Automatic feeding mechanical hand for paper tube production

Abstract

The application relates to the technical field of feeding manipulators, in particular to an automatic feeding manipulator for paper tube production, which comprises a movable supporting base, a stand, a sliding seat and a fixed cross arm, the stand is vertically installed on the top of the movable supporting base, the sliding seat is slidingly installed on the stand, the fixed cross arm is horizontally installed on the sliding seat, the end of the fixed cross arm is rotationally installed with a telescopic beam through a first manipulator joint motor, and the bottom of the front end of the telescopic beam is installed with a manipulator gripper assembly through a second manipulator joint motor. The application adopts a track walking type supporting structure, can reciprocally work along a feeding truss, can be adapted to the arrangement design of multiple groups of paper roll feeding racks, simultaneously adopts a double-gripper clamping design supported on the side, can avoid the end face of the paper roll from being pressed and reduce the paper roll falling risk, further adopts an axial limiting design of a anti-falling mechanism, can effectively improve the working safety of the manipulator, and further combines with an automatic alignment design, can adapt to the high-speed continuous paper tube production demand.

Description

Technical Field

[0001] This invention relates to the field of feeding robot technology, specifically an automatic feeding robot for paper tube production. Background Technology

[0002] In the large-scale production and processing of paper tubes, the loading of raw material paper rolls is generally done manually, mainly in two forms: one is to manually push and roll the paper rolls and use a simple lever mechanism to load the paper rolls into the material rack, which is labor-intensive, inefficient, and prone to side slippage and collisions during the transfer of heavy paper rolls, posing a high risk of operational safety; the other is to use workshop cranes and electric hoists to lift and transfer the paper rolls manually, which requires repeated adjustments to the height and axial position during the alignment process, making it difficult to adapt to the needs of high-speed continuous paper tube production.

[0003] Currently, although program-controlled loading robots are widely used in the field of industrial material handling, existing general-purpose loading robots still have significant shortcomings in adaptability when applied to paper tube raw material paper roll loading scenarios. Firstly, most existing loading robots are fixed-type, suitable for fixed assembly line operations. However, in paper tube production, multiple sets of paper tapes are wound together with adhesives. The paper roll loading rack is fixed in position, and the span is usually 3-6 meters, which is difficult for general-purpose fixed robots to handle. Secondly, the loading operation of existing loading robot claws mostly uses grippers to hold and fix the paper roll, which is suitable for loading small-volume, small-sized materials. If used for loading paper rolls, the grippers often need greater clamping force to ensure the stability of the paper roll, which makes it easy for the hard end face of the gripper to damage the edge of the paper roll. Moreover, during the gripping and transfer process, the paper roll and the gripper are only maintained by friction, which increases the risk of falling during the transfer process.

[0004] Therefore, this application proposes an automatic feeding robot for paper tube production. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic feeding robot for paper tube production, in order to solve the problems mentioned in the background art, such as the low efficiency and safety hazards of manual assistance in feeding the front-end raw material paper rolls in paper tube production, the limited working span of existing general feeding robots, the easy damage to the edges of the paper rolls by the clamping structure, and the insufficient transfer stability.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An automatic feeding robot for paper tube production includes a movable support base, a column, a sliding seat, a fixed cross arm, a telescopic beam, and a robot gripper assembly. The column is vertically mounted on the top of the movable support base, and a guide rail is mounted on the side of the column along its length. The sliding seat is slidably mounted on the guide rail on the side of the column, and a lifting cylinder for driving the sliding seat to move up and down along the column is mounted on the bottom of the sliding seat. The fixed cross arm is horizontally mounted on the sliding seat, and a first robot joint motor is fixedly mounted on the end of the fixed cross arm away from the sliding seat. The telescopic beam is located at the bottom of the fixed cross arm and is horizontally arranged. The top of the telescopic beam is fixedly mounted on the rotor flange seat of the first robot joint motor by bolts. The robot gripper assembly is vertically arranged at the bottom of the front end of the telescopic beam, and the top of the robot gripper assembly is rotatably connected to the telescopic beam through a second robot joint motor.

[0008] Furthermore, the robotic gripper assembly includes a gripper base, a gripper mechanism, and an anti-detachment mechanism. The gripper base is equipped with a positioning component for automatically positioning the center hole of the paper roll and the position of the feeding pin in the paper roll support truss. The gripper mechanism consists of two sets, symmetrically mounted on the bottom of the gripper base and moving axially along the gripper base to perform paper roll loading and unloading operations. A 20-30 cm gap is reserved between the two sets of gripper mechanisms to facilitate automatic positioning of the center hole of the paper roll by the positioning component. The anti-detachment mechanism also consists of two sets, each mounted on the back of one of the two sets of gripper mechanisms to prevent the paper roll from falling off the gripper mechanism.

[0009] Furthermore, the movable support base includes a track base and an electrically driven movable base. The track base is laid horizontally on the ground on the feeding side of the paper roll feeding truss along the length of the paper roll feeding truss. The electrically driven movable base is installed on top of the track base and moves along the track base. The electrically driven movable base is a track-type electric trolley with a built-in electromagnetic brake. The interior of the electrically driven movable base is also equipped with a control module for controlling the operation of each mechanism.

[0010] Furthermore, the telescopic beam includes a support arm, a telescopic arm, and a lateral movement electric cylinder. The support arm is a hollow structure with a closed tail end and an open front end. A flange seat is provided on the top of the support arm and near the open end for connection with the rotor flange seat of the first robotic arm joint motor. The telescopic arm is a hollow structure and is slidably installed inside the support arm. The front end of the telescopic arm is a closed end, and a motor seat for fixing the second robotic arm joint motor is integrally formed after extending from the open end of the support arm. The tail end of the telescopic arm is an open end. The lateral movement electric cylinder is located inside the telescopic arm, and its two ends are respectively hinged to the inner sides of the support arm and the closed end of the telescopic arm for driving the telescopic arm to perform telescopic movements at the front end of the support arm.

[0011] Furthermore, the gripper base includes a fixed slot and a motor connecting flange. The fixed slot has a U-shaped cross-section, and both ends of the fixed slot are bolted with end caps. Slide rails are installed on the inner walls of both sides of the fixed slot along its length. The motor connecting flange is installed at the middle position of the top of the fixed slot and is used to connect to the rotor flange seat of the second manipulator joint motor. The top surface of the motor connecting flange is horizontal. The positioning component is installed on the fixed slot.

[0012] Furthermore, the positioning assembly includes a bracket, a mounting arm, a 3D vision inspection sensor, and a positioning drive cylinder. The tail end of the bracket is installed at the middle position of the top of the fixed slot, and the front end of the bracket extends towards the front side of the fixed slot and is equipped with a high-definition vision inspection sensor. The detection end of the high-definition vision inspection sensor is vertically downward and is used to detect the horizontal coordinate position of the feeding pin in the paper roll feeding gantry. The mounting arm is vertically downward and installed at the center position of the back of the fixed slot, and the bottom end of the mounting arm extends to a position close to the bottom end of the gripper mechanism. The mounting arm has a gap of 20-30 cm between it and the back of the fixed slot. A long strip-shaped slot is opened in the middle of the mounting arm along its length. A slidable part along the length of the mounting arm is mounted on the mounting arm. A mounting base that moves in a certain direction is provided. A laser positioning sensor is installed at the corresponding slot in the middle of the mounting base. The laser positioning sensor is horizontally positioned, and its detection probe faces the front of the mounting base and is set at a perpendicular angle to the back of the mounting base. It is used to locate the height position of the feeding pin in the paper roll feeding gantry. A 3D vision inspection sensor is installed at the bottom of the mounting arm. The detection end of the 3D vision inspection sensor faces the front of the mounting base and is set at an angle of 30-45 degrees. It is used to detect the coordinate position of the center hole of the paper roll. A positioning drive electric cylinder is fixed to the mounting arm along the length of the mounting arm, and the telescopic end of the positioning drive electric cylinder is connected to the mounting base. It is used to drive the mounting base to move on the mounting arm.

[0013] Furthermore, both sets of gripper mechanisms include a mounting frame, a vertical arm, a hinge seat, a first adjusting electric cylinder, and a support frame. Slider blocks are fixed to both sides of the mounting frame, which is slidably mounted on a slide rail inside the fixed slot via the sliders. A clamping electric cylinder is installed between the inner side of the mounting frame and the end cap at the corresponding end of the fixed slot, driving the mounting frame to reciprocate along the slide rail. The vertical arm is vertically fixed to the bottom of the mounting frame, and its cross-section is U-shaped. Guide slots are formed on both sides of the vertical arm near the mounting frame along its length. The hinge seat is located at... The inner side of the upright arm and the two sides of the hinge seat are slidably engaged with the guide slots on both sides of the upright arm; the bottom end of the first adjusting electric cylinder is hinged to one side of the bottom end of the upright arm, while the top end of the first adjusting electric cylinder is hinged to the back of the hinge seat, for driving the hinge seat to move up and down along the guide slot; the support frame is located on the side of the upright arm near the end of the fixed slot seat, and the support frame is connected to the upright arm through a support frame and an adjusting strut. Both ends of the support frame and the front position near the fixed slot seat are fixedly installed with horizontally arranged paper roll fixing rollers, and each paper roll fixing roller is fixed with a positioning plate at the end near the support frame.

[0014] Furthermore, the front end of the adjusting strut is hinged to the side of the support frame near the top, and the other end of the adjusting strut is hinged to the front of the hinge seat; the support frame has a V-shaped structure, with the closed end of the support frame hinged to the bottom of the vertical arm, and the open end of the support frame connected to the bottom and middle positions of the support frame respectively.

[0015] Furthermore, when the hinge seat is located at the top of the guide slot, the support frame is parallel to the upright arm.

[0016] Furthermore, a pressure detection sensor is provided between the telescopic end of the clamping electric cylinder and the contact surface of the mounting bracket.

[0017] Furthermore, the anti-detachment mechanism includes a fixed base, a sliding base, a second adjusting electric cylinder, and an anti-detachment electric cylinder. The fixed base is horizontally installed at the center of the back of the support frame. The sliding base is slidably installed on the top of the fixed base and moves along the length of the fixed base. The second adjusting electric cylinder is installed on the fixed base along the length of the fixed base, and the telescopic end of the second adjusting electric cylinder is connected to the sliding base through a connecting arm to push the sliding base to move on the fixed base. The anti-detachment electric cylinder is installed at the end of the sliding base away from the support frame, and the telescopic end of the anti-detachment electric cylinder is arranged facing the front of the fixed slot and parallel to the paper roll fixing roller. A pull rod is fixed to the telescopic end of the anti-detachment electric cylinder, and a positioning claw parallel to the positioning plate is installed at the front end of the pull rod. A pressure sensor is installed on the side of the positioning claw facing the positioning plate. A displacement sensor is installed on one side of the fixed base to prevent collision between the anti-detachment electric cylinder and the fixed base.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] This invention utilizes a track-based support structure comprised of a track base and an electrically driven mobile base, enabling reciprocating operation along the entire length of the feeding truss. This adapts to the layout requirements of multiple paper roll feeding racks in a paper tube production line, overcoming the limitations of fixed robotic arms in terms of operational span. Furthermore, addressing the issues of paper rolls being easily damaged or detached during clamping, this invention employs a clamping structure with a double-claw mechanism supporting the side edges, clamping and fixing the paper roll from its side, preventing hard claws from damaging the paper roll's end face. By relying on the support structure to bear the weight of the paper roll, stability is not dependent on friction generated by large clamping forces, effectively reducing the risk of paper rolls falling. Moreover, the positioning claw and positioning disc of the anti-detachment mechanism provide axial restraint for the paper roll from both sides, further preventing lateral slippage and detachment during transport, thus significantly improving operational safety. Additionally, this invention utilizes a positioning component structure combining a visual inspection sensor and a laser positioning sensor to automatically identify and accurately align the paper roll's center hole with the feeding pin, eliminating the need for manual intervention and adapting to the demands of high-speed, continuous paper tube production. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of an automatic feeding robot for paper tube production according to the present invention. Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the overall structure of an automatic feeding robot for paper tube production according to the present invention. Figure 2 ;

[0022] Figure 3 This is a schematic diagram of the manipulator gripper assembly in an automatic feeding robot for paper tube production according to the present invention. Figure 1 ;

[0023] Figure 4 This is a schematic diagram of the manipulator gripper assembly in an automatic feeding robot for paper tube production according to the present invention. Figure 2 ;

[0024] Figure 5 This is a schematic diagram of a half-section of the telescopic beam in this invention;

[0025] Figure 6 This is a schematic diagram of the combined gripper mechanism and anti-detachment mechanism within the robotic gripper assembly of the present invention. Figure 1 ;

[0026] Figure 7 This is a schematic diagram of the combined gripper mechanism and anti-detachment mechanism within the robotic gripper assembly of the present invention. Figure 2 ;

[0027] Figure 8This is a schematic diagram of the gripper seat structure inside the robotic gripper assembly of the present invention;

[0028] Figure 9 This is a schematic diagram of the gripper mechanism structure within the robotic gripper assembly of the present invention;

[0029] Figure 10 This is a schematic diagram of the anti-detachment mechanism within the robotic gripper assembly of the present invention.

[0030] In the attached diagram, the components represented by each number are as follows:

[0031] 1. Electrically driven mobile base; 2. Column; 3. Sliding seat; 4. Lifting electric cylinder; 5. Fixed horizontal arm; 6. First robotic arm joint motor; 7. Telescopic beam; 701. Bearing arm; 702. Telescopic arm; 703. Motor base; 704. Horizontal movement electric cylinder; 8. Second robotic arm joint motor; 9. Gripper base; 901. Fixed slot base; 902. Motor connection flange; 903. End cap; 904. Slide rail; 905. Bracket; 906. High-definition vision inspection sensor; 907. Mounting arm; 908. 3D vision inspection sensor; 909. Slotting; 910. Mounting base; 911. Laser positioning... Position sensor; 912, Positioning drive electric cylinder; 10, Gripper mechanism; 101, Mounting bracket; 102, Slider; 103, Clamping electric cylinder; 104, Vertical arm; 105, Guide slot; 106, Hinge seat; 107, First adjusting electric cylinder; 108, Support frame; 109, Adjusting strut; 110, Bearing frame; 111, Paper roll fixing roller; 112, Positioning plate; 11, Track base; 12, Anti-detachment mechanism; 121, Fixed seat; 122, Sliding base; 123, Second adjusting electric cylinder; 124, Anti-detachment electric cylinder; 125, Pull rod; 126, Positioning claw; 127, Pressure sensor. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] like Figure 1 - Figure 10As shown in this embodiment, an automatic feeding robot for paper tube production includes a movable support base, a column 2, a sliding seat 3, a fixed cross arm 5, a telescopic beam 7, and a robot gripper assembly. The column 2 is vertically mounted on the top of the movable support base, and a guide rail is mounted on the side of the column 2 along its length. The sliding seat 3 is slidably mounted on the guide rail on the side of the column 2, and a lifting cylinder 4 is mounted at the bottom of the sliding seat 3 to drive it to move up and down along the column 2. The bottom end of the lifting cylinder 4 is fixedly mounted on the bottom of the column 2. The fixed cross arm 5 is horizontally mounted on the sliding seat 3, and moves synchronously with the sliding seat 3 along the side of the column 2 to achieve lifting and lowering. The first robotic arm joint motor 6 is fixedly installed at the end of the fixed horizontal arm 5 away from the sliding seat 3. The telescopic beam 7 is located at the bottom of the fixed horizontal arm 5 and is set horizontally. The top of the telescopic beam 7 is fixedly installed on the rotor flange seat of the first robotic arm joint motor 6 by bolts. The first robotic arm joint motor 6 can drive the telescopic beam 7 to rotate horizontally, which is used to switch the working direction of the entire telescopic beam 7 and the robotic arm gripper assembly, so as to facilitate the picking and feeding of materials by the robotic arm gripper assembly. In this design, the sliding seat 3 is driven to move up and down on the column 2 by the lifting electric cylinder 4, thereby adjusting the overall height of the robotic arm gripper assembly, which can adapt to the feeding operation of paper rolls of different specifications.

[0034] In this embodiment, the robotic gripper assembly is vertically positioned at the bottom of the front end of the telescopic beam 7, and the top of the robotic gripper assembly is rotatably connected to the telescopic beam 7 via a second robotic joint motor 8. The second robotic joint motor 8 is mainly used to adjust the feeding angle of the entire robotic gripper assembly to adapt to truss structures with different feeding angles.

[0035] In this embodiment, the robotic gripper assembly includes a gripper base 9, a gripper mechanism 10, and an anti-detachment mechanism 12. A positioning component is installed on the gripper base 9 for automatically positioning the center hole of the paper roll and the position of the feeding pin in the paper roll support truss. Two sets of gripper mechanisms 10 are symmetrically installed at the bottom of the gripper base 9 and move axially along the gripper base 9 to perform paper roll picking and placing operations. A gap of 20-30 cm is reserved between the two sets of gripper mechanisms 10 to prevent them from obstructing the detection field of the positioning component when they are closed, allowing the positioning component to automatically position the center hole of the paper roll through the gap. The anti-detachment mechanism 12... There are two sets of anti-detachment mechanisms 12, which are respectively installed on the back of the two sets of gripper mechanisms 10 to prevent the paper roll from falling off the gripper mechanism 10. The two sets of gripper mechanisms 10 are synchronously driven and controlled with the transverse central axis of the gripper seat 9 as the reference. This ensures that the two sets of gripper mechanisms 10 are always symmetrically arranged with the transverse central axis of the gripper seat 9 as the center, whether they are unfolded or closed. This ensures that when gripping the paper roll, the center hole of the paper roll is always kept on the central axis between the two sets of gripper mechanisms 10. This provides the basic conditions for the subsequent positioning of the center hole of the paper roll and the automatic positioning and calibration of the truss loading pin position during the feeding process.

[0036] The entire feeding robot uses a double gripper mechanism 10 to clamp and fix the paper roll from both sides. The arc structure of the paper roll side edge can effectively prevent it from falling off. Moreover, the force contact points between the paper roll and the gripper mechanism 10 are all on the side edge of the paper roll, which will not damage the end face of the paper roll. In addition, the double support structure design with side clamping has higher stability than the traditional double end face clamping and fixing effect, and has a good anti-fall and anti-drop effect.

[0037] In this embodiment, the mobile support base includes a track base 11 and an electrically driven mobile base 1. The track base 11 is horizontally laid on the ground on the feeding side of the feeding truss along the length of the paper roll feeding truss. The electrically driven mobile base 1 is installed on top of the track base 11 and moves along the track base 11. The track base 11 serves as a walking reference and is horizontally calibrated during installation to ensure the straightness of the electrically driven mobile base 1's movement and avoid uneven wear over long-term movement. Moreover, the entire feeding robot has changed from the traditional fixed base design to a track-based mobile design, enabling the feeding robot to reciprocate along the entire length of the feeding truss. This adapts to the arrangement requirements of multiple paper roll feeding racks in the paper tube production line, thereby effectively solving the problems of fixed robot operation. To address the shortcomings of insufficient industry scope, the electric-driven mobile base 1 adopts a track-type electric walking trolley with a built-in electromagnetic brake. This allows the entire robotic arm to achieve stepless speed regulation and precise stopping during movement. In the static or power-off state, the electromagnetic brake can automatically lock the electric-driven mobile base 1, preventing it from slipping under external force and ensuring operational safety during paper roll loading. The electric-driven mobile base 1 also has a control module inside for controlling the operation of various mechanisms. It should be further noted that the control module can receive feedback signals from the positioning component and coordinate the timing actions of various mechanisms such as walking, lifting, rotating, extending, and clamping to complete the fully automatic loading operation.

[0038] In this embodiment, the telescopic beam 7 includes a support arm 701, a telescopic arm 702, and a transverse electric cylinder 704. The support arm 701 is a hollow structure, with a closed end at the tail end and an open end at the front end. A flange seat is provided on the top of the support arm 701 and near the open end for connection to the rotor flange seat of the first robotic joint motor 6. In this design, placing the flange seat for connecting the first robotic joint motor 6 near the front end of the support arm 701 effectively reduces the rotation radius of the entire robotic gripper assembly and allows the rotor flange seat of the first robotic joint motor 6 to be closer to the robotic gripper assembly. Compared to placing the flange seat at the tail end of the support arm 701, this significantly reduces the rotor radius of the first robotic joint motor 6. The telescopic arm 702 is a hollow structure that is slidably installed inside the support arm 701. The front end of the telescopic arm 702 is a closed end, and after extending from the open end of the support arm 701, it has an integrally formed motor seat 703 for fixing the second robotic arm joint motor 8. The tail end of the telescopic arm 702 is an open end. The transverse electric cylinder 704 is located inside the telescopic arm 702, and the two ends of the transverse electric cylinder 704 are respectively hinged to the inner sides of the support arm 701 and the closed end of the telescopic arm 702. It is used to drive the telescopic arm 702 to perform telescopic movements at the front end of the support arm 701. During the material picking and loading process, the transverse electric cylinder 704 drives the telescopic arm 702 to extend and retract, thereby causing the robotic arm gripper assembly installed at the bottom of the front end of the telescopic arm 702 to move forward and backward.

[0039] In this embodiment, the gripper seat 9 includes a fixed slot seat 901 and a motor connection flange 902. The fixed slot seat 901 has a U-shaped cross-section. The U-shaped slot structure gives the fixed slot seat 901 strong bending resistance and can withstand the bending load caused by the weight of the paper roll. Both ends of the fixed slot seat 901 are bolted with end caps 903. Slide rails 904 are installed on the inner walls of both sides of the fixed slot seat 901 along the length of the fixed slot seat 901. The end caps 903 can limit the end of the gripper mechanism 10 inside the fixed slot seat 901, preventing the gripper mechanism 10 from overtraveling out of the fixed slot seat 901. The motor connection flange 902 is installed at the middle position of the top of the fixed slot 901 for connecting to the rotor flange seat of the second manipulator joint motor 8. The top surface of the motor connection flange 902 is horizontal. The horizontally machined flange surface design can improve the fitting accuracy between the motor connection flange 902 and the rotor flange seat of the second manipulator joint motor 8. Moreover, placing the motor connection flange 902 at the middle position of the fixed slot 901 can make the center of gravity of the two sets of gripping components coincide with the swing rotation center, thereby reducing the off-center load impact during the swing process and improving the stability of the entire manipulator gripper assembly movement.

[0040] The positioning component is installed on the fixed slot 901, so that the positioning component moves synchronously with the gripper seat 9, which can ensure that the detection reference and the gripper execution reference are consistent, thereby improving the alignment accuracy between the robot and the loading pin in the loading gantry.

[0041] In this embodiment, the positioning component includes a bracket 905, a mounting arm 907, a 3D vision inspection sensor 908, and a positioning drive electric cylinder 912. In this design, the positioning component uses multiple sensors to collect the three-dimensional coordinates of the feeding pin in the truss and the center hole of the paper roll. This provides numerical references for the control module in the electrically driven moving base 1 to control the height and angle of the entire mechanical gripper assembly, as well as the position of the electrically driven moving base 1. This ensures that the robot can accurately feed the paper roll to the designated feeding pin on the truss. The bracket 905 is mounted at its tail end... A high-definition vision inspection sensor 906 is mounted on the front of a bracket 905, which extends forward from the front of the fixed slot 901. The forward extension of the bracket 905 allows the high-definition vision inspection sensor 906 to avoid the paper roll clamped below, thus obtaining a wide field of view. The detection end of the high-definition vision inspection sensor 906 is set vertically downward to detect the horizontal coordinate position of the feeding pin in the paper roll feeding gantry. The XY axis coordinates of the pin are extracted through planar image recognition to provide coarse positioning data for the horizontal alignment of the robotic gripper assembly.

[0042] In this embodiment, the mounting arm 907 is vertically mounted downwards at the center of the back of the fixing slot 901, and the bottom end of the mounting arm 907 extends to a position close to the bottom end of the gripper mechanism 10. A gap of 20-30 cm is left between the mounting arm 907 and the back of the fixing slot 901. This gap is designed to provide sufficient scanning field of view for the 3D vision inspection sensor 908 to scan the holes in the middle area of ​​the paper roll through the gap between the two sets of gripping mechanisms. A long, narrow slot 909 is formed in the middle of the mounting arm 907 along its length. A mounting base 910, which moves along the length of the mounting arm 907, is slidably mounted on the mounting arm 907. A laser positioning sensor 911 is mounted in the middle of the mounting base 910 corresponding to the slot 909. The laser positioning sensor 911 is horizontally positioned, and its detection probe faces the front of the fixing slot 901. The slot 909 is set at a perpendicular angle to the back of the fixed slot 901 and is used to locate the height position of the feeding pin in the paper roll feeding gantry. The slot 909 is mainly set to facilitate the optical path of the laser positioning sensor 911. The laser positioning sensor 911 is based on the principle of laser ranging. After the robotic gripper assembly obtains the horizontal coordinate of the feeding pin in the gantry, the lifting cylinder 4 drives the entire robotic gripper assembly to move down through the sliding seat 3. During the downward movement, the laser beam emitted by the laser positioning sensor 911 is emitted through the center hole of the paper roll. When the laser beam overlaps with the high reflectivity target fixed at the center of the end face of the feeding pin, the lifting cylinder 4 stops driving the sliding seat 3 to move down, and the vertical height coordinate of the feeding pin can be detected. Combined with the horizontal coordinate of the high-definition vision inspection sensor 906, the three-dimensional spatial coordinate of the feeding pin can be formed, thereby realizing the high-precision automatic alignment operation of the robotic arm.

[0043] In this embodiment, a 3D vision inspection sensor 908 is mounted on the bottom end of the mounting arm 907. The detection end of the 3D vision inspection sensor 908 faces the front of the fixed slot 901 and is set at an angle of 30-45 degrees. It is used to detect the coordinate position of the center hole of the paper roll. The detection end of the 3D vision inspection sensor 908 is arranged at an angle, which can simultaneously cover the center hole area of ​​the paper roll end face. The spatial position of the center hole is identified by three-dimensional point cloud imaging. The identification and positioning of the center hole of the paper roll can be completed before the paper roll is loaded. The positioning drive cylinder 912 is fixed on the mounting arm 907 along the length of the mounting arm 907, and the telescopic end of the positioning drive cylinder 912 is connected to the mounting base 910. The device is used to drive the mounting base 910 to move on the mounting arm 907. The coordinate data of the center hole of the paper roll fed back by the 3D vision detection sensor 908 is used by the control module to control the positioning drive electric cylinder 912 to adjust the position of the mounting base 910 on the mounting arm 907, so that the laser positioning sensor 911 moves to the corresponding position on the mounting arm 907, so that the laser positioning sensor 911 can be smoothly coaxially aligned with the center hole of the paper roll. It should be noted that in order to make the vertical height positioning of the feeding pin more accurate and maximize the coaxiality between the center hole of the paper roll and the feeding pin, it is necessary to cooperate with the robot arm to pre-fix a high reflective target at the center position of the end face of the feeding pin and ensure that the reflective target is not obstructed.

[0044] In this embodiment, both sets of gripper mechanisms 10 include a mounting frame 101, a vertical arm 104, a hinge seat 106, a first adjusting electric cylinder 107, and a support frame 110. Slider blocks 102 are fixed to both sides of the mounting frame 101. The mounting frame 101 is slidably mounted on a slide rail 904 inside the fixed slot 901 via the sliders 102. A clamping electric cylinder 103 is installed between the inner side of the mounting frame 101 and the end cap 903 at the corresponding end of the fixed slot 901. The clamping electric cylinder 103 drives the mounting frame 101 to reciprocate along the slide rail 904. The clamping electric cylinders 103 in the two sets of gripper mechanisms 10 operate synchronously, thereby adjusting the distance between the two sets of gripper mechanisms 10 to accommodate raw paper rolls of different widths. The vertical arm 104... The vertical arm 104 is fixed to the bottom of the mounting frame 101 and moves laterally synchronously with the mounting frame 101. The cross-section of the vertical arm 104 is U-shaped, which improves its vertical bending strength to withstand the vertical load from the paper roll. Guide slots 105 are provided on both sides of the vertical arm 104 near the mounting frame 101 along its length. A hinge seat 106 is located inside the vertical arm 104, and its two sides slide in contact with the guide slots 105 on both sides of the vertical arm 104, allowing the hinge seat 106 to slide smoothly up and down along the guide slots 105. The bottom end of the first adjusting electric cylinder 107 is hinged to one side of the bottom end of the vertical arm 104, while the top end of the first adjusting electric cylinder 107 is hinged to the hinge seat 106. On the back, it is used to drive the hinge seat 106 to move up and down along the guide slot 105; the support frame 110 is located on the side of the upright arm 104 near the end of the fixed slot 901. The support frame 110 and the upright arm 104 are connected by the support frame 108 and the adjusting strut 109. At both ends of the support frame 110 and near the front of the fixed slot 901, horizontally arranged paper roll fixing rollers 111 are fixedly installed. Each paper roll fixing roller 111 has a positioning plate 112 fixed at one end near the support frame 110. The front end of the adjusting strut 109 is hinged to the side of the support frame 110 near the top, and the other end of the adjusting strut 109 is hinged to the front of the hinge seat 106; the support frame 108 has a V-shaped structure. The closed end of the support frame 108 is hinged to the bottom of the upright arm 104, and the open end of the support frame 108 is connected to the bottom and middle of the support frame 110 respectively. In this design, the first adjusting electric cylinder 107 serves as the power source for adjusting the posture of the support frame 110. Its extension stroke is controllable, which can accurately adjust the vertical position of the hinge seat 106. The adjusting support rod 109 serves as a transmission link, which can transmit the vertical power of the hinge seat 106 to the support frame 110, causing the support frame 110 to deflect around the bottom of the upright arm 104. Combined with the synchronous drive control of the two sets of gripper mechanisms 10, the support frame 110 in the two sets of gripper mechanisms 10 can form a V-shaped structure that is wider at the top and narrower at the bottom, which is used to adapt to the lifting and fixing of larger paper rolls.

[0045] In this embodiment, when the hinge seat 106 is located at the top of the guide slot 105, the support frame 110 is parallel to the upright arm 104. In this state, the support frame 110, together with the paper roll fixing roller 111, can symmetrically clamp the paper roll with a slightly smaller size from both sides.

[0046] In this embodiment, a pressure detection sensor is provided between the telescopic end of the clamping cylinder 103 and the contact surface of the mounting frame 101. The pressure detection sensor can collect the reaction force during the paper roll clamping process in real time. When the paper roll fixing roller 111 contacts the two sides of the paper roll and reaches the preset clamping force, the control module receives the pressure signal and stops the action of the clamping cylinder 103, so that the paper roll fixing roller 111 remains in the current position. Utilizing the arc structure characteristics of the paper roll, the four paper roll fixing rollers 111 can cooperate with each other to stably clamp the paper roll and prevent it from falling. In this design, the paper roll is fixed by a combination of support and limit, blocking the paper roll's falling channel from the bottom. Compared with the traditional method of preventing the paper roll from falling by relying solely on the friction of clamping, in this design, the paper roll fixing roller 111 only needs to remain in the original position, and usually only needs to bear part of the force generated by the weight of the paper roll to achieve the fixing and anti-detachment of the paper roll.

[0047] In this embodiment, the anti-detachment mechanism 12 includes a fixed base 121, a sliding base 122, a second adjusting electric cylinder 123, and an anti-detachment electric cylinder 124. The fixed base 121 is horizontally installed at the center of the back of the support frame 110. The sliding base 122 is slidably installed on the top of the fixed base 121 and moves along the length of the fixed base 121. The second adjusting electric cylinder 123 is installed on the fixed base 121 along the length of the fixed base 121, and the telescopic end of the second adjusting electric cylinder 123 is connected to the sliding base 122 through a connecting arm to push the sliding base 122 to move on the fixed base 121. The anti-detachment electric cylinder 124 is installed at the end of the sliding base 122 away from the support frame 110, and the telescopic end of the anti-detachment electric cylinder 124 is arranged facing the front of the fixed slot seat 901 and parallel to the paper roll fixing roller 111. A pull rod 125 is fixed to the telescopic end of the anti-detachment electric cylinder 124, and the front end of the pull rod 125 is installed with a positioning plate 112. Parallel positioning claws 126 are provided, with a pressure sensor 127 mounted on the side of the positioning claws 126 facing the positioning disk 112. A displacement sensor is mounted on one side of the fixed base 121 to monitor the movement distance of the sliding base 122 in real time, preventing the sliding base 122 from moving excessively toward the upright arm 104, thereby preventing collision between the anti-detachment electric cylinder 124 and the fixed base 121. In this design, the sliding base 122 is driven to move laterally by the extension and retraction action of the second adjusting electric cylinder 123 to accommodate different paper roll diameters. Moreover, the positioning claws 126 cooperate with the positioning disk 112 to clamp the end face of the paper roll from both sides, forming a reliable axial limit on the paper roll to prevent it from falling during the transfer process. In addition, the pressure sensor 127 on the positioning claws 126 can detect the pressure applied by the positioning claws 126 to the end face of the paper roll in real time, which can prevent the clamping force of the positioning claws 126 from being too large and damaging the end face of the paper roll.

[0048] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic feeding robot for paper tube production, characterized in that, The loading robot includes: Mobile support base The column (2) is vertically installed on the top of the movable support base, and a guide rail is installed on the side of the column (2) along the length direction of the column (2); The sliding seat (3) is slidably mounted on the guide rail on the side of the column (2), and the bottom of the sliding seat (3) is equipped with a lifting electric cylinder (4) for driving the sliding seat (3) to move up and down along the column (2). A fixed horizontal arm (5) is horizontally mounted on a sliding seat (3), and a first robotic arm joint motor (6) is fixedly mounted at the end of the fixed horizontal arm (5) away from the sliding seat (3). Telescopic beam (7), the telescopic beam (7) is located at the bottom of the fixed cross arm (5) and is horizontally arranged, the top of the telescopic beam (7) is fixedly installed on the rotor flange seat of the first manipulator joint motor (6) by bolts; The robotic gripper assembly is vertically positioned at the bottom of the front end of the telescopic beam (7), and the top of the robotic gripper assembly is rotatably connected to the telescopic beam (7) via a second robotic joint motor (8). The robotic gripper assembly includes: The gripper seat (9) is equipped with a positioning component for automatically positioning the center hole of the paper roll and the position of the feeding pin in the paper roll support truss. The gripper mechanism (10) has two sets. The two sets of gripper mechanisms (10) are symmetrically installed at the bottom of the gripper seat (9) and move along the axial direction of the gripper seat (9) to realize the paper roll picking and putting operation. A gap of 20-30 cm is reserved between the two sets of gripper mechanisms (10) to facilitate the positioning component to automatically position the center hole of the paper roll through the gap. The anti-detachment mechanism (12) has two sets, and the two sets of anti-detachment mechanisms (12) are respectively installed on the back of the two sets of gripper mechanisms (10) to prevent the paper roll from falling off the gripper mechanism (10).

2. The automatic feeding robot for paper tube production according to claim 1, characterized in that, The movable support base includes: Track base (11), the track base (11) is laid horizontally on the ground on the feeding side of the feeding truss along the length direction of the paper roll feeding truss; An electrically driven mobile base (1) is mounted on top of a track base (11) and moves along the track base (11); The electric drive mobile base (1) is a track-type electric walking trolley with a built-in electromagnetic brake. The electric drive mobile base (1) is also equipped with a control module for controlling the operation of each mechanism.

3. The automatic feeding robot for paper tube production according to claim 1, characterized in that, The telescopic beam (7) includes: The support arm (701) is a hollow structure, and the tail end of the support arm (701) is a closed end and the front end of the support arm (701) is an open end. A flange seat is provided on the top of the support arm (701) and on the side near the open end, for connecting with the rotor flange seat of the first manipulator joint motor (6). Telescopic arm (702), the telescopic arm (702) is a hollow structure and the telescopic arm (702) is slidably installed inside the support arm (701). The front end of the telescopic arm (702) is a closed end and extends from the open end of the support arm (701) and is integrally formed with a motor seat (703) for fixing the second manipulator joint motor (8). The tail end of the telescopic arm (702) is an open end. A transverse electric cylinder (704) is located inside the telescopic arm (702), and the two ends of the transverse electric cylinder (704) are respectively hinged to the inner side of the bearing arm (701) and the closed end of the telescopic arm (702) for driving the telescopic arm (702) to perform telescopic movements at the front end of the bearing arm (701).

4. The automatic feeding robot for paper tube production according to claim 1, characterized in that, The gripper seat (9) includes: The fixed slot (901) has a U-shaped cross-section, and both ends of the fixed slot (901) are bolted with end caps (903). The inner walls on both sides of the fixed slot (901) are equipped with slide rails (904) along the length of the fixed slot (901). Motor connecting flange (902) is installed at the middle position on the top of the fixed slot (901) for connecting to the rotor flange seat of the second manipulator joint motor (8). The top surface of the motor connecting flange (902) is horizontal. The positioning component is mounted on the fixed slot (901).

5. The automatic feeding robot for paper tube production according to claim 4, characterized in that, The positioning component includes: The bracket (905) is installed at the middle position of the top of the fixed slot (901) at the tail end, and the front end of the bracket (905) extends towards the front side of the fixed slot (901) and is equipped with a high-definition visual inspection sensor (906). The detection end of the high-definition visual inspection sensor (906) is set vertically downward and is used to detect the horizontal coordinate position of the feeding pin in the paper roll feeding gantry. Mounting arm (907) is vertically mounted downwards at the center of the back of the fixing slot (901), with the bottom end of the mounting arm (907) extending close to the bottom end of the gripper mechanism (10). A 20-30 cm gap is maintained between the mounting arm (907) and the back of the fixing slot (901). A long, narrow slot (909) is formed in the middle of the mounting arm (907) along its length. The mounting arm (907) slides upwards... A mounting base (910) that moves along the length of the mounting arm (907) is installed. A laser positioning sensor (911) is installed at the middle of the mounting base (910) corresponding to the slot (909). The laser positioning sensor (911) is horizontally set, and the detection probe of the laser positioning sensor (911) faces the front of the fixed slot (901) and is set at a perpendicular angle to the back of the fixed slot (901). It is used to position the height of the feeding pin in the paper roll feeding gantry. A 3D vision inspection sensor (908) is installed at the bottom of the mounting arm (907). The detection end of the 3D vision inspection sensor (908) faces the front of the fixed slot (901) and is set at an angle of 30-45 degrees. It is used to detect the coordinate position of the center hole of the paper roll. A positioning drive electric cylinder (912) is fixed on the mounting arm (907) along the length direction of the mounting arm (907), and the telescopic end of the positioning drive electric cylinder (912) is connected to the mounting base (910) for driving the mounting base (910) to move on the mounting arm (907).

6. The automatic feeding robot for paper tube production according to claim 4, characterized in that, Both sets of gripper mechanisms (10) include: Mounting bracket (101), with sliders (102) fixed on both sides of the mounting bracket (101). The mounting bracket (101) is slidably mounted on the slide rail (904) inside the fixed slot (901) via the sliders (102). A clamping electric cylinder (103) is installed between the inner side of the mounting bracket (101) and the end cap (903) at the corresponding end of the fixed slot (901). The clamping electric cylinder (103) drives the mounting bracket (101) to reciprocate along the slide rail (904). The upright arm (104) is vertically fixed to the bottom of the mounting frame (101), and the cross-section of the upright arm (104) is U-shaped. Guide slots (105) are provided on both sides of the upright arm (104) near the end of the mounting frame (101) along the length direction of the upright arm (104). The hinge seat (106) is located inside the upright arm (104), and the two sides of the hinge seat (106) are slidably engaged with the guide slots (105) on both sides of the upright arm (104). The first adjusting electric cylinder (107) has its bottom end hinged to one side of the bottom end of the upright arm (104), while its top end is hinged to the back of the hinge seat (106), which is used to drive the hinge seat (106) to move up and down along the guide slot (105). The support frame (110) is located on the side of the upright arm (104) near the end of the fixed slot (901). The support frame (110) and the upright arm (104) are connected by a support frame (108) and an adjusting strut (109). Both ends of the support frame (110) and the front position near the fixed slot (901) are fixedly installed with horizontally arranged paper roll fixing rollers (111). Each paper roll fixing roller (111) has a positioning plate (112) fixed at one end near the support frame (110).

7. The automatic feeding robot for paper tube production according to claim 6, characterized in that, The front end of the adjusting strut (109) is hinged to the side of the support frame (110) near the top, and the other end of the adjusting strut (109) is hinged to the front of the hinge seat (106). The support frame (108) has a V-shaped structure. The closed end of the support frame (108) is hinged to the bottom of the vertical arm (104), and the open end of the support frame (108) is connected to the bottom and middle of the bearing frame (110).

8. The automatic feeding robot for paper tube production according to claim 6, characterized in that, When the hinge seat (106) is located at the top of the guide slot (105), the support frame (110) is parallel to the upright arm (104).

9. An automatic feeding robot for paper tube production according to claim 6, characterized in that, A pressure detection sensor is provided between the telescopic end of the clamping electric cylinder (103) and the contact surface of the mounting bracket (101).

10. An automatic feeding robot for paper tube production according to claim 6, characterized in that, The anti-detachment mechanism (12) includes: A fixing seat (121) is horizontally installed at the center of the back of the support frame (110); A sliding base (122) is slidably mounted on the top of a fixed base (121) and moves along the length of the fixed base (121); The second adjusting electric cylinder (123) is installed on the fixed base (121) along the length direction of the fixed base (121). The telescopic end of the second adjusting electric cylinder (123) is connected to the sliding base (122) through the connecting arm, and is used to push the sliding base (122) to move on the fixed base (121). An anti-detachment electric cylinder (124) is installed at one end of the sliding base (122) away from the support frame (110). The telescopic end of the anti-detachment electric cylinder (124) is arranged facing the front of the fixed slot (901) and parallel to the paper roll fixing roller (111). A pull rod (125) is fixed to the telescopic end of the anti-detachment electric cylinder (124) and is arranged coaxially. A positioning claw (126) parallel to the positioning plate (112) is installed at the front end of the pull rod (125). A pressure sensor (127) is installed on the side of the positioning claw (126) facing the positioning plate (112). A displacement sensor is installed on one side of the fixed base (121) to prevent collision between the anti-disengagement cylinder (124) and the fixed base (121).

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