Packaging manipulator for toilet paper production and packaging

Abstract

The invention belongs to the technical field of manipulators, and particularly discloses a packaging manipulator for toilet paper production and packaging, comprising: a first clamping plate and a second clamping plate for clamping an object; the driving assembly is used for driving the second clamping plate to reciprocate on the top of the bottom plate; the limiting assembly comprises cross rods, and the cross rods are fixed to the tops of the first clamping plate and the second clamping plate; the sliding sleeve slidably sleeves the surface of the cross rod; the inner rod is fixed to the surface of the sliding sleeve, and the surface of the inner rod is sleeved with the rotating plate through a top ring; and the twisting piece drives the rotating plate to rotate anticlockwise. The second clamping plate gets close to or away from the first clamping plate through the driving assembly, the distance between the first clamping plate and the second clamping plate is adjusted according to the lengths of objects, the clamping head can conveniently clamp the objects of different lengths, the multiple objects are prevented from being dispersed on the inner side of the clamping head through the limiting assembly, the stacking effect of the multiple objects is guaranteed, and the working efficiency is improved. And a plurality of objects can conveniently and flatly enter the packaging piece.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical hands, and particularly relates to a packing mechanical hand for packing toilet paper. BACKGROUND

[0002] The paper of toilet paper is extremely thin and fragile, and in order to facilitate subsequent transportation and sale of the toilet paper, the toilet paper needs to be packed after production. When the packing mechanical hand is used to pack the toilet paper, the stacked toilet paper is easy to be dispersed in the chuck, so that the toilet paper cannot be stacked in the packing bag in a flat manner during the packing process.

[0003] Therefore, it is necessary to provide the packing mechanical hand for packing toilet paper to solve the above problems. SUMMARY

[0004] In view of the above problems, the application provides the packing mechanical hand for packing toilet paper to solve the problems in the background.

[0005] To achieve the above purpose, the application provides the following technical scheme: a packing mechanical hand for packing toilet paper, comprising: a first clamping plate and a second clamping plate, used for clamping an object; a driving assembly, used for driving the second clamping plate to reciprocate on the top of a bottom plate; a limiting assembly, comprising: a cross rod, the top of the first clamping plate and the top of the second clamping plate are both fixed with the cross rod; a sliding sleeve, slidingly sleeved on the surface of the cross rod; an inner rod, fixed on the surface of the sliding sleeve, and a rotating plate sleeved on the surface of the inner rod by a top ring; a twisting member, used for driving the rotating plate to rotate counterclockwise; a pushing assembly, used for pushing the object and the limiting assembly to move forward synchronously; an opening adjusting assembly, used for adjusting the opening of a packing object to correspond to the object; and a lifting assembly, used for driving the first clamping plate and the second clamping plate to move up and down synchronously.

[0006] Further, the driving assembly is used for driving the second clamping plate to move by a first driving member, and the second clamping plate moves on the surface of a bottom rod by a bottom sleeve, and the second clamping plate clamps the object in the process of moving close to the first clamping plate.

[0007] Further, the surface of the top ring is provided with an arc-shaped groove, the top ring rotates on the bottom of the positioning component by the arc-shaped groove, and the positioning component comprises: a top plate, fixed on the inner side end of the inner rod; and a clamping head, used for limiting the rotation of the top ring, and the bottom end of the clamping head is clamped in the arc-shaped groove.

[0008] Further, the surface of the cross rod is spirally sleeved with a first nut, the first nut cooperates with the sliding sleeve, and a first elastic member drives the sliding sleeve to move backward.

[0009] Further, the pushing assembly is used for driving the push plate to reciprocate by a second driving member, the push plate moving forward pushes the object to move close to the packing object, and the object pushes the limiting assembly to move forward.

[0010] Further, the mouth opening assembly comprises a first supporting rod and a second supporting rod for supporting the opening of the packaging, and a rotating rod, rotation of the rotating rod enables the first supporting rod and the second supporting rod to move towards or away from each other.

[0011] Further, the first clamping plate and the second clamping plate are provided with vertical grooves at the front ends, and the first supporting rod and the second supporting rod move in the vertical grooves.

[0012] Further, the lifting assembly, screwing of the fastening sleeve and the vertical rod enables the inner plate to move up and down on the inner side of the side frame, and the side frame is installed on the top of the bottom frame.

[0013] Further, the first clamping plate is penetrated by the inserting rod from the outer side of the inner plate, and the second elastic member drives the first clamping plate to move away from the side frame.

[0014] Further, the outer side of the inner plate is provided with a second screw nut, and the second screw nut is screw-connected to the outer end of the inserting rod.

[0015] Technical effects and advantages of the present application:

[0016] 1. The driving assembly enables the second clamping plate to move towards or away from the first clamping plate, and the distance between the first clamping plate and the second clamping plate is adjusted according to the length of the object, so that the chuck can clamp objects of different lengths, and the limiting assembly avoids the dispersion of multiple objects in the chuck, ensures the stacking effect of multiple objects, and facilitates the flat entry of multiple objects into the packaging. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic diagram of the whole packaging mechanical hand for toilet paper production and packaging;

[0018] Figure 2 is a schematic diagram of the whole limiting assembly;

[0019] Figure 3 is a schematic diagram of the arc-shaped groove on the surface of the top ring;

[0020] Figure 4 is a schematic diagram of the second clamping plate in cross section;

[0021] Figure 5 is a schematic diagram of the whole lifting assembly;

[0022] In the figure: 1, the first clamping plate; 101, the bottom plate; 2, the second clamping plate; 3, the crossbar; 4, the sliding sleeve; 5, the inner rod; 501, the top plate; 502, the clamp; 6, the rotating plate; 601, the top ring; 602, the arc-shaped groove; 7, the torsion piece; 8, the first driving piece; 9, the bottom sleeve; 10, the bottom rod; 11, the first nut; 12, the first elastic piece; 13, the second driving piece; 14, the push plate; 15, the first supporting rod; 16, the second supporting rod; 17, the rotating rod; 171, the rotating head; 172, the sleeve ring; 18, the vertical groove; 19, the side frame; 20, the bottom frame; 21, the inner plate; 22, the fastening sleeve; 23, the vertical rod; 24, the insertion rod; 25, the second elastic piece; 26, the second nut. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the present application will be described clearly and completely below in conjunction with the embodiments.

[0024] The present application provides a packing manipulator for toilet paper production and packing, as shown in Figure 1 and Figure 4 , comprising: a first clamping plate 1 and a second clamping plate 2, the first clamping plate 1 and the second clamping plate 2 are arranged vertically opposite, and the first clamping plate 1 and the second clamping plate 2 cooperate to clamp the object. The first clamping plate 1 is fixed with a bottom plate 101 at the bottom, the second clamping plate 2 slides on the top of the bottom plate 101, the bottom surface of the second clamping plate 2 is attached to the top surface of the bottom plate 101, both ends of the bottom plate 101 are fixed with a bottom rod 10, the bottom surface of both ends of the second clamping plate 2 is fixed with a bottom sleeve 9, the two bottom sleeves 9 correspond to the two bottom rods 10 one by one, the bottom sleeve 9 is sleeved on the surface of the bottom rod 10, at this time the first driving piece 8 of the driving assembly makes the second clamping plate 2 slide on the top surface of the bottom plate 101, and the outer surface of the second clamping plate 2 is transmissionally connected to the output end of the first driving piece 8.

[0025] Among them, the object is set as toilet paper, the first driving piece 8 is set as a pneumatic cylinder, and the driving force of the first driving piece 8 makes the first clamping plate 1 and the second clamping plate 2 form a chuck head for clamping the object.

[0026] Specifically, a plurality of objects to be packed are stacked on the top of the bottom plate 101, the first driving piece 8 is started, the output end of the first driving piece 8 pushes the second clamping plate 2 to move close to the first clamping plate 1, the second clamping plate 2 moves on the surface of the bottom rod 10 by means of the bottom sleeve 9, and the moving second clamping plate 2 pushes the objects to move close to the first clamping plate 1, until the first clamping plate 1 and the second clamping plate 2 clamp the plurality of objects, at this time the limiting assembly makes the plurality of objects in a stacked state between the first clamping plate 1 and the second clamping plate 2.

[0027] In the embodiment, the second clamping plate 2 is driven by the driving assembly to approach and move away from the first clamping plate 1, the distance between the first clamping plate 1 and the second clamping plate 2 is adjusted according to the length of the objects, the chuck is convenient to clamp objects with different lengths, and the dispersion of the objects in the chuck is avoided by the limiting assembly, and the stacking effect of the objects is ensured.

[0028] In order to push the objects forward, the objects are pushed into the packaging member by the pushing assembly, the packaging member is a packaging bag, and in Figure 1 In the embodiment, the pushing assembly comprises a second driving member 13 and a pushing plate 14, the second driving member 13 is a gas cylinder, a support is fixed to the rear end of the first clamping plate 1, the rear end of the second driving member 13 is installed on the front side of the support, the pushing plate 14 is located at the front side of the second driving member 13, and the rear side of the pushing plate 14 is in transmission connection with the output end of the second driving member 13.

[0029] In the embodiment, the pushing plate 14 is installed on the output end of the second driving member 13 in a detachable manner, and the pushing plate 14 can be selected according to the length of the objects.

[0030] Specifically, after the first clamping plate 1 and the second clamping plate 2 clamp the objects by the driving assembly, the second driving member 13 is started, the output end of the second driving member 13 drives the pushing plate 14 to move forward, the pushing plate 14 pushes the objects to move forward on the top surface of the bottom plate 101, the limiting assembly avoids the dispersion of the objects, and the objects are moved into the opening of the packaging member until the packaging of the objects is completed.

[0031] In the embodiment, the pushing plate 14 is driven by the driving force of the second driving member 13 to move forward, and the objects are stacked and moved forward on the top of the bottom plate 101 by the cooperation of the pushing plate 14 and the limiting assembly, so that the objects are smoothly moved into the packaging member.

[0032] In order to make the objects be in a stacked state on the top of the bottom plate 101, the objects are limited by the limiting assembly, and in Figures 1 to 3The limiting assembly comprises the crossbar 3, the sliding sleeve 4, the inner rod 5, the rotating plate 6 and the torsion member 7, and the torsion member 7 is a torsion spring. In order to make the rotating plate 6 in the vertical state, the rotating plate 6 is limited by the positioning component, which comprises the top plate 501 and the clamping head 502. The inner rod 5 is fixed with the top plate 501 at the top of the inner side end, the bottom surface of the top plate 501 is fixed with the clamping head 502, and the surface of the top ring 601 is provided with the arc-shaped slot 602 corresponding to the clamping head 502. The top of the first clamping plate 1 and the second clamping plate 2 is fixed with the crossbar 3, the surface of the crossbar 3 is sleeved with the sliding sleeve 4, the bottom surface of the sliding sleeve 4 is provided as a horizontal surface, the bottom surface of the sliding sleeve 4 is attached to the top surface of the clamping head, the outer side surface of the sliding sleeve 4 is fixed with the inner rod 5, the inner rod 5 is between the first clamping plate 1 and the second clamping plate 2, the inner rod 5 is horizontally arranged, the top end of the rotating plate 6 is sleeved on the surface of the inner rod 5 by the top ring 601, the rotating plate 6 is vertically arranged, the surface of the inner rod 5 is sleeved with the torsion member 7, the inner side end of the torsion member 7 is connected with the top ring 601, the outer side end of the torsion member 7 is connected with the sliding sleeve 4, and the torsion force of the torsion member 7 makes the top ring 601 rotate counterclockwise on the surface of the inner rod 5.

[0033] Specifically, when the push plate 14 is between the rear side end of the first clamping plate 1 and the rear side end of the second clamping plate 2, the push plate 14 is in the original position, the torsion force of the torsion member 7 makes the top ring 601 rotate counterclockwise on the surface of the inner rod 5, the top ring 601 makes the rotating plate 6 swing counterclockwise, the top ring 601 rotates at the bottom end of the clamping head 502 by the arc-shaped slot 602, and when the top end of the arc-shaped slot 602 contacts the bottom end of the clamping head 502, the top ring 601 stops rotating, at this time, the rotating plate 6 is in the vertical state.

[0034] In the embodiment, the rotating plate 6 is in the vertical state by the torsion force of the torsion member 7, the two rotating plates 6 in the vertical state limit the front side parts of the plurality of objects, the push plate 14 limits the rear side parts of the plurality of objects, and the plurality of objects are stacked on the top of the bottom plate 101, so that the plurality of objects are prevented from being scattered on the top of the bottom plate 101.

[0035] In order to position the rotating plate 6, the sliding sleeve 4 is limited by the cooperation of the first elastic member 12 and the first nut 11, the first elastic member 12 is a spring sheet, the torsion force of the torsion member 7 is greater than the elastic force of the first elastic member 12, and the first elastic member 12 is connected with the rear side surface of the circular plate by the sliding sleeve 4. Figure 1 and Figure 2 In the embodiment, the first nut 11 is screwingly sleeved on the surface of the crossbar 3, the front side end of the crossbar 3 is fixed with the circular plate, the front side surface of the sliding sleeve 4 is connected with the rear side surface of the circular plate by the first elastic member 12, and the elastic force of the first elastic member 12 makes the rear side surface of the sliding sleeve 4 attached to the front side surface of the first nut 11.

[0036] Specifically, when the plurality of objects are stacked in the inner side of the clamping head, the elastic force of the first elastic member 12 drives the rear movement of the sliding sleeve 4, the sliding sleeve 4 drives the synchronous rear movement of the limiting assembly on the surface of the crossbar 3, and when the rear side surface of the sliding sleeve 4 is attached to the front side surface of the first nut 11, the rear side surface of the rotating plate 6 is attached to the front side parts of the plurality of objects.

[0037] In the embodiment, the elastic force of the first elastic member 12 makes the rotating plate 6 of the limiting component press the front side of the plurality of objects, so as to avoid the dispersion of the plurality of objects in the inside of the chuck due to the pushing of the pushing plate 14.

[0038] In order to package the plurality of objects, the opening of the packaging component is expanded by the opening-expanding assembly, Figure 1 、 Figure 2 and Figure 4 In the opening-expanding assembly, the first supporting rod 15 and the second supporting rod 16 cooperatively form an expanding frame, the first clamping plate 1 and the second clamping plate 2 are respectively provided with the opening-expanding assembly at the front side, the first supporting rod 15 and the second supporting rod 16 are respectively inserted into the vertical slot 18 at the rear side, the rotating rod 17 is rotatably connected in the vertical slot 18, the rotating rod 17 penetrates the top end of the vertical slot 18, the rotating head 171 is fixed at the top end of the rotating rod 17, the sleeve ring 172 is fixed at the rear side of the first supporting rod 15 and the second supporting rod 16, the sleeve ring 172 is screwed on the surface of the rotating rod 17, the internal threads of the two sleeve rings 172 are opposite to each other, and the rotating rotating rod 17 makes the two sleeve rings 172 approach or separate from each other.

[0039] Specifically, the rotating head 171 is rotated, the rotating head 171 makes the rotating rod 17 rotate in the vertical slot 18, the rotating rotating rod 17 makes the two sleeve rings 172 approach each other, i.e. the first supporting rod 15 moves downward and the second supporting rod 16 moves upward, until the two sleeve rings 172 are attached to each other, the distance between the first supporting rod 15 and the second supporting rod 16 is the smallest.

[0040] The opening of the packaging component is screwed on the outside of the two expanding frames, the rotating head 171 is reversely rotated, the two sleeve rings 172 are separated from each other by the reverse rotation of the rotating rod 17, at this time, the first supporting rod 15 and the second supporting rod 16 which are separated from each other expand the opening of the packaging component, until the opening of the packaging component corresponds to the plurality of objects.

[0041] When the pushing plate 14 pushes the plurality of objects and the limiting component to move forward synchronously, the forward moving limiting component presses the first elastic member 12 by the sliding sleeve 4, until the sliding sleeve 4 cannot move forward, the continuously moving pushing plate 14 makes the plurality of objects gradually enter the inside of the packaging component, the front side of the plurality of objects makes the rotating plate 6 rotate clockwise, the bottom end of the rotating plate 6 gradually enters the inside of the packaging component, at this time, the top ring 601 rotates at the bottom end of the clamping head 502 by the arc-shaped slot 602, the top ring 601 which is rotated twists the twisting member 7 on the surface of the inner rod 5, until the rotating plate 6 is in a horizontal state in the packaging component, the pushing plate 14 which moves forward pushes all the plurality of objects into the inside of the packaging component, and the packaging process of the plurality of objects is completed.

[0042] When the package is completed, the package is pulled out from the outside of the two sets of support opening frames, and the pulled-out package moves on the surface of the rotating plate 6 until the rotating plate 6 is separated from the object, the twisting piece 7 makes the rotating plate 6 rotate counterclockwise until the rotating plate 6 is in a vertical state, then the pushing plate 14 is driven by the driving force of the second driving piece 13 to move backward until the pushing plate 14 moves back to the original position, the elastic force of the first elastic piece 12 makes the limiting part move backward until the rear side surface of the sliding sleeve 4 is attached to the front side surface of the first nut 11, facilitating the packaging of the next set of multiple components.

[0043] In order to make the second supporting rod 16 away from the chassis 20, the clamp head is lifted by the lifting assembly, and the second supporting rod 16 is away from the chassis 20. Figure 1 And Figure 5 In the lifting assembly, the side frame 19 is fixed on the top surface of the chassis 20, and the inner plate 21 is placed on the inner side of the side frame 19, the top surface of the inner plate 21 is fixed with the vertical rod 23 penetrating the top surface of the side frame 19, and the top end of the vertical rod 23 is screwed with the fastening sleeve 22, and the rotating fastening sleeve 22 is screwed with the vertical rod 23 to make the inner plate 21 move up and down.

[0044] The outer side surface of the first clamping plate 1 penetrates the inner plate 21 by the insertion rod 24, the second elastic piece 25 is sleeved on the surface of the insertion rod 24, the outer side end of the second elastic piece 25 is attached to the inner side surface of the inner plate 21, the outer side end of the second elastic piece 25 is attached to the outer side surface of the first clamping plate 1, and the outer side end of the insertion rod 24 is screwed with the second nut 26, and the elastic force of the second elastic piece 25 makes the inner side surface of the second nut 26 attached to the outer side surface of the inner plate 21.

[0045] Specifically, the fastening sleeve 22 is rotated, the rotating fastening sleeve 22 makes the vertical rod 23 move up, the vertical rod 23 drives the inner plate 21 to move up synchronously, the inner plate 21 makes the clamp head move up by the insertion rod 24, the upward moving clamp head makes the second supporting rod 16 away from the chassis 20, and the opening of the package is sleeved on the outside of the two sets of support opening frames.

[0046] The second nut 26 is rotated, the second nut 26 is gradually separated from the surface of the outer side end of the insertion rod 24, the clamp head is pulled out from the inner side of the inner plate 21, and the new clamp head is convenient to replace, so that the object cannot continue to be packaged due to the damage of the clamp head.

[0047] The working principle of the present application is as follows:

[0048] Referring to Figures 1 to 5 The multiple objects to be packaged are stacked on the top of the bottom plate 101, the first driving piece 8 is started, the output end of the first driving piece 8 pushes the second clamping plate 2 to move close to the first clamping plate 1, the second clamping plate 2 moves on the surface of the bottom rod 10 by the bottom sleeve 9, and the moving second clamping plate 2 pushes the object to move close to the first clamping plate 1 until the first clamping plate 1 and the second clamping plate 2 clamp the multiple objects.

[0049] Rotating the fastening sleeve 22, the rotating fastening sleeve 22 makes the vertical rod 23 move upward, the vertical rod 23 drives the inner plate 21 to move upward synchronously, the inner plate 21 makes the collet move upward by means of the inserting rod 24, the upward collet makes the second supporting rod 16 move away from the base frame 20, which facilitates the opening of the packaging member to be sleeved on the outside of the two sets of opening frames. Reverse rotation of the rotating head 171, reverse rotation of the rotating rod 17, and then the two sleeves 172 are separated from each other, at this time, the first supporting rod 15 and the second supporting rod 16 are separated from each other, and the opening of the packaging member is opened.

[0050] When the push plate 14 is between the rear end of the first clamping plate 1 and the rear end of the second clamping plate 2, the push plate 14 is in the original position, the torsion force of the torsion member 7 makes the top ring 601 rotate counterclockwise on the surface of the inner rod 5, the top ring 601 makes the rotating plate 6 swing counterclockwise, the top ring 601 rotates at the bottom end of the clamping head 502 by means of the arc-shaped groove 602, and when the top end of the arc-shaped groove 602 is in contact with the bottom end of the clamping head 502, the top ring 601 stops rotating, at this time, the rotating plate 6 is in a vertical state.

[0051] When a plurality of objects are stacked on the inside of the collet, the elastic force of the first elastic member 12 drives the rear movement of the sliding sleeve 4, the sliding sleeve 4 drives the rear movement of the limiting assembly on the surface of the cross rod 3 synchronously, until the rear side of the sliding sleeve 4 is in contact with the front side of the first nut 11, at this time, the rear side of the rotating plate 6 is in contact with the front side of the plurality of objects.

[0052] After the first clamping plate 1 and the second clamping plate 2 clamp the objects by means of the driving assembly, the second driving member 13 is started, the output end of the second driving member 13 makes the push plate 14 move forward, the push plate 14 pushes the plurality of objects and the limiting component to move forward synchronously, when the limiting component is extruded by the sliding sleeve 4, the first elastic member 12 is extruded by the sliding sleeve 4, until the sliding sleeve 4 cannot move forward, the push plate 14 continues to move forward, the plurality of objects gradually enter the inside of the packaging member, the front side of the plurality of objects makes the rotating plate 6 rotate clockwise, the bottom end of the rotating plate 6 gradually enters the inside of the packaging member, at this time, the top ring 601 rotates at the bottom end of the clamping head 502 by means of the arc-shaped groove 602, the rotating top ring 601 twists the torsion member 7 on the surface of the inner rod 5, until the rotating plate 6 is in a horizontal state in the inside of the packaging member, the push plate 14 moves forward, the plurality of objects are all pushed into the inside of the packaging member, and the packaging process of the plurality of objects is completed.

[0053] After the packaging is completed, the packaging member is pulled out from the outside of the two sets of opening frames, the pulled-out packaging member moves on the surface of the rotating plate 6, until the rotating plate 6 is separated from the objects, the torsion member 7 makes the rotating plate 6 rotate counterclockwise, until the rotating plate 6 is in a vertical state, then the push plate 14 is moved backward by the driving force of the second driving member 13, until the push plate 14 is moved back to the original position, the limiting component is moved backward by the elastic force of the first elastic member 12, until the rear side of the sliding sleeve 4 is in contact with the front side of the first nut 11, which facilitates the packaging process of the next set of plurality of components.

[0054] Rotating the second nut 26, the second nut 26 is gradually separated from the outer end surface of the insertion rod 24, the chuck is pulled out from the inner side of the inner plate 21, the new chuck is convenient to replace, and the damage of the chuck is avoided to cause the object to continue to pack.

[0055] The above examples are only used to illustrate the technical solutions of the present application, but not limit it.

Claims

1. A packaging robot for toilet paper production and packaging, characterized in that: include: A first clamping plate (1) and a second clamping plate (2) for clamping an object; A driving assembly, used for driving the second clamping plate (2) to move back and forth on the top of the bottom plate (101); Qualified components include: A crossbar (3), the crossbar (3) being fixed to the tops of both the first clamping plate (1) and the second clamping plate (2); A sliding sleeve (4) is slidably sleeved on the surface of the cross bar (3); The inner rod (5) is fixed on the surface of the sliding sleeve (4), and the rotating plate (6) is sleeved on the surface of the inner rod (5) using a top ring (601); The twisting member (7) drives the rotating plate (6) to rotate counterclockwise; A pushing component, used for pushing the object and the limiting component forward synchronously; An opening assembly, used to make the opening of the package correspond to the object; A lifting assembly is used to drive the first clamping plate (1) and the second clamping plate (2) to move up and down synchronously.

2. The packaging robot for toilet paper production and packaging according to claim 1, characterized in that: The driving assembly comprises a first driving member (8) driving the second clamping plate (2) to move, the second clamping plate (2) using a bottom sleeve (9) to move on the surface of a bottom rod (10), and the second clamping plate (2) clamps an object in the process of approaching the first clamping plate (1).

3. The packaging robot for toilet paper production and packaging according to claim 1, characterized in that: The top ring (601) is provided with an arc groove (602) on its surface. The top ring (601) rotates on the bottom of the positioning component by utilizing the arc groove (602). The positioning component comprises: A top plate (501) is fixed to the inner end of the inner rod (5); The clamp (502) is used to limit the rotation of the top ring (601), and the bottom end of the clamp (502) is clamped inside the arc groove (602).

4. The packaging robot for toilet paper production and packaging according to claim 1, characterized in that: A first nut (11) is spirally sleeved on the surface of the crossbar (3), and the first nut (11) cooperates to limit the sliding sleeve (4), and the first elastic member (12) drives the sliding sleeve (4) to move backward.

5. The packaging robot for toilet paper production and packaging according to claim 1, characterized in that: The pushing component and the second driving member (13) drive the push plate (14) to move back and forth, and the forward-moving push plate (14) brings the object close to the packaging, and the object pushes the limiting component to move forward.

6. The packaging robot for toilet paper production and packaging according to claim 1, characterized in that: The opening assembly comprises: A first support rod (15) and a second support rod (16) for propping up the opening of the package; A rotating rod (17) is provided, wherein the rotating rod (17) is rotated to move the first support rod (15) and the second support rod (16) closer to or farther away from each other.

7. The packaging robot for toilet paper production and packaging according to claim 6, characterized in that: The front ends of the first clamping plate (1) and the second clamping plate (2) are both provided with vertical slots (18), and the rear ends of the first support rod (15) and the rear ends of the second support rod (16) move inside the vertical slots (18).

8. The packaging robot for toilet paper production and packaging according to claim 6, characterized in that: The lifting assembly, the rotating fastening sleeve (22) and the vertical rod (23) are screwed together to make the inner plate (21) move up and down inside the side frame (19), and the side frame (19) is installed on the top of the bottom frame (20).

9. The packaging robot for toilet paper production and packaging according to claim 8, characterized in that: The outer side surface of the first clamping plate (1) is penetrated by an inserting rod (24) through the inner plate (21), and the second elastic member (25) drives the first clamping plate (1) away from the side frame (19).

10. The packaging robot for toilet paper production and packaging according to claim 9, characterized in that: A second nut (26) is provided on the outer side of the inner plate (21), and the second nut (26) is screwed onto the outer end of the insertion rod (24).

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