Rotating shaft recovery device

Abstract

The utility model relates to the technical field of food packaging, and provides a rotating shaft recycling device which comprises a driving part, a bearing assembly and a collaborative robot. The bearing assembly is used for bearing the rotating shaft assembly, the rotating shaft assembly comprises a rotating shaft module and a paper tube, the paper tube sleeves the outer side of the rotating shaft module, and the rotating shaft module is in locking connection with the paper tube through an opening and closing mechanism; the driving part is used for being in dynamic coupling connection with an opening and closing mechanism on the rotating shaft module so as to control the opening and closing mechanism to be switched from a locking state to a separation state; and the collaborative robot picks up the rotating shaft module from the bearing assembly and controls the rotating shaft module to move between the first station and the second station so as to recycle the rotating shaft module and the paper tube. According to the rotating shaft recovery device, the rotating shaft module and the paper tube can be automatically separated so as to complete recovery of the rotating shaft module, manual intervention is not needed in the whole recovery process, the recovery efficiency is improved, the recovery cost is reduced, and the production efficiency of the whole packing material preparation production line can be guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of food packaging, in particular to a rotating shaft recovery device. Background Art

[0002] In the process of filling dairy products, the packaging material preparation production line is used to supply packaging materials to the filling machine. As the filling operation continues, the packaging materials are continuously consumed. At this time, the newly opened packaging material rolls need to be transported to the filling machine to replace the packaging material rolls that are about to be consumed. This process involves frequent transportation of packaging material rolls.

[0003] In actual applications, in order to facilitate the transfer of packaging material rolls, a shaft module is usually installed in the center hole of the packaging material roll, so that the packaging material components replaced on the filling machine need to be recycled. However, the current recycling work for this part mainly relies on manual work, which not only has low recycling efficiency, but also high labor costs, which will directly affect the production efficiency of the entire packaging material preparation production line. Utility Model Content

[0004] The utility model provides a rotating shaft recovery device, which is used to at least solve or improve the problems of low recovery efficiency and high labor cost in the current manual operation mode for recovering rotating shaft modules.

[0005] The utility model provides a rotating shaft recovery device, comprising: a driving component, a supporting component and a collaborative robot;

[0006] The supporting assembly is used to support the shaft assembly, and the shaft assembly includes a shaft module and a paper tube, the paper tube is sleeved on the outside of the shaft module, and the shaft module is locked with the paper tube through an opening and closing mechanism;

[0007] The driving component is used to be connected to the opening and closing mechanism on the rotating shaft module by power coupling to control the opening and closing mechanism to switch from a locked state to a separated state;

[0008] The execution end of the collaborative robot picks up the shaft module from the supporting assembly, and controls the shaft module to move between the first station and the second station;

[0009] Wherein, when the rotating shaft module is in the first working position, the execution end arranges the rotating shaft module vertically to realize the recycling of the paper roll;

[0010] When the rotating shaft module is in the second working position, the execution end places the rotating shaft module horizontally to realize the recovery of the rotating shaft module.

[0011] According to a rotating shaft recovery device provided by the utility model, the supporting assembly includes a fixed seat body, a lifting seat body and a supporting member;

[0012] The lifting seat body is movably arranged on the fixed seat body along the vertical direction, and the supporting member is arranged on the lifting seat body and is used to support the bottom end of the paper tube;

[0013] An auxiliary bracket is arranged on one side of the supporting assembly, and the driving component is arranged on the auxiliary bracket and is located on the upper side of the lifting seat body.

[0014] According to a rotating shaft recovery device provided by the utility model, a bracket is provided on the lifting seat body; the bracket is movably provided on the lifting seat body along the vertical direction and can be lifted and lowered between a first working height and a second working height; the bracket is used to support the two ends of the rotating shaft module;

[0015] When the bracket is at a first working height, the driving component can be connected to the opening and closing mechanism, and the paper tube and the supporting member are separated; when the bracket is at a second working height, the supporting member is supported on the bottom end of the paper tube, and the bracket and the rotating shaft module are separated.

[0016] According to a rotating shaft recovery device provided by the utility model, a transverse driving member is provided on the auxiliary bracket, and the transverse driving member is connected to the driving component to drive the driving component to move between a first transverse position and a second transverse position;

[0017] When the driving component is in the first transverse position, the driving component is connected to the opening and closing mechanism; when the driving component is in the second transverse position, the driving component is separated from the opening and closing mechanism.

[0018] According to a rotating shaft recovery device provided by the utility model, the driving component includes a power motor and a control gear, and the output end of the power motor is connected to the control gear; the rotating shaft module includes a rotating shaft and an opening and closing mechanism; the opening and closing mechanism includes a clutch gear, a clutch disk, a fixed disk and a plurality of locking members;

[0019] The clutch gear, the clutch plate and the fixed plate are sequentially sleeved on the rotating shaft; the control gear is configured to be meshed with the clutch gear, and the clutch gear and the clutch plate are connected to drive the clutch plate to rotate relative to the rotating shaft; the fixed plate is connected to the rotating shaft; a plurality of locking members are circumferentially arranged on the fixed plate, and the clutch plate performs linkage control on the transmission ends of the plurality of locking members, so that the opening and closing mechanism switches between a locked state and a separated state;

[0020] When the opening and closing mechanism is in a locked state, the locking ends of each locking member synchronously move away from the rotating shaft to lock the paper tube; when the opening and closing mechanism is in a separated state, the locking ends of each locking member synchronously move close to the rotating shaft to release the locking restriction on the paper tube.

[0021] According to a rotating shaft recovery device provided by the utility model, the clutch disc is provided with a plurality of arc-shaped guide portions along the circumferential direction, and the plurality of arc-shaped guide portions and the plurality of locking members are arranged opposite to each other one by one;

[0022] At least part of the locking member is movably disposed on the fixed plate, and the transmission end of the locking member contacts the side wall of the arc-shaped guide portion; along the extension direction from the head end to the tail end of the arc-shaped guide portion, the distance between the side wall of the arc-shaped guide portion and the rotating shaft gradually increases;

[0023] The clutch disc can rotate between a first position and a second position relative to the rotating shaft; when the clutch disc is in the first position, the transmission end of the locking member contacts the side wall corresponding to the head end of the arc-shaped guide portion; when the clutch disc is in the second position, the transmission end of the locking member contacts the side wall corresponding to the end end of the arc-shaped guide portion.

[0024] According to a shaft recovery device provided by the utility model, the shaft module also includes a positioning plate; the positioning plate is connected to the shaft and is spaced apart from the opening and closing mechanism; when the opening and closing mechanism is in a locked state, the locking end of each locking member on the opening and closing mechanism abuts against one end of the paper tube; the positioning plate is used to abut against the other end of the paper tube.

[0025] According to a rotating shaft recovery device provided by the utility model, the first station is provided with a conveying line body and a recovery trough; the recovery trough is used to hold the paper tube, the recovery trough is arranged on the conveying line body, and the conveying line body is used to transport the recovery trough along its extension direction.

[0026] According to a shaft recovery device provided by the utility model, the second station is provided with a recovery rack; the recovery rack comprises a fixed bracket and a plurality of rack units, the plurality of rack units are sequentially placed on the fixed bracket along a preset direction, and each of the rack units is used to sequentially store a plurality of shaft modules along a vertical direction;

[0027] Wherein, the frame unit is used to connect with the handling equipment to simultaneously transfer a plurality of the rotating shaft modules.

[0028] According to a rotating shaft recovery device provided by the utility model, the collaborative robot comprises: a moving seat and a multi-axis mechanical arm;

[0029] The movable seat is movably arranged on the basic platform along the preset direction and can reach the position corresponding to each of the frame units; the multi-axis robot arm is arranged on the movable seat and is used for taking and placing the rotating shaft module.

[0030] The shaft recovery device provided by the utility model is configured with a driving component, a supporting assembly and a collaborative robot. After the shaft assembly to be separated is placed on the supporting assembly, the driving component is first used to control the shaft module and the paper tube to be separated. The collaborative robot picks up the shaft module and moves the shaft assembly to the first station. The shaft module is arranged vertically so that the paper tube is separated from the shaft module under the action of its own gravity to achieve the recovery of the paper tube. The shaft module is then moved to the second station to achieve the recovery of the shaft module.

[0031] It can be seen that the shaft recovery device shown in the utility model can automatically separate the shaft module and the paper tube to complete the recovery of the shaft module. The entire recovery process does not require human intervention, which improves the recovery efficiency, reduces the recovery cost, and is conducive to ensuring the production efficiency of the entire packaging material preparation production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 This is one of the structural schematic diagrams of the rotating shaft recovery device provided by the utility model;

[0034] Figure 2 This is the second structural schematic diagram of the rotating shaft recovery device provided by the utility model;

[0035] Figure 3 This is the third structural schematic diagram of the rotating shaft recovery device provided by the utility model;

[0036] Figure 4 It is a structural schematic diagram of the rotating shaft module provided by the utility model;

[0037] Figure 5 It is a structural schematic diagram of the opening and closing mechanism provided by the utility model;

[0038] Figure 6 It is a schematic diagram of the structure in which a clutch disc and a plurality of locking members are arranged relatively in the opening and closing mechanism provided by the utility model;

[0039] Reference numerals:

[0040] 1. Rotating shaft module; 11. Rotating shaft; 12. Driving gear; 13. Opening and closing mechanism; 131. Clutch gear; 132. Clutch disc; 1321. Arc-shaped guide portion; 1322. Stopper; 133. Fixed disc; 134. Locking member; 1341. Fixed support; 1342. Locking pin; 1343. Roller; 1344. Elastic member; 14. Positioning disc; 141. Main disc body; 142. Positioning edge;

[0041] 2. Rotating shaft recovery device; 20. Auxiliary bracket; 2001. Transverse driving member; 21. Driving member; 211. Power motor; 212. Control gear; 22. Support assembly; 221. Fixed seat body; 222. Lifting seat body; 223. Support member; 224. Bracket; 23. Collaborative robot; 201. Conveying line body; 202. Recovery trough; 241. Recovery rack; 2411. Fixed bracket; 2412. Rack unit;

[0042] 3. Paper tube. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0044] Combine the following Figure 1-Figure 6 , the shaft recovery device provided by the embodiment of the utility model is described in detail through specific embodiments and application scenarios.

[0045] like Figure 1 As shown, an embodiment of the utility model provides a shaft recovery device, including: a driving component 21, a supporting component 22 and a collaborative robot 23.

[0046] The supporting assembly 22 is used to support the shaft assembly. The shaft assembly includes a shaft module 1 and a paper tube 3. The paper tube 3 is sleeved on the outside of the shaft module 1. The shaft module 1 is locked with the paper tube 3 through an opening and closing mechanism 13.

[0047] The driving component 21 is used to be power-coupled with the opening and closing mechanism 13 on the shaft module 1 to control the opening and closing mechanism 13 to switch from a locked state to a separated state; the execution end of the collaborative robot 23 picks up the shaft module 1 from the supporting component 22, and controls the shaft module 1 to move between the first station and the second station.

[0048] Among them, when the shaft module 1 is in the first position, the execution end arranges the shaft module 1 vertically to realize the recycling of the paper tube 3; when the shaft module 1 is in the second position, the execution end places the shaft module 1 horizontally to realize the recycling of the shaft module 1.

[0049] It is understandable that during the filling operation of dairy products, after the packaging material is consumed, the shaft assembly is replaced from the filling machine, and then the shaft assembly is transported to the recycling station using an AGV transporter to carry out the recycling operation of the shaft module 1 and the paper tube 3.

[0050] The shaft module 1 is provided with an opening and closing mechanism 13, which has a locked state and a separated state, and the maximum outer diameter of the opening and closing mechanism 13 in the locked state is greater than the maximum outer diameter of the opening and closing mechanism 13 in the separated state. Since the shaft module 1 is inserted into the paper tube 3, when the opening and closing mechanism 13 is in the locked state, the shaft module 1 and the paper tube 3 can be locked and connected, and when the opening and closing mechanism 13 is in the separated state, the shaft module 1 and the paper tube 3 can be separated.

[0051] In this way, when the opening and closing mechanism 13 is in a separated state, it is convenient for the collaborative robot 23 to pick up the shaft module 1 and control the shaft module 1 to move to the first station and the second station in sequence, so as to realize the recycling of the paper tube 3 and the shaft module 1.

[0052] The driving component 21 can control the opening and closing mechanism 13 to switch between the locked state and the separated state. The driving component 21 is used to provide driving force for the state switching of the opening and closing mechanism 13. The structural type of the driving component 21 depends on the type of power input that the opening and closing mechanism 13 can accept. For example, the driving component 21 can be a rotating driving component or a telescopic driving component.

[0053] At the same time, the collaborative robot 23 has a multi-degree-of-freedom robotic arm, for example, the multi-degree-of-freedom robotic arm can be a six-axis robotic arm, and the execution end of the multi-degree-of-freedom robotic arm can be configured with a clamp to achieve the picking and placing of the rotating shaft module 1 through the clamp.

[0054] For the packaging material component recycling equipment shown in this embodiment, by configuring a driving component 21, a supporting component 22 and a collaborative robot 23, after the shaft component to be separated is placed on the supporting component 22, the driving component 21 is first used to control the shaft module 1 and the paper tube 3 to separate, and the collaborative robot 23 is used to pick up the shaft module 1 and move the shaft assembly to the first station. By arranging the shaft module 1 vertically, the paper tube 3 is separated from the shaft module 1 under the action of its own gravity to achieve the recycling of the paper tube 3, and then the shaft module 1 is moved to the second station to achieve the recycling of the shaft module 1.

[0055] It can be seen that the shaft recovery device shown in the utility model can automatically separate the shaft module 1 and the paper tube 3 to complete the recovery of the shaft module 1. The entire recovery process does not require human intervention, which improves the recovery efficiency, reduces the recovery cost, and is conducive to ensuring the production efficiency of the entire packaging material preparation production line.

[0056] In some embodiments, Figure 2 and Figure 3 As shown, the supporting assembly 22 includes a fixed seat body 221 , a lifting seat body 222 and a supporting component 223 .

[0057] The lifting seat body 222 is movably arranged on the fixed seat body 221 along the vertical direction, and the supporting component 223 is arranged on the lifting seat body 222 and is used to support the bottom end of the paper tube 3; an auxiliary bracket 20 is arranged on one side of the supporting component 22, and the driving component 21 is arranged on the auxiliary bracket 20 and is located on the upper side of the lifting seat body 222.

[0058] It is understandable that the supporting member 223 includes a first supporting plate and a second supporting plate; the first supporting plate and the second supporting plate are connected to form a "V"-shaped structure, which enables the first supporting plate and the second supporting plate to cooperate with each other and support paper tubes 3 of different diameters.

[0059] In actual application, the supporting member 223 is used to lift the shaft assembly to a set height. At the set height, the driving component 21 can be connected to the opening and closing mechanism 13 on the shaft module 1. At this time, the driving component 21 is convenient for controlling the opening and closing mechanism 13 to switch from a locked state to a separated state, so as to release the locking restriction of the opening and closing mechanism 13 on the paper tube 3.

[0060] In order to ensure that the lifting seat body 222 can be reliably lifted and lowered relative to the fixed seat body 221 in the vertical direction, the fixed seat body 221 is provided with a slide rail extending in the vertical direction, and the lifting seat body 222 is provided with a slider movably disposed on the slide rail.

[0061] At the same time, a lifting drive is provided between the lifting seat body 222 and the fixed seat body 221, and the lifting drive is used to drive the lifting seat body 222 to rise and fall relative to the fixed seat body 221 in the vertical direction. The lifting drive can be any one of a cylinder, an electric push rod and a screw drive mechanism.

[0062] In some embodiments, Figure 2 and Figure 3 As shown, a bracket 224 is provided on the lifting seat body 222 ; the bracket 224 is movably provided on the lifting seat body 222 along the vertical direction, and can be raised and lowered between a first working height and a second working height; the bracket 224 is used to support the two ends of the rotating shaft module 1 .

[0063] When the bracket 224 is at the first working height, the driving component 21 can be connected to the opening and closing mechanism 13, and the paper tube 3 and the supporting member 223 are separated; when the bracket 224 is at the second working height, the supporting member 223 is supported on the bottom end of the paper tube 3, and the bracket 224 and the rotating shaft module 1 are separated.

[0064] It is understandable that when the rotating shaft module 1 is recovered, the bracket 224 is first controlled to rise to the first working height. At this time, the driving component 21 is connected to the opening and closing mechanism 13 to control the opening and closing mechanism 13 to switch from a locked state to a separated state, thereby releasing the locking restriction of the opening and closing mechanism 13 on the paper tube 3.

[0065] Next, the bracket 224 is controlled to descend to the second working height so that the shaft assembly to be separated is placed on the supporting member 223. At this time, the bracket 224 and the shaft module 1 are separated, which facilitates the collaborative robot 23 to pick up the shaft module 1 and prevents the existence of the bracket 224 from interfering with the transfer of the shaft module 1.

[0066] Optionally, the bracket 224 includes a first vertical support plate and a second vertical support plate, the first vertical support plate is supported on one end of the shaft module 1 , and the second vertical support plate is supported on the other end of the shaft module 1 .

[0067] Optionally, a lifting drive is provided between the bracket 224 and the lifting seat body 222, and the lifting drive is used to drive the bracket 224 to rise and fall in the vertical direction relative to the lifting seat body 222. The lifting drive can be any one of a cylinder, an electric push rod and a screw drive mechanism.

[0068] In some embodiments, Figure 2 and Figure 3 As shown, a transverse driving member 2001 is provided on the auxiliary bracket 20, and the transverse driving member 2001 is connected to the driving component 21 to drive the driving component 21 to move between a first transverse position and a second transverse position.

[0069] When the driving component 21 is in the first lateral position, the driving component 21 is connected to the opening and closing mechanism 13 ; when the driving component 21 is in the second lateral position, the driving component 21 is separated from the opening and closing mechanism 13 .

[0070] It is understandable that a horizontal guide rail is provided at the top of the auxiliary bracket 20, and the horizontal guide rail is extended along the axial direction of the rotating shaft assembly to be placed on the supporting assembly 22. The driving component 21 is equipped with a slider, and the slider is movably provided on the horizontal guide rail to realize lateral movement of the driving component 21 relative to the auxiliary bracket 20.

[0071] At the same time, one end of the lateral drive member 2001 is connected to the auxiliary bracket 20, and the other end is connected to the driving component 21, so as to drive the driving component 21 to move laterally relative to the auxiliary bracket 20. The lateral drive member 2001 can be any one of a cylinder, an electric push rod and a lead screw drive mechanism.

[0072] In actual application, before the shaft assembly is placed on the supporting assembly 22, the driving component 21 is in the second lateral position to prevent the existence of the driving component 21 from interfering with the placement operation of the shaft assembly on the supporting assembly 22; when the shaft assembly is placed on the supporting assembly 22 and the shaft module 1 is supported by the bracket 224 at the first working height, the driving component 21 is in the first lateral position, and at this time the driving component 21 controls the opening and closing mechanism 13 to switch from a locked state to a separated state.

[0073] In some embodiments, Figure 2 and Figure 3 As shown, the driving component 21 includes a power motor 211 and a control gear 212 , and the output end of the power motor 211 is connected to the control gear 212 .

[0074] Specifically, the driving component 21 is also equipped with a transverse frame, a lifting frame and a telescopic driving rod. The transverse frame is movably arranged on the auxiliary bracket 20 along the axial direction of the packaging material roll, and the telescopic driving rod is arranged between the transverse frame and the lifting frame to drive the lifting frame to rise and fall; the power motor 211 is arranged on the lifting frame.

[0075] In this way, when the driving component 21 is in the first lateral position, the lifting frame can be further controlled by the telescopic driving rod to more precisely control the engagement or separation of the control gear 212 of the driving component 21 and the clutch gear 131 of the opening and closing mechanism 13.

[0076] In some embodiments, Figure 3 , Figure 4 and Figure 5 As shown, the shaft module 1 includes a shaft 11 and an opening and closing mechanism 13 ; the opening and closing mechanism 13 includes a clutch gear 131 , a clutch disk 132 , a fixed disk 133 and a plurality of locking members 134 .

[0077] The clutch gear 131, the clutch plate 132 and the fixed plate 133 are sequentially sleeved on the rotating shaft 11; the control gear 212 is configured to be meshed with the clutch gear 131, and the clutch gear 131 and the clutch plate 132 are connected to drive the clutch plate 132 to rotate relative to the rotating shaft 11; the fixed plate 133 is connected to the rotating shaft 11; a plurality of locking members 134 are circumferentially arranged on the fixed plate 133, and the clutch plate 132 performs linkage control on the transmission ends of the plurality of locking members 134 so that the opening and closing mechanism 13 switches between a locked state and a separated state.

[0078] When the opening and closing mechanism 13 is in a locked state, the locking ends of each locking member 134 synchronously move away from the rotating shaft 11 to lock the paper tube 3; when the opening and closing mechanism 13 is in a separated state, the locking ends of each locking member 134 synchronously move close to the rotating shaft 11 to release the locking restriction on the paper tube 3.

[0079] It is understandable that the clutch disk 132 can control the multiple locking members 134 in a linkage manner when rotating. When the opening and closing mechanism 13 is in a locked state, the locking ends of each locking member 134 are synchronously abutted against the inner wall or end of the paper tube 3 to lock the paper tube 3. When the opening and closing mechanism 13 is in a separated state, the locking ends of each locking member 134 are synchronously separated from the inner wall or end of the paper tube 3 to release the locking restriction on the paper tube 3.

[0080] The clutch gear 131 , the clutch plate 132 and the fixed plate 133 are all configured with a central hole, so that the clutch gear 131 , the clutch plate 132 and the fixed plate 133 are coaxially arranged and are sequentially sleeved on the peripheral wall of the rotating shaft 11 .

[0081] The clutch gear 131 and the clutch plate 132 are coaxially connected and can be rotatably sleeved on the peripheral wall of the rotating shaft 11, so that when the clutch gear 131 receives a rotational driving force, the clutch gear 131 drives the clutch plate 132 to rotate relative to the rotating shaft 11; the fixed plate 133 can be fixedly connected to the rotating shaft 11 by a key or a locking bolt.

[0082] At the same time, since the clutch disk 132 and the fixed disk 133 are coaxially arranged, when the plurality of locking members 134 are arranged along the circumference of the fixed disk 133 , the plurality of locking members 134 are also arranged along the circumference of the clutch disk 132 .

[0083] Optionally, each locking member 134 can be movably arranged on the fixed disk 133, for example, the locking member 134 can be rotatably arranged on the fixed disk 133, or the locking member 134 can be movably arranged on the fixed disk 133 along a specific linear direction. Optionally, the clutch disk 132 can be respectively connected to the transmission ends of the plurality of locking members 134 by means of hinged connection or contact connection. In this way, when the clutch disk 132 rotates relative to the rotating shaft 11, the clutch disk 132 can simultaneously apply a force to the transmission ends of each locking member 134, so that the locking ends of each locking member 134 are synchronously abutted against or separated from the inner wall or end of the paper tube 3.

[0084] In actual application, the opening and closing mechanism 13 is sleeved on the peripheral wall of the rotating shaft 11, and is inserted into the central hole of the paper tube 3 together with the rotating shaft 11. By applying a driving force to the clutch gear 131, the clutch gear 131 drives the clutch disk 132 to rotate, and then the clutch disk 132 controls the locking state between each locking member 134 and the paper tube 3.

[0085] When the locking ends of the multiple locking members 134 are separated from the inner wall or end of the paper tube 3, the distance between the locking ends of each locking member 134 and the center of the fixed disk 133 is less than or equal to the diameter of the fixed disk 133; when the locking ends of the multiple locking members 134 are in contact with the inner wall or end of the paper tube 3, the distance between the locking ends of each locking member 134 and the center of the fixed disk 133 is greater than the diameter of the fixed disk 133. The diameter of the fixed disk 133 is less than or equal to the inner diameter of the center hole of the paper tube 3.

[0086] In some embodiments, Figure 5 and Figure 6 As shown, the clutch disc 132 is provided with a plurality of arc-shaped guide portions 1321 along the circumferential direction, and the plurality of arc-shaped guide portions 1321 and the plurality of locking members 134 are arranged opposite to each other one by one.

[0087] At least part of the locking member 134 is movably disposed on the fixed plate 133, and the transmission end of the locking member 134 contacts the side wall of the arc-shaped guide portion 1321; along the extension direction from the head end to the end of the arc-shaped guide portion 1321, the distance between the side wall of the arc-shaped guide portion 1321 and the rotating shaft 11 gradually increases, so that in the process of the transmission end of the locking member 134 moving from the head end to the end of the arc-shaped guide portion 1321 relative to the arc-shaped guide portion 1321, the transmission end of the locking member 134 gradually moves away from the position where the rotating shaft 11 is located.

[0088] Specifically, the clutch disk 132 can rotate between a first position and a second position relative to the rotating shaft 11 . The rotation state of the clutch disk 132 will be described below in conjunction with the moving state of the locking member 134 .

[0089] When the clutch disk 132 is in the first position, the transmission end of the locking member 134 contacts the side wall corresponding to the head end of the arc-shaped guide portion 1321; the side wall corresponding to the head end of the arc-shaped guide portion 1321 reaches the minimum distance relative to the rotating shaft 11, and the distance between the locking end of the locking member 134 and the center of the fixed disk 133 is less than or equal to the diameter of the fixed disk 133. At this time, the opening and closing mechanism 13 is in a separated state, and the locking ends of each locking member 134 are separated from the inner wall or end of the paper tube 3.

[0090] When the clutch disk 132 is in the second position, the transmission end of the locking member 134 contacts the side wall corresponding to the end of the arc-shaped guide portion 1321; the side wall corresponding to the head end of the arc-shaped guide portion 1321 reaches the maximum distance relative to the rotating shaft 11, so that the distance between the locking end of the locking member 134 and the center of the fixed disk 133 is greater than the diameter of the fixed disk 133. At this time, the opening and closing mechanism 13 is in a locked state, and the locking ends of each locking member 134 can abut against the inner wall or end of the paper tube 3.

[0091] In some embodiments, Figure 5As shown, the clutch disc 132 is also provided with a plurality of stoppers 1322 along the circumferential direction, and the plurality of arc-shaped guides 1321 and the plurality of stoppers 1322 are alternately connected in sequence. When the clutch disc 132 rotates, the limit fit between the stoppers 1322 and the transmission end of the locking member 134 ensures that the transmission end of the locking member 134 can only move between the head end and the tail end of the arc-shaped guide 1321 relative to the arc-shaped guide 1321.

[0092] When the clutch disc 132 is in the first position, the stop portion 1322 near the head end of the arc-shaped guide portion 1321 abuts against the transmission end of the locking member 134 in the circumferential direction. At this time, the clutch disc 132 cannot continue to rotate in the clockwise direction, but can only rotate in the counterclockwise direction, thereby controlling the locking ends of each locking member 134 to gradually move away from the rotating shaft 11.

[0093] When the clutch disc 132 is in the second position, the stop portion 1322 near the end of the arc-shaped guide portion 1321 abuts against the transmission end of the locking member 134 in the circumferential direction. At this time, the clutch disc 132 cannot continue to rotate in the counterclockwise direction, but can only rotate in the clockwise direction, thereby controlling the locking ends of each locking member 134 to gradually approach the rotating shaft 11.

[0094] Among them, when the clutch disk 132 rotates in the counterclockwise direction, according to the contact cooperation between the side wall of the arc-shaped guide portion 1321 and the transmission end of the locking member 134, the clutch disk 132 can be rotated to drive the locking ends of each locking member 134 to synchronously abut against the inner wall or end of the paper tube 3; when the clutch disk 132 rotates in the clockwise direction, the spring, magnet and other reset members arranged between the locking member 134 and the fixed disk 133 can be used to realize the synchronous separation of the locking ends of each locking member 134 from the inner wall or end of the paper tube 3.

[0095] Optionally, the locking member 134 may be configured to be movably disposed on the fixing disk 133 along the radial direction of the fixing disk 133 .

[0096] Optionally, in order to ensure that the opening and closing mechanism 13 applies force uniformly to the inner wall of the paper tube 3 , a plurality of locking members 134 may be arranged evenly distributed along the circumference of the fixed disk 133 , and a plurality of arc-shaped guide portions 1321 may be evenly distributed along the circumference of the clutch disk 132 .

[0097] In some embodiments, Figure 6 As shown, the locking member 134 includes a fixed support 1341 , a locking pin 1342 , a roller 1343 and an elastic member 1344 .

[0098] The fixing support 1341 is connected to the fixing plate 133 , the locking pin 1342 passes through the fixing support 1341 , and the elastic member 1344 is disposed between the first end of the locking pin 1342 and the fixing support 1341 .

[0099] The first end of the locking pin 1342 is connected to the roller 1343 , the roller 1343 serves as the transmission end of the locking member 134 , and the second end of the locking pin 1342 serves as the locking end of the locking member 134 .

[0100] It is understandable that the roller 1343 is rotatably disposed at the first end of the locking pin 1342 , and the roller 1343 may be a rolling bearing or a directional wheel, which is not specifically limited.

[0101] The locking member 134 utilizes the roller 1343 to roll in contact with the side wall of the arc-shaped guide portion 1321, thereby reducing the contact friction between the locking member 134 and the clutch disk 132. When the clutch gear 131 drives the clutch disk 132 to rotate, the locking pins 1342 corresponding to each locking member 134 can be smoothly driven by the clutch disk 132 to move radially along the fixed disk 133.

[0102] Since an elastic member 1344 is provided between the first end of the locking pin 1342 and the fixed support 1341, the elastic tension provided by the elastic member 1344 can be utilized to always maintain a certain contact force between the roller 1343 and the side wall of the arc-shaped guide portion 1321, thereby ensuring that the locking pins 1342 corresponding to each locking member 134 can be stably and synchronously moved under the drive of the clutch disk 132.

[0103] At the same time, when the opening and closing mechanism 13 is in the locked state, the clutch disk 132 is in the second position, and the elastic member 1344 is in the first compressed state; when the opening and closing mechanism 13 is in the separated state, the clutch disk 132 is in the first position, and the elastic member 1344 is in the second compressed state. Since the radial distance of the roller 1343 relative to the rotating shaft 11 when the clutch disk 132 is in the second position is greater than the radial distance of the roller 1343 relative to the rotating shaft 11 when the clutch disk 132 is in the first position, the elastic potential energy of the elastic member 1344 in the first compressed state is greater than the elastic potential energy of the elastic member 1344 in the second compressed state, so that when the clutch disk 132 rotates in the clockwise direction, the elastic member 1344 can drive the second end of the lock pin 1342 away from the inner wall or end of the paper tube 3, ensuring that the opening and closing mechanism 13 can smoothly recover from the locked state to the separated state.

[0104] In some embodiments, Figure 1 As shown, the first station is provided with a conveying line body 201 and a recovery trough 202; the recovery trough 202 is used to hold paper tubes, the recovery trough 202 is arranged on the conveying line body 201, and the conveying line body 201 is used to transport the recovery trough 202 along its extension direction.

[0105] It is understandable that the recovery trough 202 is placed on the conveyor line body 201 in the form of an open upper setting, and the conveyor line body 201 can be extended in a straight direction. The conveyor line body 201 is configured as a belt conveyor or a roller conveyor known in the art.

[0106] When the recycling trough 202 is full of paper tubes, the conveying line body 201 starts to operate to drive the recycling trough 202 to move to the paper tube recycling station to achieve centralized storage or recycling of the paper tubes.

[0107] In some embodiments, Figure 1 As shown, the second station is provided with a recovery rack 241; the recovery rack 241 includes a fixed bracket 2411 and a plurality of rack units 2412, the plurality of rack units 2412 are sequentially placed on the fixed bracket 2411 along a preset direction, and each rack unit 2412 is used to sequentially store a plurality of shaft modules along a vertical direction;

[0108] The frame unit 2412 is used to connect with a handling device to simultaneously transfer multiple shaft modules. The handling device may be an AGV vehicle.

[0109] It is understandable that the fixing bracket 2411 has a plurality of storage positions, and the plurality of storage positions are horizontally arranged in sequence along a preset direction, and the plurality of rack units 2412 are placed in the plurality of storage positions in a one-to-one correspondence.

[0110] At the same time, in order to facilitate the sequential storage of multiple rotating shaft modules 1 from top to bottom based on the frame unit 2412, each frame unit 2412 is provided with a first vertical support plate, a second vertical support plate and a connecting rod.

[0111] Specifically, the first vertical support plate and the second vertical support plate are arranged side by side, and the connecting rod is connected between the first vertical support plate and the second vertical support plate.

[0112] A plurality of first supporting positions are provided on the first vertical supporting plate in the vertical direction, and a plurality of second supporting positions are provided on the second vertical supporting plate in the vertical direction. The plurality of first supporting positions and the plurality of second supporting positions are arranged opposite to each other.

[0113] The first supporting position is supported on one end of the rotating shaft module 1 , and the second supporting position is supported on the other end of the rotating shaft module 1 .

[0114] In some embodiments, Figure 1 As shown, the collaborative robot 23 includes: a moving seat and a multi-axis robotic arm. The moving seat is movably arranged on the basic platform along a preset direction and can reach a position corresponding to each frame unit 2412; the multi-axis robotic arm is arranged on the moving seat and is used to take and place the shaft module.

[0115] Specifically, the multi-axis robot arm has at least three degrees of freedom, for example, the multi-axis robot arm is a six-axis robot arm, and a clamp is configured at the execution end of the multi-axis robot arm to achieve the picking and placing of the rotating shaft module 1.

[0116] A slider is disposed at the bottom end of the movable seat, and a slide rail is disposed on the basic frame. The slide rail extends along the arrangement direction of the plurality of frame units 2412, and the slider is movably disposed on the slide rail to enable the movable seat to slide relative to the basic frame.

[0117] At the same time, a driving device is provided between the moving seat and the base frame, and the driving device is used to drive the moving seat to move relative to the base frame along the extension direction of the slide rail. The driving device can be an electric push rod, a lead screw drive mechanism, etc., which is not specifically limited.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A rotating shaft recovery device, characterized in that: include: Drive components, support components and collaborative robots; The supporting assembly is used to support the shaft assembly, and the shaft assembly includes a shaft module and a paper tube, the paper tube is sleeved on the outside of the shaft module, and the shaft module is locked with the paper tube through an opening and closing mechanism; The driving component is used to be connected to the opening and closing mechanism on the rotating shaft module by power coupling to control the opening and closing mechanism to switch from a locked state to a separated state; The execution end of the collaborative robot picks up the shaft module from the supporting assembly, and controls the shaft module to move between the first station and the second station; Wherein, when the rotating shaft module is in the first working position, the execution end arranges the rotating shaft module vertically to realize the recycling of the paper roll; When the rotating shaft module is in the second working position, the execution end places the rotating shaft module horizontally to realize the recovery of the rotating shaft module.

2. The shaft recovery device according to claim 1, characterized in that: The supporting assembly comprises a fixed seat body, a lifting seat body and a supporting member; The lifting seat body is movably arranged on the fixed seat body along the vertical direction, and the supporting member is arranged on the lifting seat body and is used to support the bottom end of the paper tube; An auxiliary bracket is arranged on one side of the supporting assembly, and the driving component is arranged on the auxiliary bracket and is located on the upper side of the lifting seat body.

3. The shaft recovery device according to claim 2, characterized in that: The lifting seat body is provided with a bracket; the bracket is movably provided on the lifting seat body along the vertical direction and can be lifted and lowered between a first working height and a second working height; the bracket is used to support the two ends of the rotating shaft module; When the bracket is at a first operating height, the driving component can be connected to the opening and closing mechanism, and the paper tube and the supporting member are separated; When the bracket is at the second operating height, the supporting member is supported on the bottom end of the paper tube, and the bracket and the rotating shaft module are separated.

4. The shaft recovery device according to claim 2, characterized in that: The auxiliary bracket is provided with a transverse driving member, and the transverse driving member is connected to the driving component to drive the driving component to move between a first transverse position and a second transverse position; When the driving component is in the first transverse position, the driving component is connected to the opening and closing mechanism; when the driving component is in the second transverse position, the driving component is separated from the opening and closing mechanism.

5. The shaft recovery device according to claim 1, characterized in that: The driving component includes a power motor and a control gear, and the output end of the power motor is connected to the control gear; the shaft module includes a shaft and an opening and closing mechanism; the opening and closing mechanism includes a clutch gear, a clutch disk, a fixed disk and a plurality of locking members; The clutch gear, the clutch plate and the fixed plate are sequentially sleeved on the rotating shaft; the control gear is configured to be meshed with the clutch gear, and the clutch gear and the clutch plate are connected to drive the clutch plate to rotate relative to the rotating shaft; the fixed plate is connected to the rotating shaft; a plurality of locking members are circumferentially arranged on the fixed plate, and the clutch plate performs linkage control on the transmission ends of the plurality of locking members, so that the opening and closing mechanism switches between a locked state and a separated state; When the opening and closing mechanism is in a locked state, the locking ends of each locking member synchronously move away from the rotating shaft to lock the paper tube; when the opening and closing mechanism is in a separated state, the locking ends of each locking member synchronously move close to the rotating shaft to release the locking restriction on the paper tube.

6. The rotating shaft recovery device according to claim 5, characterized in that: The clutch disc is provided with a plurality of arc-shaped guide portions along the circumferential direction, and the plurality of arc-shaped guide portions and the plurality of locking members are arranged opposite to each other one by one; At least part of the locking member is movably disposed on the fixed plate, and the transmission end of the locking member contacts the side wall of the arc-shaped guide portion; Along the extension direction from the head end to the tail end of the arc-shaped guide portion, the distance between the side wall of the arc-shaped guide portion and the rotating shaft gradually increases; The clutch plate is rotatable relative to the rotating shaft between a first position and a second position; When the clutch disc is in the first position, the transmission end of the locking member contacts the side wall corresponding to the head end of the arc-shaped guide portion; when the clutch disc is in the second position, the transmission end of the locking member contacts the side wall corresponding to the end end of the arc-shaped guide portion.

7. The rotating shaft recovery device according to claim 5, characterized in that: The rotating shaft module further includes a positioning plate; the positioning plate is connected to the rotating shaft and is spaced apart from the opening and closing mechanism; When the opening and closing mechanism is in a locked state, the locking ends of the locking members on the opening and closing mechanism abut against the first end of the paper tube; when the opening and closing mechanism is in a separated state, the locking ends of the locking members on the opening and closing mechanism are separated from the first end of the paper tube; the positioning plate is used to abut against the second end of the paper tube.

8. The rotating shaft recovery device according to any one of claims 1 to 7, characterized in that: The first station is provided with a conveyor line body and a recovery tank; The recycling trough is used to hold the paper tube, and the recycling trough is arranged on the conveying line body, and the conveying line body is used to convey the recycling trough along its extension direction.

9. The rotating shaft recovery device according to any one of claims 1 to 7, characterized in that: The second station is provided with a recovery rack; The recycling rack comprises a fixed bracket and a plurality of rack units, wherein the plurality of rack units are sequentially placed on the fixed bracket along a preset direction, and each of the rack units is used to sequentially store a plurality of the rotating shaft modules along a vertical direction; Wherein, the frame unit is used to connect with the handling equipment to simultaneously transfer a plurality of the rotating shaft modules.

10. The rotating shaft recovery device according to claim 9, characterized in that: The collaborative robot comprises: a moving base and a multi-axis mechanical arm; The movable seat is movably arranged on the basic platform along the preset direction and can reach the position corresponding to each of the frame units; the multi-axis robot arm is arranged on the movable seat and is used for taking and placing the rotating shaft module.

Images