Waterproof corrugated paper roll taking, placing and slitting manipulator and operation method thereof

Abstract

The invention relates to the field of corrugated paper manipulators, in particular to a waterproof corrugated paper roll taking, placing and slitting manipulator and an operation method thereof.The waterproof corrugated paper roll taking, placing and slitting manipulator comprises a placing mechanism used for placing and rolling waterproof corrugated paper; the curling mechanism is used for clamping, taking and placing the waterproof corrugated paper; the placing mechanism is arranged on the curling mechanism, corrugated paper is fixed and limited through the placing mechanism, the curled diameter of the corrugated paper is adjusted through the curling mechanism, and then the corrugated paper is wound under wrapping and clamping of the curling mechanism through driving of the placing mechanism; according to the waterproof corrugated paper roll taking, placing and slitting mechanical arm and the operation method thereof, corrugated paper is clamped from the upper side and the lower side through the fixing disc and the placing disc, and axial displacement and edge deviation of the corrugated paper are effectively prevented in cooperation with embedded positioning of a limiting ring and an arc-shaped strip groove body.

Description

Technical Field

[0001] This invention relates to the field of corrugated paper robotic arms, specifically to a waterproof corrugated paper winding, unwinding, and slitting robotic arm and its operating method. Background Technology

[0002] Corrugated paper, due to its lightweight, high strength, low cost, and recyclability, has become a core material in the packaging industry, widely used in cardboard box manufacturing, logistics cushioning packaging, and product outer packaging. During the production and processing of corrugated paper, to facilitate storage (reducing floor space), transportation (reducing transport volume), and subsequent shaping (such as cylindrical packaging), sheets of corrugated paper need to be rolled into a tube shape, forming a "paper roll."

[0003] During winding, the diameter of the paper roll gradually increases, but the clamping force of the winding mechanism cannot be adjusted synchronously. In the initial stage, the clamping force is too large, which can easily crush the corrugated paper; in the later stage, the clamping force is insufficient, and the paper roll is loose and easily deformed during storage; uneven tightness can also cause tension fluctuations when the paper roll is unrolled, affecting the stability of the automated packaging production line. Summary of the Invention

[0004] The present invention provides a waterproof corrugated paper rolling, unloading, and slitting robot and its operating method to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a waterproof corrugated paper winding, unwinding, and slitting robot, including a placement mechanism for placing and winding waterproof corrugated paper; The curling mechanism is used for clamping and handling waterproof corrugated paper. The placement mechanism is mounted on the winding mechanism. The placement mechanism fixes and limits the corrugated paper, while the winding mechanism adjusts the diameter of the rolled corrugated paper. The placement mechanism then drives the corrugated paper to be wound up under the clamping and wrapping of the winding mechanism. The placement mechanism includes an operating table, a lifting frame is fixedly installed on the top of the operating table, a No. 1 motor is fixedly installed on the top of the lifting frame, the output end of the No. 1 motor passes through the top of the lifting frame and is connected to a threaded rod through a coupling, and the upper and lower ends of the threaded rod are rotatably installed in the center of the inner cavity of the lifting frame through bearings. The outer thread of the threaded rod is connected to a slide.

[0006] Preferably, a hollow frame is fixedly installed on the outer side of the slide table, and an elastic telescopic rod is fixedly installed inside the hollow frame. A rectangular bar is fixedly connected to the shaft at the output end of the elastic telescopic rod, and the rectangular bar slides to fit inside the hollow frame.

[0007] Preferably, a telescopic rod is fixedly connected to the bottom of the rectangular strip, and a fixed plate is rotatably mounted on it via a bearing. An arc-shaped strip is fixedly mounted on the bottom of the fixed plate, and a groove is formed at the bottom of the arc-shaped strip. The inner diameter of one end of the groove is larger than the inner diameter of the other end, so as to clamp and hold the top of the corrugated paper.

[0008] Preferably, a central rod is slidably fitted at the center of the fixed plate, and the central rod passes through the top of the rectangular strip; A telescopic support plate is fixedly installed on the top of the rectangular bar, and a second motor is fixedly installed on the top of the telescopic support plate through a frame. The output end of the second motor is fixedly connected to the central rod through a coupling.

[0009] Preferably, a ball bearing is fitted on the shaft of the output end of the second motor, an outer sleeve is fixedly connected to the outside of the ball bearing, a second spring is fixedly connected to the bottom of the outer sleeve, and the end of the second spring away from the outer sleeve is fixedly connected to the top of the rectangular bar.

[0010] Preferably, an annular support is fixedly installed on the outer side of the central rod, and a placement disk is rotatably installed inside the annular support via a shaft, with a limit ring fixedly connected to the top of the placement disk; The groove inside the arc-shaped strip and the limiting ring are used to determine the minimum curling inner diameter of the corrugated paper, while the fixing plate and the placement plate are used for the initial limiting treatment of the corrugated paper.

[0011] Preferably, a bottom connecting rod is fixedly installed at the bottom of the central rod, a T-shaped groove is opened on the outer side of the bottom connecting rod, a first spring is fixedly connected in the T-shaped groove, a support plate is fixedly connected to the top of the first spring, the support plate is slidably adapted to the T-shaped groove, and a first magnetic block is fixedly installed at the bottom of the support plate. The support plate is used to support the placement plate and keep it in a horizontal position.

[0012] Preferably, the curling mechanism includes a built-in plate, which is fixedly installed inside the operating table. A gear is rotatably installed inside the built-in plate via a fixed shaft. A No. 3 motor is fixedly installed at the bottom of the operating table. The No. 3 motor passes through the bottom of the operating table and the built-in plate and is fixedly connected to the fixed shaft via a coupling.

[0013] Preferably, a first robotic arm is fixedly connected to the outside of the fixed shaft, and a second robotic arm is rotatably mounted inside the built-in plate via a shaft. A mechanical claw is rotatably mounted on the end of the first robotic arm away from the built-in plate via a shaft, and the end of the second robotic arm away from the built-in plate is hinged to the mechanical claw via a pin.

[0014] Preferably, the surface of the mechanical claw is provided with a threaded hole, and a threaded sleeve is threadedly connected inside the threaded hole. A sliding rod is slidably adapted inside the threaded sleeve. A curling claw is fixedly connected to one end of the sliding rod. A No. 3 spring is fixedly connected to the outside of the curling claw. The end of the No. 3 spring away from the curling claw is fixedly connected to the mechanical claw. The diameter of the end of the slide bar away from the curling claw is larger than the outer diameter of the threaded sleeve.

[0015] Preferably, the bottom of the mechanical gripper is provided with a T-shaped groove, and a slide bar is slidably adapted in the T-shaped groove. One end of the slide bar is squeezed and adapted to the curling gripper. A No. 4 spring is fixedly connected to the outside of the slide bar through a sleeve plate. The No. 4 spring is fixedly connected to the outside of the mechanical gripper. A second magnetic block is fixedly installed at the bottom of the slide bar, and a magnetic blocking sleeve is fixedly installed at the bottom of the mechanical claw. The second magnetic block is disposed inside the magnetic blocking sleeve, and there is an attractive force between the second magnetic block and the first magnetic block. The magnetic blocking sleeve is used to isolate the magnetic field of the second magnetic block.

[0016] Preferably, an extension rod is fixedly installed on the outer end face of the built-in plate, a trapezoidal block is slidably adapted to the outer side of the extension rod, the two ends of the trapezoidal block are squeezed and adapted to the second robotic arm, a fifth spring is fixedly connected to the outer side of the trapezoidal block, and the end of the fifth spring away from the trapezoidal block is fixedly connected to the built-in plate. The top of the trapezoidal block is fixedly connected to the telescopic rod.

[0017] The operation method of a waterproof corrugated paper roll-up and slitting robot includes the following steps: Step 1: The No. 1 motor drives the threaded rod to move the slide table, hollow frame, fixed plate, and placement plate up and down to adapt to different specifications of corrugated paper height; the elastic telescopic rod finely adjusts the lateral position of the fixed plate and placement plate, while the No. 2 robotic arm deflects and pushes the trapezoidal block to slide, and the telescopic rod drives the rectangular strip to extend to ensure that the center of the corrugated paper is aligned with the center of the curling mechanism. Step 2: The corrugated paper is placed onto the placement tray. The minimum curling inner diameter is determined by the fitting of the limiting ring and the arc-shaped groove. The fixing tray and the placement tray are initially clamped together. The support plate supports the placement tray to keep it horizontal under the action of the first spring. Pressing the second motor makes the placement tray move down to complete the fitting and clamping. The second spring and the telescopic support plate retract synchronously. Step 3: Motor 2 drives the center rod to rotate the fixed plate and the placement plate. Motor 3, through gear linkage, pushes the mechanical claw closer to the first and second robotic arms. The curling claw elastically clamps the corrugated paper under the action of spring 3. When the paper roll thickens, the curling claw adaptively moves outward. The roll diameter is also coarsely adjusted by adjusting the slide rod through the threaded sleeve. The ball bearing reduces friction, and spring 2 ensures stable clamping and reset. Step 4: In the later stage of winding, the curling claw squeezes the slide bar to extend the second magnetic block, which attracts the first magnetic block and moves the support plate downward. After the placement tray loses its support, it deflects downward to the vertical. The fifth and fourth springs respectively ensure that the trapezoidal block returns to its original position and fits with the slide bar. Finally, the curled corrugated paper is detached from the bottom of the placement mechanism, completing the winding and unloading process.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. The initial clamping radius of the curling claw is finely adjusted by rotating the threaded sleeve, and the roll diameter is coarsely adjusted by the deflection of the robotic arm, which can adapt to the winding requirements of corrugated paper of different specifications. During the winding process, the curling claw automatically extends and retracts as the thickness of the paper roll increases, and the spring provides adaptive elastic clamping force, which not only ensures the tightness of the winding, but also avoids the loosening of the clamping or damage due to excessive squeezing caused by changes in the roll diameter, and is suitable for diverse processing scenarios from narrow to wide width and from small to large roll diameter.

[0019] 2. The corrugated paper is clamped from the top and bottom by the fixing plate and the placement plate, and the positioning is combined with the fitting of the limiting ring and the arc-shaped groove to effectively prevent the axial displacement and edge deviation of the corrugated paper; the support plate keeps the placement plate horizontal under the action of the spring, ensuring that the corrugated paper is flat during the winding process, avoiding wrinkles or winding deviation, and ensuring that the finished roll has a uniform diameter and a neat appearance.

[0020] 3. The device integrates fully automated actions such as lifting, clamping, winding, and unwinding, eliminating the need for frequent manual intervention. After winding, the placement tray automatically deflects and detaches from the paper roll through magnetic adsorption linkage, and the mechanical claw opens the material to quickly complete the transfer of finished products, reducing the time between processes. The linkage response of each mechanism is rapid, and the cycle from positioning to winding to unloading is smooth, greatly improving the efficiency of batch processing.

[0021] 4. By linking the trapezoidal block with the telescopic rod, the center of the placement mechanism and the winding mechanism are always kept in line, so that the corrugated paper is subjected to balanced force when winding, avoiding uneven winding tightness caused by center offset; the precise transmission between the robotic arm and gears drives the winding claw to smoothly fit the paper roll, further ensuring the stability of the winding process and the consistency of finished product quality. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the external structure of the waterproof corrugated paper winding, unwinding, and slitting robot of the present invention.

[0023] Figure 2 This is a schematic diagram of the placement mechanism of the present invention.

[0024] Figure 3 This is a schematic diagram of the telescopic support plate structure in the placement mechanism of the present invention.

[0025] Figure 4This is a cross-sectional enlarged structural diagram of the outer sleeve in the placement mechanism of the present invention.

[0026] Figure 5 This is a cross-sectional enlarged structural diagram of the placement plate in the placement mechanism of the present invention.

[0027] Figure 6 This is an enlarged structural schematic diagram of the support plate in the placement mechanism of the present invention.

[0028] Figure 7 This is an enlarged structural schematic diagram of the arc-shaped strip in the placement mechanism of the present invention.

[0029] Figure 8 This is a schematic diagram of the curling mechanism of the present invention.

[0030] Figure 9 This is a cross-sectional schematic diagram of the curling mechanism of the present invention.

[0031] Figure 10 This is an enlarged cross-sectional view of the slide bar in the curling mechanism of the present invention.

[0032] Figure 11 This is a cross-sectional enlarged structural diagram of the second magnetic block in the curling mechanism of the present invention.

[0033] In the picture: 1. Placement mechanism; 11. Operating table; 12. Lifting frame; 13. Motor No. 1; 14. Threaded rod; 15. Slide table; 16. Hollow frame; 17. Elastic telescopic rod; 18. Rectangular bar; 19. Telescopic rod; 10. Fixed plate; 101. Arc-shaped bar; 102. Groove; 103. Center rod; 104. Annular support; 105. Placement plate; 106. Limiting ring; 107. Bottom connecting rod; 108. Spring No. 1; 109. Support plate; 100. Magnetic block No. 1; 111. Motor No. 2; 112. Telescopic support plate; 113. Ball bearing; 114. Outer sleeve; 115. Spring No. 2; 2. Coiling mechanism; 21. Built-in plate; 22. Gear; 23. Motor No. 3; 24. Robotic arm No. 1; 25. Robotic arm No. 2; 26. Mechanical claw; 27. Threaded sleeve; 28. Slide rod; 29. ​​Coiling claw; 20. Spring No. 3; 201. Slide bar; 202. Spring No. 4; 203. Magnetic sleeve; 204. Magnetic block No. 2; 205. Extension rod; 206. Trapezoidal block; 207. Spring No. 5. Detailed Implementation

[0034] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments. It should be understood that the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] Please see Figures 1 to 11 The present invention provides a technical solution: Example 1: Precise alignment and initial clamping.

[0036] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, a lifting frame 12 is welded to the top of the operating platform 11 of the placement mechanism 1. A No. 1 motor 13 is fixed to the top of the lifting frame 12 by bolts. The output end of the No. 1 motor 13 passes through the top of the lifting frame 12 and is connected to a threaded rod 14 through a coupling. The upper and lower ends of the threaded rod 14 are rotatably installed in the center of the inner cavity of the lifting frame 12 through bearings. A slide table 15 is threaded to the outside of the threaded rod 14. The slide table 15 is a metal slider with an internal threaded hole. The slide table 15 slides and adapts to the inner wall of the lifting frame 12 to ensure smooth lifting. A hollow frame 16 is welded to the outside of the slide table 15. An elastic telescopic rod 17 is fixed to the inside of the hollow frame 16 by bolts. A rectangular bar 18 is welded to the shaft of the output end of the elastic telescopic rod 17. The rectangular bar 18 slides and adapts to the hollow frame 16, and its position can be adjusted laterally.

[0037] A telescopic rod 19 is welded to the bottom of the rectangular bar 18, and a fixed plate 10 is mounted on it via a bearing. An arc-shaped strip 101 is welded to the bottom of the fixed plate 10, and a groove 102 is formed at the bottom of the arc-shaped strip 101, the inner diameter of which gradually changes from 3cm to 1cm. A central rod 103 is slidably fitted to the center of the fixed plate 10. Friction protrusions are fixedly connected inside the fixed plate 10, and these friction protrusions are pressed and fitted against the outer side of the central rod 103. Therefore, the central rod 103 not only moves up and down along the inside of the fixed plate 10, but also rotates along with it. The central rod 103 passes through the top of the rectangular bar 18. A telescopic support plate 112 is welded to the top of the rectangular bar 18. A second motor 111 is fixed to the top of the telescopic support plate 112 via a frame. The output end of the second motor 111 is connected via a coupling. The device is fixedly connected to the central rod 103; the output shaft of the second motor 111 is fitted and fixed with the ball bearing 113, the outer sleeve 114 is welded to the outside of the ball bearing 113, the bottom of the outer sleeve 114 is welded with the second spring 115, and the other end of the second spring 115 is welded to the top of the rectangular strip 18; the outer side of the central rod 103 is welded with an annular support 104, and the placement plate 105 is installed inside the annular support 104 through the rotation of the shaft, and the top of the placement plate 105 is welded with a limiting ring 106; the bottom of the central rod 103 is welded with a bottom connecting rod 107, a T-shaped groove is opened on the outer side of the bottom connecting rod 107, the first spring 108 is welded in the T-shaped groove, the top of the first spring 108 is welded with a support plate 109, the support plate 109 slides and adapts to the T-shaped groove, and the bottom is glued with a first magnetic block 100.

[0038] Start motor 13 to drive threaded rod 14 to rotate, slide table 15 slides up and down along lifting frame 12, driving fixed plate 10 and placement plate 105 to adjust to the position that matches the height of corrugated paper conveying. By pressing down on the No. 2 motor 111 with external equipment, the telescopic support plate 112 retracts and the No. 2 spring 115 is compressed. The center rod 103 drives the placement tray 105 to move down. The corrugated paper is manually or by conveyor line placed on the outside of the placement tray 105. The bottom of the inner wall of the corrugated paper is in close contact with the limiting ring 106. The groove 102 at the bottom of the arc strip 101 fits the top edge of the corrugated paper. The large inner diameter end of the groove 102 is adapted to the thickness of the corrugated paper, while the small inner diameter of the groove 102 is used to clamp the top of the corrugated paper and determine the minimum curling inner diameter. The fixing plate 10 and the placement tray 105 clamp the corrugated paper from the top and bottom to prevent axial displacement. The support plate 109 moves up along the T-shaped groove of the bottom connecting rod 107 under the elastic force of the No. 1 spring 108, always supporting the placement tray 105 to keep it horizontal and ensuring that the corrugated paper is placed flat.

[0039] Example 2: Adaptive roll diameter and stable roll.

[0040] like Figure 3 , Figure 4 , Figure 8 , Figure 9 , Figure 10 and Figure 11As shown, the built-in plate 21 of the curling mechanism 2 is welded inside the operating table 11; a gear 22 is rotatably mounted inside the built-in plate 21 via a fixed shaft; a third motor 23 is fixed to the bottom of the operating table 11 by bolts; the output end of the third motor 23 passes through the operating table 11 and the built-in plate 21, and is fixedly connected to the fixed shaft via a coupling; a first robotic arm 24 is welded to the outside of the fixed shaft; a second robotic arm 25 is rotatably mounted inside the built-in plate 21 via a shaft; a robotic claw 26 is rotatably mounted on the end of the first robotic arm 24 away from the built-in plate 21 via a shaft; the end of the second robotic arm 25 away from the built-in plate 21 is hinged to the robotic claw 26 via a pin; a threaded hole is opened on the surface of the robotic claw 26, and a threaded sleeve 27 is threaded inside the hole; a sliding adaptor 28 slides inside the threaded sleeve 27; a curling claw 29 is welded to one end of the sliding sleeve 28, which is made of rubber with an arc design to avoid scratching the corrugated paper; the diameter of the other end is larger than the outer diameter of the threaded sleeve 27, i.e. To prevent detachment, a No. 3 spring 20 is welded to the outside of the curling claw 29, and the other end of the No. 3 spring 20 is welded to the mechanical claw 26. A T-shaped groove is opened at the bottom of the mechanical claw 26, and a sliding strip 201 is slidably fitted inside the groove. One end of the sliding strip 201 is pressed and fitted with the curling claw 29, and a No. 4 spring 202 is welded to the outside of the groove through a sleeve. The other end of the No. 4 spring 202 is welded to the mechanical claw 26. A No. 2 magnetic block 204, which is the same model as the No. 1 magnetic block 100, is glued to the bottom of the sliding strip 201. A magnetic blocking sleeve 203 is welded to the bottom of the mechanical claw 26, and the No. 2 magnetic block 204 is placed inside the magnetic blocking sleeve 203. An extension rod 205 is welded to the outer end face of the inner plate 21. A trapezoidal block 206 is slidably fitted to the outside of the extension rod 205. Both ends of the trapezoidal block 206 are pressed and fitted with the No. 2 mechanical arm 25. A No. 5 spring 207 is welded to the outside of the trapezoidal block 206, and the other end of the No. 5 spring 207 is welded to the inner plate 21. The top of the trapezoidal block 206 is welded and fixed to the telescopic rod 19.

[0041] Start motor 23 to drive gear 22 to rotate, causing robotic arm 24 to swing. Robotic arm 25 swings synchronously under the transmission of gear 22, together pushing robotic claw 26 closer to the corrugated paper. When robotic claw 26 closes, curling claw 29 fits against the outside of the corrugated paper. Spring 20 is compressed to provide elastic clamping force, avoiding damage to the waterproof membrane by rigid clamping. If fine adjustment of the roll diameter is required, i.e. the diameter of the corrugated paper after winding, rotate threaded sleeve 27 to adjust the extension length of slide bar 28, change the initial clamping radius of curling claw 29, and achieve fine adjustment of the roll diameter. The deflection of the two robotic arms is the coarse adjustment of the roll diameter of the corrugated paper.

[0042] The second motor 111 is started, driving the center rod 103 to rotate, which in turn drives the placement plate 105 and the fixed plate 10 to rotate synchronously. The corrugated paper gradually winds up under the driving force of the rotation of the placement plate 105 and the clamping force of the curling claw 29. As the winding thickness increases, the diameter of the paper roll increases, squeezing the curling claw 29. The slide bar 28 slides outward along the threaded sleeve 27, and the third spring 20 further compresses it. When the curling claw 29 and the slide bar 28 move to both sides until the third spring 20 is compressed to its minimum length, it is the final diameter of the corrugated paper that needs to be wound up. The slide bar 201 slides synchronously under the elastic force of the fourth spring 202, always in contact with the curling claw 29. When the second robotic arm 25 swings, it pushes the trapezoidal block 206 to slide along the extension rod 205. The telescopic rod 19 extends and retracts synchronously to ensure that the center of the placement mechanism 1 and the center of the curling mechanism 2 are always aligned. The fifth spring 207 provides a reset force for the trapezoidal block 206, that is, when the robotic arm resets, the center of the placement mechanism 1 and the clamping center of the curling mechanism 2 reset synchronously.

[0043] Example 3: Automatic detachment and efficient transfer.

[0044] like Figure 4 , Figure 5 , Figure 8 and Figure 11 As shown, once winding is complete, the winding claw 29 squeezes the slide bar 201, which stretches the fourth spring 202, causing the second magnetic block 204 to extend out from the magnetic blocking sleeve 203. The second magnetic block 204 attracts the first magnetic block 100, overcoming the elastic force of the first spring 108, and pulls the support plate 109 down along the T-groove of the bottom connecting rod 107, no longer supporting the placement tray 105. The placement tray 105 deflects downward through the annular support 104 until it is vertical, detaching from the paper roll.

[0045] Under the elastic action of spring 115, the placement mechanism 1 resets and moves away from the paper roll. At the same time, the distance between the two magnetic blocks increases, and the attraction between them is less than the elastic force of spring 108. This causes the support plate 109 to lift the placement plate 105 again and keep it horizontal. Motor 23 starts in reverse, mechanical claw 26 opens, and curling claw 29 disengages from the paper roll, completing the unloading. Spring 207 pushes trapezoidal block 206 to reset, driving all components back to their initial positions, ready for the next winding.

[0046] The working principle of this invention is as follows: Motor 13 drives the threaded rod 14 to rotate, and the slide table 15, which is threadedly connected to the threaded rod 14, slides up and down along the lifting frame 12, thereby adjusting the height of the hollow frame 16 and the fixed plate 10 and the placement plate 105 fixedly connected to the bottom to adapt to the placement requirements of corrugated paper of different specifications. The elastic telescopic rod 17 is used to drive the rectangular strip 18 to slide within the hollow frame 16, and can make slight adjustments to the position of the fixed plate 10 and the placement plate 105 laterally to ensure that the center of the corrugated paper, the center of the placement plate 105, the center of the fixed plate 10, and the curling mechanism 2 are synchronously aligned.

[0047] The center portion of the corrugated paper is fitted onto the outside of the placement tray 105. A limiting ring 106 at the top of the placement tray 105 engages with a groove 102 at the bottom of the arc-shaped strip 101, fitting the top edge of the corrugated paper to determine its minimum curling inner diameter. Simultaneously, the bottom end of the inner wall of the corrugated paper is in close contact with the limiting ring 106. The fixing tray 10 and the placement tray 105 initially clamp the corrugated paper from both above and below, preventing axial displacement or collapse during winding. Under the elastic force of the first spring 108, the support plate 109 slides upward along the T-shaped groove of the bottom connecting rod 107, consistently supporting the placement tray 105 to remain horizontal and ensuring the bottom end of the corrugated paper is placed flat.

[0048] Motor 23 drives gear 22 within the built-in plate 21 to rotate, causing robotic arm 24 to swing. Simultaneously, robotic arm 25 moves synchronously under the transmission linkage of gear 22, jointly pushing robotic claw 26 closer to the corrugated paper. When robotic claw 26 closes, curling claw 29 fits against the outer side of the corrugated paper, and spring 20 provides elastic clamping force to prevent rigid clamping from damaging the surface of the waterproof corrugated paper. Slide rod 28 slides along threaded sleeve 27, which is used to fine-tune the distance between curling claw 29 and corrugated paper, thereby fine-tuning the required curling diameter of the corrugated paper.

[0049] By pressing down on the No. 2 motor 111 with external force, the central rod 103 drives the placement plate 105 to move downward. Then, the limiting ring 106 at the top of the placement plate 105 and the groove 102 at the bottom of the arc strip 101 are respectively fitted into the bottom and top of the corrugated paper to achieve initial clamping of the corrugated paper. At the same time, the No. 2 spring 115 and the telescopic support plate 112 retract synchronously, and the No. 2 motor 111 drives the central rod 103 to rotate, causing the placement plate 105 and the fixed plate 10 to rotate synchronously. Under the action of the rotational driving force of the placement plate 105 and the wrapping and clamping force of the curling claw 29, the corrugated paper gradually curls into a paper roll. The ball bearing 113 reduces the friction when the central rod 103 rotates and prevents the No. 2 spring 115 from rotating synchronously. The No. 2 spring 115 is used to reset the placement mechanism 1 after curling, and at the same time, it uses its own compression force to make the placement plate 105 tend to move upward and reset, ensuring the clamping and limiting of the upper and lower ends of the corrugated paper and the smooth winding action.

[0050] As the thickness of the corrugated paper roll increases, the diameter of the paper roll gradually increases. When the curling claw 29 is compressed by the paper roll, it compresses the third spring 20 via the slide rod 28 and slides outward along the threaded sleeve 27, adapting to changes in the paper roll diameter. The slide bar 201 slides synchronously under the elastic force of the fourth spring 202, always maintaining contact with the curling claw 29 to ensure clamping stability. If active adjustment of the roll diameter is required, the extension length of the slide rod 28 can be adjusted via the threaded sleeve 27 to change the initial clamping radius of the curling claw 29, i.e., coarse adjustment.

[0051] The second robotic arm 25 rotates and determines the position of the robotic claw 26 and the curling claw 29. During the deflection process, the second robotic arm 25 pushes the trapezoidal block 206 to slide along the extension rod 205. The telescopic rod 19, which is fixedly connected to the top of the trapezoidal block 206, will simultaneously drive the rectangular bar 18 to extend outward from the hollow frame 16, so that the curling centers of the placement mechanism 1 and the curling mechanism 2 are aligned. The fifth spring 207 provides a restoring force for the trapezoidal block 206. The winding completion stage: When the winding claw 29 moves outward with the slide bar 28, the winding claw 29 squeezes the slide bar 201 outward, causing the slide bar 201 to stretch the fourth spring 202 and extend the second magnetic block 204 outward from the magnetic blocking sleeve 203. At this time, an attraction will be generated between the second magnetic block 204 and the first magnetic block 100. Because the attraction between the two magnetic blocks is greater than the elastic force of the first spring 108, the support plate 109 moves downward, and the placement tray 105, which is not supported by the support plate 109, deflects downward through the annular support 104 until it is vertical. Finally, the rolled corrugated paper will be detached from the bottom of the placement mechanism 1 and transferred to the designated position, completing the winding and unloading operation.

[0052] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made by those skilled in the art based on the above concepts without creative effort shall fall within the scope of protection of the present invention.

Claims

1. A mechanical hand for the unwinding, unwinding and cutting of water-resistant corrugated paper rolls, characterized in that it comprises: Include: Placing mechanism for placing and winding waterproof corrugated paper; The curling mechanism is used for clamping and taking and placing waterproof corrugated paper; The placing mechanism is arranged on the curling mechanism, the fixing and limiting of the corrugated paper are realized through the placing mechanism, the diameter of the curled corrugated paper is adjusted by the curling mechanism, and then the placing mechanism is driven to realize the winding of the corrugated paper under the wrapping and clamping of the curling mechanism; The placing mechanism includes an operation table, a lifting frame is fixedly installed on the top of the operation table, a first motor is fixedly installed on the top of the lifting frame, a threaded rod is connected to the output end of the first motor through a shaft coupling and penetrates the top of the lifting frame, and the upper and lower ends of the threaded rod are rotatably installed on the center of the inner cavity of the lifting frame through bearings; The outer side of the threaded rod is connected with a sliding table.

2. The water-proof type mechanical hand for taking off, unwinding and slitting corrugated paper roll according to claim 1, characterized in that: The outer side of the sliding table is fixedly installed with a hollow frame, the inner side of the hollow frame is fixedly installed with an elastic telescopic rod, and the outer side of the sliding table is fixedly installed with a hollow frame.

3. The water-proof type mechanical hand for taking off, unwinding and slitting corrugated paper roll according to claim 2, characterized in that: The outer side of the sliding table is fixedly installed with a hollow frame, the inner side of the hollow frame is fixedly installed with an elastic telescopic rod, and the outer side of the sliding table is fixedly installed with a hollow frame. The bottom of the long strip is fixedly connected with a telescopic rod, and a fixed disc is rotatably installed through a bearing, the bottom of the fixed disc is fixedly installed with an arc-shaped strip, and a groove is formed in the bottom of the arc-shaped strip.

4. The water-proof type mechanical hand for taking off, placing and slitting corrugated paper roll according to claim 3, characterized in that: The inner diameter of one end of the groove is larger than that of the other end, so as to clampingly hold the top end of the corrugated paper. The center of the fixed disc is slidably fitted with a center rod, and the center rod penetrates the top of the long strip.

5. The water-proof type mechanical hand for taking off, unwinding and slitting corrugated paper roll according to claim 4, characterized in that: The top of the long strip is fixedly installed with a telescopic support plate, the top of the telescopic support plate is fixedly installed with a second motor through a machine frame, and the output end of the second motor is fixedly connected with the center rod through a shaft coupling.

6. The water-proof type mechanical hand for taking off, unwinding and slitting corrugated paper roll according to claim 5, characterized in that: The shaft body of the output end of the second motor is embedded with a ball bearing, the outer side of the ball bearing is fixedly connected with an external sleeve, the bottom of the external sleeve is fixedly connected with a second spring, and the end away from the external sleeve of the second spring is fixedly connected with the top of the long strip. The outer side of the center rod is fixedly installed with an annular support, the inner side of the annular support is rotatably installed with a placing disc through a shaft body, and the top of the placing disc is fixedly connected with a limiting ring.

7. The water-proof type mechanical hand for taking off, unwinding and slitting corrugated paper roll according to claim 6, characterized in that: The groove in the arc-shaped strip and the limiting ring are used to determine the minimum curling inner diameter of the corrugated paper, and the fixed disc and the placing disc are used for preliminary limiting treatment of the corrugated paper. The bottom of the center rod is fixedly installed with a bottom connecting rod, a T-shaped slot is formed in the outer side of the bottom connecting rod, a first spring is fixedly connected in the T-shaped slot, the top end of the first spring is fixedly connected with a support plate, the support plate is slidably fitted in the T-shaped slot, and a first magnetic block is fixedly installed on the bottom of the support plate.

8. The water-proof type mechanical hand for taking off, unwinding and slitting corrugated paper roll according to claim 7, characterized in that: The support plate is used to support the placing plate and keep it in a horizontal state. The curling mechanism includes an inner plate, the inner plate is fixedly installed in the inner side of the operation table, a gear is rotatably installed in the inner side of the inner plate through a fixed shaft, a third motor is fixedly installed on the bottom of the operation table, and the bottom of the operation table and the inner plate is penetrated by the third motor and fixedly connected with the fixed shaft through a shaft coupling.

9. The water-proof type mechanical hand for taking off, unwinding and slitting corrugated paper roll according to claim 8, characterized in that: The outer side of the fixed shaft is fixedly connected with a first mechanical arm, the inside of the built-in plate is rotationally installed with a second mechanical arm through a shaft body, the end of the first mechanical arm away from the built-in plate is rotationally installed with a mechanical claw through a shaft body, and the end of the second mechanical arm away from the built-in plate is hingedly connected with the mechanical claw through a pin shaft.

10. The water-proof type mechanical hand for taking off, unwinding and slitting corrugated paper roll according to claim 9, characterized in that: The surface of the mechanical claw is provided with a threaded hole, a threaded sleeve is threadedly connected in the threaded hole, a sliding rod is slidably fitted in the threaded sleeve, the end of the sliding rod is fixedly connected with a curling claw, the outer side of the curling claw is fixedly connected with a third spring, and the end of the third spring away from the curling claw is fixedly connected with the mechanical claw. The end of the sliding rod away from the curling claw has a diameter greater than the outer diameter of the threaded sleeve.

11. The water-proof type mechanical hand for taking off, unwinding and slitting corrugated paper roll according to claim 10, characterized in that: The bottom of the mechanical claw is provided with a T-shaped groove, and a sliding strip is slidably fitted in the T-shaped groove, the end of the sliding strip is extrusion-fitted with the curling claw, the outer side of the sliding strip is fixedly connected with a fourth spring through a sleeve disc, and the fourth spring is fixedly connected to the outer side of the mechanical claw. The bottom of the sliding strip is fixedly installed with a second magnetic block, the bottom of the mechanical claw is fixedly installed with a magnetic resistance sleeve, the second magnetic block is arranged in the magnetic resistance sleeve, the second magnetic block has an attractive force with the first magnetic block, and the magnetic resistance sleeve is used for isolating the magnetic field of the second magnetic block.

12. The water-proof type mechanical hand for taking off, unwinding and slitting corrugated paper roll according to claim 11, characterized in that: The outer end surface of the built-in plate is fixedly installed with an extension rod, the outer side of the extension rod is slidably fitted with a trapezoidal block, the two ends of the trapezoidal block are extrusion-fitted with the second mechanical arm, the outer side of the trapezoidal block is fixedly connected with a fifth spring, and the end of the fifth spring away from the trapezoidal block is fixedly connected with the built-in plate. The top of the trapezoidal block is fixedly connected with the telescopic rod.

13. A method of operating a waterproof corrugated paper winding and unwinding and slitting robot, for the waterproof corrugated paper winding and unwinding and slitting robot according to claim 12, characterized in that, The method comprises the following steps: Step one: the first motor drives the threaded rod to drive the sliding table, the hollow frame, the fixed disc, the placement disc to slide up and down, and the elastic telescopic rod is used for fine adjustment of the transverse position of the fixed disc and the placement disc, the second mechanical arm is deflected to drive the trapezoidal block to slide, the telescopic rod is used for driving the oblong strip to extend, and the center of the corrugated paper is aligned with the center of the curling mechanism. Step two: the corrugated paper is sleeved on the placement disc, the minimum curling inner diameter is determined by embedding the limiting ring and the arc-shaped strip groove body, and the fixed disc and the placement disc are preliminarily clamped by being clamped up and down; the placement disc is supported to be horizontal by the support plate under the action of the first spring, the placement disc is moved downward to complete the embedding clamping by pressing the second motor, and the second spring is synchronously contracted with the telescopic support plate. Step three: the second motor drives the center rod to drive the fixed disc and the placement disc to rotate, the third motor drives the first mechanical arm and the second mechanical arm to move the mechanical claw close to each other through gear linkage, and the curling claw elastically clamps the corrugated paper under the action of the third spring; when the paper roll is thickened, the curling claw is automatically moved outward, the sliding rod is adjusted through the threaded sleeve to coarsely adjust the curling diameter, the ball bearing is used for reducing friction, and the second spring is used for guaranteeing stable clamping and resetting. Step four: in the later stage of winding, the curling claw extrudes the sliding strip to make the second magnetic block extend out, the second magnetic block generates an attractive force with the first magnetic block to drive the support plate to move downward, the placement disc loses support and is deflected downward to be vertical, the fifth spring and the fourth spring are respectively used for guaranteeing resetting of the trapezoidal block and adhesion of the sliding strip, and finally the corrugated paper after curling is separated from the bottom of the placement mechanism to complete winding and discharging.

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