Transportation device for film roll suspension packaging auxiliary materials

Abstract

The utility model discloses a film roll suspension packaging auxiliary material conveying device which comprises a grabbing mechanism, and the grabbing mechanism comprises a suction cup installation frame. At least one group of suction cups is arranged on the suction cup mounting frame, and the group of suction cups consists of a plurality of large suction cups for grabbing auxiliary materials with relatively large sizes and / or relatively heavy weights in an auxiliary material warehouse, or consists of a plurality of small suction cups for grabbing auxiliary materials with relatively small sizes and / or relatively light weights in the auxiliary material warehouse; or the suction cup consists of a plurality of large suction cups and a plurality of small suction cups. According to the scheme, the grabbing mechanism can integrate auxiliary materials of various models and counterweights, the effect that one claw has multiple purposes is achieved, and the auxiliary materials of different characteristics can be stably grabbed; in addition, according to the scheme, the machine frame, a moving mechanism on the machine frame and the like are improved, the space below the machine frame is larger, operation is more flexible, the space below the machine frame can be fully utilized, and more auxiliary materials can be stored.

Description

Technical Field

[0001] The utility model belongs to the technical field of film packaging, and particularly relates to a transportation device for suspending packaging accessories of film rolls. Background Art

[0002] At present, in the field of film roll packaging, for some films with relatively high quality requirements, a suspension packaging process that has emerged in recent years is generally adopted. When performing suspension packaging, clamping plates are generally placed at both ends of the film roll. The middle part of the clamping plate has a through hole, and the core of the film roll is inserted into the through hole. A plug is inserted into the core, and then the clamping plate and the film roll are further tied together with a bundling band. After such packaging is completed, the film roll can be horizontally stacked, and the film roll is suspended between the two clamping plates, so that the side and end faces of the film roll will not be deformed or damaged due to pressure. The above-mentioned clamping plates are generally stored in an accessory warehouse. During packaging, the clamping plates are grabbed and transported to the corresponding workstations by an accessory transportation device, and then the above-mentioned packaging process is completed by other devices.

[0003] However, the existing transportation device is driven on one side and driven on the other side. During transportation, the accessories are unstable and easy to fall off. Moreover, the space below the transportation device is limited, so it is impossible to stack a large number of accessories, and it is basically impossible to grab accessories with different characteristics such as size, weight, and material. Usually, it can only be used to transport clamping plates. For example, for some film rolls, it is required to first set a layer of protective pads at both ends and then set clamping plates to prevent the clamping plates from directly contacting and rubbing the film rolls. Then, it is necessary to manually add protective pads, resulting in low efficiency; or it is necessary to add another set of transportation devices for the protective pads, resulting in an increase in floor area and cost. The two sets of devices need to cooperate, which also increases the difficulty of automatic control. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is: to provide a transportation device for suspending packaging accessories of film rolls, which solves the problem that the existing accessory transportation device cannot grab and transport different accessories, and realizes grabbing and transporting two or more kinds of accessories through a set of equipment, effectively improving the packaging efficiency and automation degree.

[0005] According to the technical solution of the utility model, the utility model provides a transportation device for suspending packaging accessories of film rolls, which includes a grabbing mechanism. The grabbing mechanism includes a sucker mounting frame; at least one group of suckers is arranged on the sucker mounting frame. This group of suckers is composed of several large suckers for grabbing accessories in the accessory warehouse with relatively large size and / or relatively heavy mass, or is composed of several small suckers for grabbing accessories in the accessory warehouse with relatively small size and / or relatively light mass, or is jointly composed of several large suckers and several small suckers.

[0006] Further, when at least one set of suction cups is composed of a plurality of large suction cups and a plurality of small suction cups, the small suction cups are distributively arranged in the first area, and the large suction cups are distributively arranged on the periphery or outside of the first area; alternatively, the positions of the large suction cups and the small suction cups are staggeredly arranged.

[0007] Further, it further includes a machine frame which has a cross beam arranged in the front-back direction. A moving frame is connected to the cross beam through a front-back moving mechanism, and a lifting and moving mechanism is connected to the moving frame through a lateral moving mechanism; the suction cup mounting frame is connected to the lower part of the lifting and moving mechanism.

[0008] Further, a auxiliary material storage for placing auxiliary materials is arranged below the cross beam. The auxiliary material storage includes a splint material storage and a protective pad material storage. Splints are stacked and placed on the splint material storage, and protective pads are stacked and placed on the protective pad material storage.

[0009] Further, there are at least two splint material storages. The splints placed on the same splint material storage have the same size, and the splints placed on different splint material storages have different sizes; there are at least two protective pad material storages. The protective pads placed on the same protective pad material storage have the same size, and the protective pads placed on different protective pad material storages have different sizes.

[0010] Further, at least two splint material storages are arranged side by side horizontally, and at least two protective pad material storages are arranged side by side horizontally; the splint material storage is located in front of or behind the protective pad material storage; the splints and the protective pads placed on a corresponding splint material storage and a protective pad material storage in the front-back direction are matched.

[0011] Further, the large suction cups are connected to the suction cup mounting frame through large suction cup connecting pipes; the small suction cups are telescopically connected to the suction cup mounting frame through small suction cup connecting pipes; in the no-load state of the grasping mechanism, the distance between the small suction cups and the suction cup mounting frame is greater than the distance between the large suction cups and the suction cup mounting frame.

[0012] Further, a small suction cup mounting sleeve is sleeved outside the small suction cup connecting pipe. The small suction cup mounting sleeve is connected to the suction cup mounting frame. A spring is arranged between the outside of the small suction cup connecting pipe and the inside of the small suction cup mounting sleeve. Two ends of the spring are respectively connected to the small suction cup connecting pipe and the small suction cup mounting sleeve.

[0013] Further, the suction cup mounting frame includes a first mounting member and a second mounting member. A plurality of second mounting members are arranged side by side and connected to the first mounting member. The large suction cups and the small suction cups are arranged on the first mounting member and / or the second mounting member.

[0014] Further, a centering mechanism is arranged on the front side of the machine frame; the suction cup mounting frame is connected to the lower part of the lifting and moving mechanism through an extension arm, and the extension arm is arranged to extend forward.

[0015] Further, the front-back moving mechanism includes parallel front-back slide rails and front-back racks. The transverse slide rail and the transverse rack are arranged on the cross beam. The moving frame is slidably connected to the front-back slide rails. A front-back driving motor is installed on the moving frame. The output end of the front-back driving motor is provided with a front-back traveling gear which meshes with the front-back rack;

[0016] The transverse moving mechanism includes parallel transverse slide rails and transverse racks. The transverse slide rails and the transverse racks are arranged on the moving frame. A transverse slide table is slidably connected to the transverse slide rails. A transverse driving motor is installed on the transverse slide table. The output end of the transverse driving motor is provided with a transverse traveling gear which meshes with the transverse rack;

[0017] The lifting and moving mechanism includes parallel lifting slide rails and lifting racks. A lifting frame is arranged on the transverse slide table. A lifting rod is also included. A lifting slider is arranged on the lifting frame. The lifting slide rails are arranged on the lifting rod. The lifting slide rails are slidably connected to the lifting slider. The lifting rack is arranged on the lifting rod. A lifting driving motor is installed on the lifting frame. The output end of the lifting driving motor is provided with a lifting traveling gear which meshes with the lifting rack; The grasping mechanism is arranged at the lower end of the lifting rod.

[0018] Compared with the prior art, the beneficial technical effects of the present utility model are as follows:

[0019] 1. The grasping mechanism of this solution can integrate auxiliary materials of various models and weights, achieving the effect of multi-purpose of one claw. In addition, this solution also improves components such as the frame and the robotic arm. The space under the frame is larger and the operation is more flexible, and the space below can be fully utilized to store more auxiliary materials.

[0020] 2. The auxiliary material library of this solution includes a splint material library and a protective pad material library. By raising the height of the frame from the ground, the position space of the auxiliary material library is increased to stack splint material libraries and protective pad material libraries of various specifications; and by setting the front-back moving mechanism, the transverse moving mechanism, and the lifting and moving mechanism with XYZ three-way moving functions. During work, through the grasping mechanism connected to the lower part of the lifting and moving mechanism with different suction cups, auxiliary materials with different characteristics such as size, weight, and material are obtained and transported to the centering mechanism or other required positions. The front-back moving mechanism, the transverse moving mechanism, and the lifting and moving device each have an independent active driving device, so the grasping mechanism can be kept stable during transportation; Therefore, this solution has better applicability to stably grasp auxiliary materials with different characteristics. Description of the Drawings

[0021] Figure 1 is a three-dimensional structural schematic diagram according to an embodiment of the present utility model.

[0022] Figure 2 is Figure 1 a partial enlarged view of the grasping mechanism part in

[0023] Figure 3 is Figure 2 the front view schematic diagram of the structure shown.

[0024] Figure 4 is Figure 1 the front view schematic diagram of the structure shown.

[0025] Figure 5 is Figure 1 the top view schematic diagram of the structure shown.

[0026] Figure 6 is Figure 1 the left view schematic diagram of the structure shown.

[0027] Explanation of the reference numerals in the drawings:

[0028] 1. Gripping mechanism; 11. Suction cup mounting frame; 111. First mounting member; 112. Second mounting member; 12. Large suction cup; 121. Large suction cup connecting pipe; 122. Large suction cup mounting sleeve; 13. Small suction cup; 131. Small suction cup connecting pipe; 132. Small suction cup mounting sleeve; 14. Extension arm; 21. Frame; 22. Cross beam; 23. Clamping material library; 24. Protective padding library; 25. Centering mechanism; 3. Front and rear moving mechanism; 31. Moving frame; 32. Front and rear slide rails; 33. Front and rear racks; 34. Front and rear driving motors; 4. Lateral moving mechanism; 41. Lateral slide table; 42. Lateral slide rails; 43. Lateral racks; 44. Lateral driving motors; 5. Lifting and moving mechanism; 51. Lifting frame; 52. Lifting slide rails; 53. Lifting racks; 54. Lifting rod; 55. Lifting sliders; 56. Lifting driving motors. Detailed implementation manners

[0029] The present utility model provides a film roll suspension packaging auxiliary material transportation device, which solves the problem that the existing auxiliary material transportation device cannot grip and transport different auxiliary materials, and realizes gripping and transporting two or more kinds of auxiliary materials through a set of equipment, effectively improving the packaging efficiency and automation degree.

[0030] Please refer to Figures 1 to 3, the present utility model provides a film roll suspension packaging auxiliary material transportation device, which includes a grasping mechanism for grasping auxiliary materials. The grasping mechanism includes a suction cup mounting frame 11, and at least one set of suction cups is arranged on the suction cup mounting frame 11. This set of suction cups is composed of several large suction cups 12 for grasping relatively large-sized and / or relatively heavy-quality auxiliary materials in the auxiliary material library, or is composed of several small suction cups 13 for grasping relatively small-sized and / or relatively light-quality auxiliary materials in the auxiliary material library, or is jointly composed of several large suction cups 12 and several small suction cups 13. For example, in a preferred embodiment, several large suction cups 12 for grasping relatively large-sized and / or relatively heavy-quality auxiliary materials in the auxiliary material library, and several small suction cups 13 for grasping relatively small-sized and / or relatively light-quality auxiliary materials in the auxiliary material library are arranged on the suction cup mounting frame 11. Herein, the definitions of "large suction cup" and "small suction cup" are only for differentiating components and should not be construed as a limitation description of the characteristics of the suction cup itself. For example, suction cups of the same model can actually be selected, or they can be divided into three specifications of "large", "medium", and "small". In this embodiment, the large suction cup is used to suck the auxiliary materials with "large" size / quality, while the small suction cup is used to suck the auxiliary materials with "small" size / quality. Correspondingly, the total suction force / total power of the large suction cup is relatively large.

[0031] And preferably, when at least one set of suction cups is jointly composed of several large suction cups 12 and several small suction cups 13, the small suction cups 13 are distributed in a first area, which can be adapted to the size of relatively small auxiliary materials. The small suction cups 13 can be distributed near the middle position of the radius of the relatively small auxiliary materials, arranged in a queue manner, or arranged in a circular manner; the positions of the large suction cups 12 are distributed on the outer periphery or outside of the first area. Specifically, for example, they can be arranged in a queue manner or a circular manner consistent with the small suction cups, and arranged on the outside or outer periphery of the small suction cups. It can be imagined that when the suction cups are distributed and adsorbed at the positions near the edge of the auxiliary material (where it is easy to be stressed rather than concentrated in a small area), the adsorption effect is better. Therefore, the distribution mode and coverage area of the large / small suction cups can be designed to be adapted to the large / small auxiliary materials.

[0032] In some other embodiments, the positions of the large suction cups 12 and the small suction cups 13 are staggered. For example, the large suction cups 12 and the small suction cups 13 are located on the same circumference (ring), and are arranged at intervals in a staggered manner. In some other embodiments, the large suction cups 12 are located in the middle or inside, while the small suction cups 13 are located on the outer periphery or outside. In still some other embodiments, within the entire area having suction cups, the large suction cups 12 and the small suction cups 13 are arranged in a dot matrix manner. Or, the distribution of the large and small suction cups is a combination of the above several or other ways.

[0033] Specifically, for example Figure 2 、 Figure 5In the illustrated embodiment, there are four small suction cups 13, which are regularly distributed at the four end points of a rectangle. The geometric center of this rectangle basically corresponds to the geometric center of all the suction cup distribution positions and also corresponds to the geometric center of the auxiliary material. The distance between the four small suction cups 13 and the geometric center of this rectangle is about 25% - 50% of the radius size of the corresponding smaller auxiliary material, and the four small suction cups 13 are distributed outside the middle hole (if any) of the smaller auxiliary material. For the convenience of installation and position adjustment, there are a total of ten large suction cups 12 arranged in two rows front and back, and the position of the large suction cup 12 in the middle is more outward compared with other large suction cups 12. Thus, generally, they are also distributed outside the middle hole (if any) of the larger auxiliary material, and the six large suction cups 12 closest to the middle are roughly co-circular. The center of this circle basically coincides with the geometric center of the aforementioned rectangle, and the radius of this circle is about 25% - 50% of the radius size of the larger auxiliary material; and the positions of the remaining four large suction cups 12 on the outer side are roughly located at 70% - 90% of the radius size of the larger auxiliary material (in short, at a position closer to the edge of the auxiliary material), so as to also perform adsorption positioning on the outer side of the large-sized auxiliary material, and can further ensure the adsorption effect of the larger / heavier auxiliary material.

[0034] It should be noted that the specific solutions such as the specific quantity, layout, parameters, etc. of the suction cups are not limited to the embodiments given in this article. The key improvement of the grasping mechanism of this solution lies in that a grasping mechanism has two or more (including two) suction cups with different parameters, so as to realize that two or more (including two) working modes can be used to grasp two or more (including two) kinds of materials, and it is advisable to be able to stably adsorb and grasp.

[0035] The overall structure of the film roll suspension packaging auxiliary material transportation device further includes a machine frame 21, etc. The machine frame 21 has a cross beam 22 arranged along the front-back direction (X direction), and there are two parallel cross beams 22 (arranged side by side in the Y direction). A moving frame 31 is connected to the cross beam 22 through a front-back moving mechanism 3. A lifting and moving mechanism 5 is connected to the moving frame 31 through a lateral moving mechanism 4. The suction cup mounting frame 11 (grasping mechanism 1) is connected to the lower part of the lifting and moving mechanism 5. And the front-back moving mechanism 3, the lateral moving mechanism 4, and the lifting and moving mechanism 5 respectively have their own driving mechanisms. Thus, the grasping mechanism 1 can stably move in the XYZ three directions.

[0036] Below the cross beam 22, there is an auxiliary material storage for placing auxiliary materials. The auxiliary material storage includes a splint storage 23 and a protective pad storage 24. Splints are stacked on the splint storage 23, and protective pads are stacked on the protective pad storage 24. The splint is, for example, a square wooden board, and the protective pad is, for example, a round EPE board. Both the splint and the protective pad have through holes in the middle. The protective pad storage 24 may optionally mainly include a protective pad rod, and the protective pad is sleeved on the protective pad rod; the splints may be directly stacked. The splint storage 23 and the protective pad storage 24 may be simple immovable structures, or may have, for example, a lifting tray capable of lifting the materials thereon. The materials are located on the lifting tray to facilitate the grasping operation and simplify the movement of the grasping mechanism 1.

[0037] Please refer to Figure 1 , Figure 4 , Figure 5 , there are at least two splint storages 23. The splints placed on the same splint storage 23 have the same size, and the splints placed on different splint storages 23 have different sizes. There are at least two protective pad storages 24. The protective pads placed on the same protective pad storage 24 have the same size, and the protective pads placed on different protective pad storages 24 have different sizes. Specifically, for example, there are two types of splints, namely 6-inch wooden boards and 3-inch wooden boards; there are two types of protective pads, namely 6-inch EPE and 3-inch EPE. It should be noted that compared with the prior art, the present solution increases the space size below the cross beam 22 of the frame 21 to meet the above placement requirements. On the one hand, it is to increase the height and spacing of the cross beam 22, and on the other hand, it is also due to the design of the moving mechanisms thereon. Because these moving mechanisms, especially the lifting and moving mechanisms, cannot be too high, so that they can be easily set in ordinary factories. The relevant preferred structures will be described later.

[0038] Furthermore, at least two splint storages 23 are arranged side by side horizontally, and at least two protective pad storages 24 are arranged side by side horizontally; all splint storages 23 are located in front of all protective pad storages 24, or all are located behind (in the illustrated embodiment, they are arranged in front); the splints and protective pads placed on a corresponding splint storage 23 and a protective pad storage 24 in the front and back match each other. In this preferred embodiment during operation, the grasping mechanism 1 can move forward and backward above the splint storage 23, and can select auxiliary materials of different sizes by moving left and right; the grasping mechanism 1 moves downward to grasp a splint and places it on the centering mechanism 25 in the front (or other required positions), and moves and grasps a protective pad of the corresponding size and places it on the centering mechanism 25 (or other required positions). During this process, the splints and protective pads of the corresponding size are in the same direction, so the transportation process of the matching splints and protective pads can be quickly completed, and it is convenient for the design and control of the automation program. At the same time, in this solution, the auxiliary materials are arranged horizontally, and more auxiliary materials can be placed.

[0039] Please refer toFigure 2 , Figure 3 , this solution realizes the grasping of sheet-shaped auxiliary materials with different sizes and textures only by one grasping mechanism 1. The difficulty lies in that, for example, large wooden boards are very heavy while EPE is light and soft. In the existing conventional technical means, different mechanisms are usually used to grasp such situations respectively. If it is desired to use the same set of fixtures for grasping, many problems will be faced, such as too large / small grasping force (such as adsorption force), too large / small adsorption area, and possible deformation of soft materials. This solution adopts such a structure with large / small suction cups arranged distributively. For larger and heavier wooden boards, they can be adsorbed by the large suction cup 12, or the large suction cup 12 and the small suction cup 13 can adsorb simultaneously. For smaller wooden boards or lighter EPE, they are only adsorbed by the small suction cup 13 and the large suction cup 12 does not work. The small suction cup 13 has a relatively small suction force on the premise of being able to stably grasp, so that soft EPE will not deform, and the energy consumption during adsorption is also relatively small.

[0040] Further preferably, the large suction cup 12 is connected to the suction cup mounting frame 11 through a rigid large suction cup connecting pipe 121. The small suction cup 13 is telescopically connected to the suction cup mounting frame 11 through a rigid small suction cup connecting pipe 131. And in the no-load state (natural state) of the grasping mechanism 1, the distance between the small suction cup 13 and the suction cup mounting frame 11 is greater than the distance between the large suction cup 12 and the suction cup mounting frame 11. In other words, for the case where the grasping mechanism 1 faces downward, the height of the small suction cup 13 is lower than that of the large suction cup 12, and it will contact the object earlier when moving downward to grasp. Furthermore, during operation, when grasping a wooden board, the distance that the grasping mechanism 1 descends is controlled to be relatively large, so that the small suction cup 13 is compressed in, and the large suction cup 12 contacts and adsorbs the wooden board; when grasping EPE, the distance that the grasping mechanism 1 descends is controlled to be relatively small, and the small suction cup 13 adsorbs after contacting the EPE, and the EPE does not contact the large suction cup 12. This design realizes the simultaneous guarantee of the contact and adsorption effects of the large and small suction cups. It can be imagined that if the large and small suction cups are designed to be fixedly located on the same plane, due to problems such as different suction cup sizes / assembly accuracies, the large and small suction cups may not be on the same plane during actual operation. For example, if the small suction cup 13 is recessed relative to the plane of the large suction cup 12, the suction cup at the recessed position will not be able to fully contact and firmly adsorb the material, or will cause the soft material to deform under the block of other protruding suction cups; it can be understood that if the protective pad uses a more brittle material such as foam plastic, the above problems will be more obvious.

[0041] More specifically, for example, the sucker mounting bracket 11 has mounting holes, and both the small sucker connecting pipe 131 and the large sucker connecting pipe 121 are passed through the mounting holes. A large sucker mounting sleeve 122 is fixedly sleeved outside the large sucker connecting pipe 121. The large sucker mounting sleeve 122 is located above the sucker mounting bracket 11. Nuts are provided at both the lower end of the large sucker mounting sleeve 122 and below the sucker mounting bracket 11, so as to fixedly mount the large sucker connecting pipe 121 on the sucker mounting bracket 11. The upper end of the large sucker connecting pipe 121 is a connecting pipe joint for connecting a negative pressure device to provide the required suction force. These required or optional conventional structures related to the sucker are not elaborated here.

[0042] A small sucker mounting sleeve 132 is sleeved outside the small sucker connecting pipe 131. The small sucker mounting sleeve 132 is located above the sucker mounting bracket 11. Nuts are provided at both the lower end of the small sucker mounting sleeve 132 and below the sucker mounting bracket 11, so as to fixedly mount the small sucker mounting sleeve 132 on the sucker mounting bracket 11. A spring is provided between the outer side of the small sucker connecting pipe 131 and the inner side of the small sucker mounting sleeve 132. Both ends of the spring are respectively connected to or abutted against the small sucker connecting pipe 131 and the small sucker mounting sleeve 132; thus, a telescopic effect is achieved through the spring. Among them, the small sucker connecting pipe 131 and the small sucker mounting sleeve 132 are matched in size, and the small sucker mounting sleeve 132 plays a role of limiting and guiding to ensure the stable up and down movement of the small sucker 13. The upper end of the small sucker connecting pipe 131 is a connecting pipe joint for connecting a negative pressure device. It can be understood that the present invention is not limited thereto. For example, other installation methods are adopted, or other elastic structures are arranged in other ways, or the small sucker connecting pipe 131 is controlled to expand and contract by an electric or piston method, etc., and the required telescopic effect can be achieved.

[0043] More preferably, the sucker mounting bracket 11 includes, for example, a first mounting member 111 and a second mounting member 112 that are both strip-shaped. The first mounting member 111 is horizontally and transversely connected and arranged at the lower end of the lifting and moving mechanism 5; a plurality of second mounting members 112 are arranged side by side and connected to the first mounting member 111. For example, the second mounting member 112 is horizontal and perpendicular to the length direction of the first mounting member 111. Furthermore, the large sucker 12 and the small sucker 13 are arranged on the first mounting member 111 and / or the second mounting member 112. More preferably, for example, it is only arranged on the second mounting member 112, and the first mounting member 111 is only used to mount and connect the second mounting member 112; the second mounting member 112 has the aforementioned mounting holes for mounting the sucker. The second mounting member 112, the first mounting member 111 and the components (lifting and moving mechanism 5) above them are detachably connected by, for example, a bolt method, so that the structure is simpler and more flexible compared with a conventional integral mounting plate, and it is convenient to adjust the sucker mounting position.

[0044] Further, a centering mechanism 25 is provided on the front side of the rack 21. A cross-shaped material carrier table is provided at the top of the centering mechanism 25, and adjustable clamping plates are provided along the outer edge of the carrier table. After the suction cup sucks up the auxiliary materials, it is transported and moved to directly above the carrier table. After placing the auxiliary materials, the clamping plates are adjusted to align the position of the auxiliary materials; the related structures are prior art and will not be elaborated here. The suction cup mounting frame 11 is connected to the lower part of the lifting and moving mechanism 5 through an extension arm 14, and the extension arm 14 is arranged to extend forward. When the moving frame 31 runs to the frontmost end, the grasping mechanism 1 is located outside the rack 21 and above the centering mechanism 25 due to the extension arm 14, which is helpful for the overall layout of structures such as the rack 21, the centering mechanism 25, and the transverse feeding mechanism 25, enabling better cooperation and non-conflict among the functions of various parts in the overall system, with relatively high space utilization rate, and also helpful for expanding the loading space of the auxiliary material storage.

[0045] Please refer to Figure 4 , Figure 5 , Figure 6 For the moving mechanism on the rack, in a preferred embodiment, the front-back moving mechanism 3 includes parallel front-back slide rails 32 and front-back racks 33. The front-back slide rails 32 and front-back racks 33 are arranged on the cross beam 22. The moving frame 31 is slidably connected to the front-back slide rails 32. A front-back driving motor 34 is installed on the moving frame 31. The output end of the front-back driving motor 34 has front-back traveling gears that mesh with the front-back racks 33; thus, the moving frame 31 is driven to move back and forth on the cross beam 22 by the front-back driving motor 34.

[0046] The transverse moving mechanism 4 includes parallel transverse slide rails 42 and transverse racks 43; the moving frame 31 is, for example, in a square frame shape (hollow in the middle) structure, which includes a beam structure spanning between two cross beams 22. The transverse slide rails 42 and transverse racks 43 are arranged on the moving frame 31 (on the square frame-shaped beam structure); a transverse slide table 41 is slidably connected to the transverse slide rails 42. The transverse slide table 41 is, for example, in a square frame shape (hollow in the middle) structure and has a transverse slider at the bottom connected to the transverse slide rails 42. A transverse driving motor 44 is installed on the transverse slide table 41. The output end of the transverse driving motor 44 has transverse traveling gears that mesh with the transverse racks 43; thus, the transverse slide table 41 is driven to move left and right on the moving frame 31 by the transverse driving motor 44.

[0047] The lifting and moving mechanism 5 includes parallel lifting slide rails 52 and a lifting rack 53. A lifting frame 51 is arranged on the transverse slide table 41. It further includes a lifting rod 54. The lifting rod 54 is, for example, vertically arranged and its lower end passes through the hollow structure in the middle of the transverse slide table 41 and the moving frame 31 (or is located outside the transverse slide table 41 and the moving frame 31, etc.). The grasping mechanism is fixedly arranged at the lower end of the lifting rod 54. A lifting slider 55 is arranged on the lifting frame 51. The lifting slide rail 52 is arranged on the lifting rod 54. The lifting slide rail 52 is slidably connected with the lifting slider 55. The lifting rack 53 is arranged on the lifting rod 54. A lifting drive motor 56 is installed on the lifting frame 51. The output end of the lifting drive motor 56 has a lifting traveling gear which meshes with the lifting rack 53. Thus, the lifting rod 54 is driven by the lifting drive motor 56 to move up and down on the transverse slide table 41 (on the lifting frame 51).

[0048] It can be understood that the mechanism for realizing the XYZ three-direction movement of the present utility model is not limited to this. Similar replacements can be made for the above-mentioned slide rail, slider and other matching structures. In the embodiment, the component with a longer length is called a slide rail, and the component with a shorter length is called a slider. Preferably, a drag chain is also arranged on the front-back moving mechanism, the transverse moving mechanism and the lifting and moving mechanism.

[0049] In summary, the grasping mechanism of the present solution can integrate accessories of multiple models and weights, achieving the effect of multi-purpose use of one claw. In addition, the present solution also improves components such as the frame and the robotic arm. The space under the frame is larger and the operation is more flexible, so that the space below can be fully utilized to store more accessories. The accessory warehouse includes a splint warehouse and a protective pad warehouse. By raising the height of the frame from the ground, the position space of the accessory warehouse is increased to stack splint warehouses and protective pad warehouses of various specifications. And by setting the front-back moving mechanism, the transverse moving mechanism and the lifting and moving mechanism with the XYZ three-direction movement function, during operation, the grasping mechanism connected to the lower part of the lifting and moving mechanism and having different suction cups is used to obtain accessories with different characteristics such as size, weight and material and transport them to the centering mechanism or other required positions. The front-back moving mechanism, the transverse moving mechanism and the lifting and moving device each have an independent active driving device. Therefore, the stability of the grasping mechanism can be maintained during transportation. Therefore, the present solution has better applicability to stably grasp accessories with different characteristics.

Claims

1. A film roll suspension packaging auxiliary material transportation device, comprising a grabbing mechanism (1), characterized in that: The gripping mechanism (1) comprises a suction cup mounting frame (11); the suction cup mounting frame (11) is provided with at least one group of suction cups, wherein the group of suction cups is composed of a plurality of large suction cups (12) for gripping auxiliary materials with relatively large size and / or relatively heavy mass in an auxiliary material warehouse, or is composed of a plurality of small suction cups (13) for gripping auxiliary materials with relatively small size and / or relatively light mass in the auxiliary material warehouse, or is composed of a plurality of large suction cups (12) and a plurality of small suction cups (13).

2. A film roll suspension packaging auxiliary material transportation device as claimed in claim 1, characterized in that: When the at least one group of suction cups is composed of a plurality of large suction cups (12) and a plurality of small suction cups (13), the small suction cups (13) are distributed in a first area, and the large suction cups (12) are located at the periphery or outside of the first area; or, the large suction cups (12) and the small suction cups (13) are arranged in an alternating manner.

3. A film roll suspension packaging auxiliary material transportation device as claimed in claim 1, characterized in that: The device also comprises a frame (21), wherein the frame (21) has a crossbeam (22) arranged in the front-to-back direction, the crossbeam (22) is connected to a moving frame (31) via a front-to-back moving mechanism (3), and the moving frame (31) is connected to a lifting and moving mechanism (5) via a lateral moving mechanism (4); and the suction cup mounting frame (11) is connected to the lower part of the lifting and moving mechanism (5).

4. A film roll suspension packaging auxiliary material transportation device as claimed in claim 3, characterized in that: The auxiliary material warehouse for storing auxiliary materials is arranged below the crossbeam (22), and the auxiliary material warehouse comprises a plywood warehouse (23) and a protective pad warehouse (24), plywoods are stacked on the plywood warehouse (23), and protective pads are stacked on the protective pad warehouse (24).

5. A film roll suspension packaging auxiliary material transportation device as claimed in claim 4, characterized in that: There are at least two plywood material stores (23), the plywood placed on the same plywood material store (23) has the same size, while the plywood placed on different plywood material stores (23) has different sizes; there are at least two protective pad material stores (24), the protective pads placed on the same protective pad material store (24) have the same size, while the protective pads placed on different protective pad material stores (24) have different sizes; And / or, at least two of the plywood material stores (23) are arranged side by side transversely, and at least two of the protective pad material stores (24) are arranged side by side transversely; the plywood material store (23) is located in front of or behind the protective pad material store (24); the plywood and protective pads placed on the corresponding front and rear plywood material stores (23) and protective pad material stores (24) match each other.

6. A film roll suspension packaging auxiliary material transportation device as claimed in any one of claims 1 to 5, characterized in that: The large suction cup (12) is connected to the suction cup mounting frame (11) via a large suction cup connecting tube (121); the small suction cup (13) is telescopically connected to the suction cup mounting frame (11) via a small suction cup connecting tube (131); when the grasping mechanism (1) is in an unloaded state, the distance between the small suction cup (13) and the suction cup mounting frame (11) is greater than the distance between the large suction cup (12) and the suction cup mounting frame (11).

7. A film roll suspension packaging auxiliary material transportation device as claimed in claim 6, characterized in that: A small suction cup installation sleeve (132) is sleeved on the outside of the small suction cup connecting tube (131), and the small suction cup installation sleeve (132) is connected to the suction cup installation frame (11). A spring is provided between the outside of the small suction cup connecting tube (131) and the inside of the small suction cup installation sleeve (132), and two ends of the spring are respectively connected to the small suction cup connecting tube (131) and the small suction cup installation sleeve (132).

8. A film roll suspension packaging auxiliary material transportation device as claimed in any one of claims 1 to 5, characterized in that: The suction cup mounting frame (11) comprises a first mounting member (111) and a second mounting member (112); a plurality of the second mounting members (112) are mounted side by side and connected to the first mounting member (111); and the large suction cup (12) and the small suction cup (13) are arranged on the first mounting member (111) and / or the second mounting member (112).

9. A film roll suspension packaging auxiliary material transportation device as claimed in any one of claims 3 to 5, characterized in that: A centering mechanism (25) is arranged on the front side of the frame (21); the suction cup mounting frame (11) is connected to the lower part of the lifting and moving mechanism (5) through an extension arm (14), and the extension arm (14) is arranged to extend forward.

10. A film roll suspension packaging auxiliary material transportation device according to any one of claims 3 to 5, characterized in that: The front-rear moving mechanism (3) comprises parallel front-rear slide rails (32) and front-rear racks (33); the transverse slide rails (42) and the transverse racks (43) are arranged on the crossbeam (22); the moving frame (31) is slidably connected with the front-rear slide rails (32); a front-rear driving motor (34) is installed on the moving frame (31); the output end of the front-rear driving motor (34) has a front-rear running gear and meshes with the front-rear racks (33); The transverse moving mechanism (4) comprises a parallel transverse slide rail (42) and a transverse rack (43), wherein the transverse slide rail (42) and the transverse rack (43) are arranged on the moving frame (31), the transverse slide rail (42) is slidably connected with a transverse slide table (41), a transverse drive motor (44) is installed on the transverse slide table (41), and an output end of the transverse drive motor (44) has a transverse travel gear which meshes with the transverse rack (43); The lifting and moving mechanism (5) comprises parallel lifting rails (52) and lifting racks (53); a lifting frame (51) is arranged on the transverse slide (41); and a lifting rod (54) is also arranged on the lifting frame (51); a lifting slider (55) is arranged on the lifting frame (51); the lifting rail (52) is arranged on the lifting rod (54); the lifting rail (52) and the lifting slider (55) are slidably connected; the lifting rack (53) is arranged on the lifting rod (54); a lifting drive motor (56) is installed on the lifting frame (51); the output end of the lifting drive motor (56) has a lifting travel gear and meshes with the lifting rack (53); the grabbing mechanism (1) is arranged at the lower end of the lifting rod (54).

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