel frame 17 and the supporting plate 16, the following features are also specifically provided:

[0049] Two limit slide bars 19 are symmetrically arranged on the supporting wheel frame 17, and the limit slide bars 19 pass through the supporting plate 16. A return spring 20 is coaxially sleeved on each limit slide bar 19, and a limit ring is fixedly arranged on one end of each limit slide bar 19 away from the supporting wheel frame 17. One end of the return spring 20 abuts against the supporting wheel frame 17, and the other end abuts against the supporting plate 16.

[0050] In the initial state, the return spring 20 is extended, and the limit ring is against the supporting plate 16. When the supporting plate 16 is driven by the supporting slider 15 to move upward and press against the paper roller body 1, the return spring 20 will be compressed, and the limit slider 19 will adaptively slide through the supporting plate 16, thereby causing the supporting roller 18 to always have a tendency to press against the paper roller body 1.

[0051] In order to show the detailed structure of the internal support mechanism, the following features are also set:

[0052] The inner support mechanism includes a rotating disk 28 coaxially and fixedly connected to the output shaft of the rotator 27, two connecting support plates 29 symmetrically and fixedly arranged on the rotating disk 28, a limiting outer cylinder 30 coaxially arranged with the rotating disk 28 and fixedly connected to the two connecting support plates 29, a bearing outer ring 31 fixedly arranged at one end of the limiting outer cylinder 30 away from the rotating disk 28, several articulated bumps 32 fixedly arranged in a ring on the bearing outer ring 31, connecting swing arms 33 articulated on each articulated bump 32, several positioning ribs 34 formed in a ring on the inner wall of the bearing outer ring 31, a movable inner cylinder 35 coaxially arranged in the limiting outer cylinder 30, several limiting grooves 40 annularly formed on the outer wall of the movable inner cylinder 35, a movable inner ring 36 coaxially arranged at one end of the movable inner cylinder 35 away from the rotating disk 28, several pairs of articulated ears 37 annularly arranged on the movable inner ring 36, several L-shaped swing arms 38 annularly arranged on the movable inner ring 36, inner support arc blocks 39 fixedly arranged at one end of each L-shaped swing arm 38 away from the movable inner ring 36, and a pusher for driving the movable inner cylinder 35 to move along the axis of the limiting outer cylinder 30. The positioning ribs 34 and the limiting grooves 40 are in one-to-one correspondence and are slidably connected. Several articulated bumps 32 and several pairs of articulated ears 37 are in one-to-one correspondence (here, the one-to-one correspondence means that the number of articulated bumps 32 and articulated ears 37 is the same). The L-shaped swing arms 38 and the articulated ears 37 are in one-to-one correspondence, and the corners of the L-shaped swing arms 38 are rotatably connected to the articulated ears 37. Several connecting swing arms 33 and several L-shaped swing arms 38 are in one-to-one correspondence. One end of the connecting swing arm 33 away from the articulated bump 32 is rotatably connected to one end of the L-shaped swing arm 38 away from the inner support arc block 39.

[0053] During the operation of the device, the pusher drives the movable inner cylinder 35 to gradually approach the paper roll body 1 along the axis of the limiting outer cylinder 30. The movement of the movable inner cylinder 35 drives the movement of the movable inner ring 36. The movement of the movable inner ring 36 drives the movement of the L-shaped swing arms 38. After the movement of the L-shaped swing arms 38, under the limitation of the connecting swing arms 33, the L-shaped swing arms 38 are caused to rotate around the connection with the articulated ears 37, so that the L-shaped swing arms 38 are turned over, thereby driving the inner support arc blocks 39 to synchronously tighten the paper roll body 1. And when the movable inner cylinder 35 moves, the limitation of the limiting grooves 40 and the positioning ribs 34 ensures that the movable inner cylinder 35 will not deflect when being driven by the pusher to move in the limiting outer cylinder 30. When it is necessary to adjust the rotation of the paper roll body 1, the rotator 27 drives the rotating disk 28 to rotate. The rotation of the rotating disk 28 further drives the limiting outer cylinder 30 to rotate through the connecting support plates 29. The rotation of the limiting outer cylinder 30 drives the movable inner cylinder 35 to rotate, and then the entire inner support mechanism tightens the paper roll body 1 and rotates.

[0054] In order to show the detailed structure of the pusher, the following features are specifically set:

[0055] The pusher includes a push inner cylinder 41 coaxially and rotatably arranged at one end of the limit outer cylinder 30 close to the rotary disk 28, a worm gear ring 42 coaxially and fixedly arranged on the push inner cylinder 41, a mounting bracket 43 fixedly arranged on the limit outer cylinder 30, a worm 44 rotatably arranged on the mounting bracket 43, and a power motor 45 fixedly arranged on the mounting bracket 43. The output shaft of the power motor 45 is coaxially fixedly connected to the worm 44. The worm 44 meshes with the worm gear ring 42. The push inner cylinder 41 is threadedly connected to the movable inner cylinder 35.

[0056] When the device is running, the power motor 45 drives the worm 44 to rotate. The rotation of the worm 44 drives the worm gear ring 42 to rotate. The rotation of the worm gear ring 42 drives the push inner cylinder 41 to rotate. The rotation of the push inner cylinder 41 causes the movable inner cylinder 35 to move along the axis of the limit outer cylinder 30 under the action of the thread.

[0057] In order to ensure a better tightening effect when the inner support arc block 39 abuts against the inner edge of the end of the paper roll body 1, the following features are specifically set:

[0058] The inner support arc blocks 39 are all made of wear-resistant rubber.

[0059] When the inner support arc block 39 abuts against the paper roll body 1, the inner support arc block 39 made of wear-resistant rubber can provide greater friction to ensure the stable operation of the equipment.

[0060] The working principle of this device is as follows: By means of the telescopic chassis 46, the distance between the first transport vehicle 3 and the second transport vehicle 25 is adjusted to be adapted to the length of the paper roll body 1, and then they are synchronously moved horizontally to the placement location of the paper roll body 1. Subsequently, the telescopic chassis 46 retracts a certain distance. Then, the lifting brackets 4 and the lifting supports 26 rise synchronously, so that the clamping mechanism and the inner support mechanism reach the working positions. At this time, the power cylinder 23 pushes the clamping arm 6 to swing around the pin shaft of the bearing block 5, driving the two groups of clamping rollers 10 on the clamping wheel frame 9 to tightly hold the outer edge of the paper roll body 1 from both sides. At the same time, the pusher of the inner support mechanism drives the movable inner cylinder 35 to move axially. Through the linkage of the L-shaped swing arm, the inner support arc block 39 expands radially to support the inner wall of the paper roll body 1 from the inside. The visual sensor will monitor the orientation of the connecting groove 2 on the paper roll body 1 in real time. Once it detects that the angle deviation exceeds the set threshold, the rotator 27 will drive the whole inner support mechanism to rotate, driving the paper roll body 1 to rotate synchronously until the groove faces directly upward. Finally, the transport vehicle travels to the target position of the paper shelf at a preset speed. The clamping mechanism and the inner support mechanism release the paper roll body 1 successively, and each moving part returns to the initial state to prepare for the next handling of the paper roll body 1. The entire system realizes the fully automated operation from the grasping, attitude adjustment to the precise placement of the paper roll body 1 through the linkage between mechanical components and visual feedback. The action sequence of each actuator is uniformly coordinated by the controller, ensuring the stability and efficiency of the handling process.

[0061] The above embodiments merely represent one or several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention shall be subject to the appended claims.

Claims

1. A transport device for carrying paper rolls to a paper storage rack, characterized in that, The paper roller body comprises a paper roller body, a transport mechanism, an adjustment mechanism and a clamping unit, wherein two ends of the paper roller body are symmetrically provided with connecting grooves, and the connecting grooves are used to connect with the output end of the paper reel, the transport mechanism comprises a first transport vehicle, a second transport vehicle, a telescopic chassis, a lifting bracket and a lifting support, one end of the telescopic chassis is connected to the first transport vehicle, and the other end is connected to the second transport vehicle, the lifting bracket is arranged on the first transport vehicle, and the lifting support is arranged on the second transport vehicle, the adjustment mechanism comprises a rotator and a visual sensor, the visual sensor is arranged on the lifting bracket, the rotator is arranged on the lifting support, the clamping unit comprises a clamping mechanism and an inner supporting mechanism, the clamping mechanism is arranged on the lifting bracket, the clamping mechanism has two clamping output ends that can move toward each other, each clamping output end is provided with a clamping wheel frame, the clamping wheel frame is provided with two clamping rollers, the inner supporting mechanism is arranged on the rotator, and the inner supporting mechanism is used to tighten the inner edge of the end of the paper roller body from the circumferential direction; The clamping mechanism includes a supporting vertical plate fixedly arranged on the lifting bracket, a bearing block fixedly arranged on the supporting vertical plate, two supporting bases fixedly arranged on the lifting bracket in a symmetrical state, a power cylinder rotatably arranged on each supporting base, and two clamping arms symmetrically arranged on the bearing block, the bottom end of each clamping arm is rotatably connected to the bearing block, the two power cylinders correspond to the two clamping arms one by one, the output shaft of each power cylinder is hinged to the corner of the corresponding clamping arm, and each clamping arm is provided with a clamping wheel frame; The clamping arm is the clamping output end of the clamping mechanism; The clamping mechanism also includes a supporting slider slidably arranged on the bearing block, a supporting plate fixedly arranged on the supporting slider, a supporting wheel frame elastically connected to the supporting plate, and a plurality of supporting rollers rotatably arranged on the supporting wheel frame at equal intervals along the arc of the supporting wheel frame. The supporting slider is transmission-connected to the two clamping arms.

2. The transport device for transporting a paper roll to a paper storage rack according to claim 1, wherein The clamping mechanism also includes a limit box fixedly arranged on each clamping arm, a sliding support block slidably arranged in each limit box, an adjusting screw rotatably arranged in the limit box and a driving motor fixedly arranged at the end of the limit box. A clamping wheel frame is fixedly arranged on each sliding support block, the adjusting screw is threadedly connected to the sliding support block, and the output shaft of the driving motor is coaxially fixedly connected to the adjusting screw.

3. The transport device for transporting paper rolls to the paper storage rack according to claim 1, wherein, A toggle gear is fixedly provided at one end of each clamping arm connected to the supporting block, connecting racks are fixedly provided on both sides of the supporting slider, and two reversing gears are symmetrically rotated on the supporting block. The toggle gear is connected to the connecting rack on the corresponding side through the reversing gear.

4. A transport device for transporting paper rolls to a paper storage rack according to claim 3, characterized in that, Two limit slide bars are symmetrically arranged on the supporting wheel frame, and the limit slide bars penetrate the supporting plate. A return spring is coaxially sleeved on each limit slide bar, and a limit ring is fixedly arranged on one end of each limit slide bar away from the supporting wheel frame. One end of the return spring is against the supporting wheel frame, and the other end is against the supporting plate.

5. A transport device for transporting paper rolls to a paper storage rack according to claim 4, characterized in that, The inner support mechanism includes a rotating disk coaxially and fixedly connected to the output shaft of the rotator, two connecting support plates symmetrically and fixedly arranged on the rotating disk, a limiting outer cylinder coaxially arranged with the rotating disk and fixedly connected to the two connecting support plates, a bearing outer ring coaxially and fixedly arranged at one end of the limiting outer cylinder away from the rotating disk, several hinge bumps fixedly arranged in a ring on the bearing outer ring, connecting swing arms hinged to each hinge bump, several positioning ribs formed in a ring on the inner wall of the bearing outer ring, a movable inner cylinder coaxially arranged in the limiting outer cylinder, several limiting grooves annularly formed on the outer wall of the movable inner cylinder, a movable inner ring coaxially arranged at one end of the movable inner cylinder away from the rotating disk, several pairs of hinge ears annularly arranged on the movable inner ring, several L-shaped swing arms annularly arranged on the movable inner ring, inner support arc blocks fixedly arranged at one end of each L-shaped swing arm away from the movable inner ring, and a pusher for driving the movable inner cylinder to move along the axis of the limiting outer cylinder. The positioning ribs and the limiting grooves correspond to each other one by one and are slidably connected. Several hinge bumps correspond to several pairs of hinge ears one by one. The L-shaped swing arms correspond to the hinge ears one by one and the corners of the L-shaped swing arms are rotatably connected to the hinge ears. Several connecting swing arms correspond to several L-shaped swing arms one by one. One end of the connecting swing arm away from the hinge bump is rotatably connected to one end of the L-shaped swing arm away from the inner support arc block.

6. The transport device for transporting a paper roll to a paper storage rack according to claim 5, wherein The pusher includes a pushing inner cylinder coaxially and rotatably arranged at one end of the limiting outer cylinder close to the rotating disk, a worm gear ring coaxially and fixedly arranged on the pushing inner cylinder, a mounting bracket fixedly arranged on the limiting outer cylinder, a worm rotatably arranged on the mounting bracket, and a power motor fixedly arranged on the mounting bracket. The output shaft of the power motor is coaxially and fixedly connected to the worm. The worm meshes with the worm gear ring. The pushing inner cylinder is threadedly connected to the movable inner cylinder.

7. A transportation device for transporting paper rolls to a paper storage rack according to claim 6, characterized in that, The inner support arc blocks are all made of wear-resistant rubber material.

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