Hole plugging gripper

Abstract

The utility model discloses a hole blocking gripper which comprises a machine frame (1). The adhesive tape releasing unit (2) is mounted on one side of the rack and is used for releasing the adhesive tape; the two fixed reversing wheel assemblies (3) are mounted on one side of the rack and used for reversing the adhesive tape released from the adhesive tape releasing unit; the paper separating and glue pressing unit (7) is installed on one side of the rack and used for conducting slitting and glue pressing on the adhesive tape passing through the two fixed reversing wheel assemblies; the power unit (6) is mounted on one side of the rack and used for driving the adhesive tape to be released from the adhesive tape releasing unit; and the release paper recovery unit (5) is mounted on one side of the rack and is used for recovering release paper from the adhesive tape passing through the slitting and adhesive pressing unit. The automatic hole plugging device has the advantages that automatic hole plugging is achieved, and manpower resources are saved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a hole-blocking gripper which can accurately align and stick a hole-blocking tape to a hole to be blocked on a ton bag. Background Art

[0002] At present, the battery industry is experiencing a booming development. Crude cobalt hydroxide is a key raw material required for new energy vehicle batteries, advanced energy storage and other industries. Crude cobalt hydroxide is transported and stored in ton bags. After sampling, holes are left on the ton bags, which are currently plugged manually.

[0003] For example, Chinese invention patent publication number CN110332192B discloses a handheld plugging and gluing tool, which includes a handheld bracket, a material tray base, a guide block, a roller bracket, a roller, a pressure plate, a cover plate, a positioning block, and a limit block. The handheld bracket has an arcuate groove on its upper portion, a material tray base disposed therein, and a tape material tray mounted on the material tray base. The handheld bracket has a guide block mounted on its protruding end, a roller bracket mounted on the handheld bracket above the guide block, and a roller mounted on the end of the roller bracket near the guide block where the material is discharged. The roller bracket also has a rotatable pressure plate mounted on the roller bracket, which is located above the guide block. The cover plate is mounted on the bottom surface of the handheld bracket, and a positioning block and a limit block are mounted on the lower surface of the cover plate. This tool still requires manual operation.

[0004] Another example is Chinese Utility Model Patent Publication No. CN210965595U, which discloses a hole-plugging tape application tool. The tool comprises: a tool holder; a tape application member supported by the tool holder so as to be capable of linear movement away from and toward a hole to be plugged in a workpiece, as well as flipping movement about an axis passing through the tape application member and parallel to the hole to be plugged. The tape application member comprises a first end and a second end, opposite each other, perpendicular to the hole to be plugged. The first end is provided with a tape-carrying surface to which the hole-plugging tape can be attached, while the second end is provided with an alignment element, the center of which is aligned with the center of the hole-plugging tape. By virtue of the alignment element being centered about the hole to be plugged, the hole-plugging tape can be applied to the hole to be plugged, even after the tape application member is flipped. This tool also requires manual operation. Utility Model Content

[0005] The technical problem to be solved by the utility model is that the existing hole plugging and gluing tools need to be operated manually and cannot be operated automatically, resulting in low work efficiency and high labor costs. Therefore, a hole plugging gripper is provided.

[0006] The technical solution of the utility model is: a hole plugging gripper, comprising: a frame; a tape release unit, the tape release unit is installed on one side of the frame for releasing the tape; two fixed reversing wheel assemblies, the two fixed reversing wheel assemblies are installed on one side of the frame for reversing the tape released from the tape release unit; a paper separating and gluing unit, the paper separating and gluing unit is installed on one side of the frame for slitting and gluing the tape passing through the two fixed reversing wheel assemblies; a power unit, the power unit is installed on one side of the frame for driving the tape to be released from the tape release unit; a release paper recovery unit, the release paper recovery unit is installed on one side of the frame for recovering release paper from the tape passing through the slitting and gluing unit.

[0007] The improvement of the above solution is that it further comprises: a brake unit, which is mounted on the frame and located between the two fixed reversing wheel assemblies and is used to cooperate with the passing tape to control the start of the tape release unit.

[0008] A further improvement of the above solution is that it further comprises: a buffer unit, which is installed on the other side of the frame and is used to control the swing of the paper separation and gluing unit.

[0009] A further improvement of the above solution is that it also includes: a 3D vision camera, which is used to locate the position of the hole; and a control system, which receives the positioning information of the 3D vision camera and controls the frame to move to the hole.

[0010] The tape release unit in the above scheme includes: a tape positioning plate, a tape clamping plate, a tape release shaft, a brake wheel and a mounting flange. The tape positioning plate and the tape clamping plate are rotatably mounted on the tape release shaft for clamping the tape. The brake wheel is connected to the brake unit, and the brake wheel is mounted on the tape release shaft through the mounting flange.

[0011] The fixed reversing wheel assembly in the above scheme includes: a fixed reversing wheel hub, a fixed reversing wheel shaft, a positioning ring and a fixed reversing wheel end cover. One end of the fixed reversing wheel hub is installed on one side of the frame, the fixed reversing wheel shaft is installed in the fixed reversing wheel hub, the positioning ring is sleeved on the outer surface of the fixed reversing wheel hub for positioning the tape, and the fixed reversing wheel end cover is installed on one end of the fixed reversing wheel hub close to the frame.

[0012] The paper separation and gluing unit in the above scheme includes: a frame, a paper separation knife assembly, a tape suction and cutting assembly, a glue pressing wheel assembly, a reversing wheel assembly, an isolation wheel assembly, a blowing tube, a spring and a vacuum generator. One end of the frame passes through the frame, the paper separation knife assembly is installed in the frame to separate the tape and the release paper, the spring is installed in the frame and is located above the paper separation knife assembly, the reversing wheel assembly is installed in the frame to reverse the tape to approach the spring and the paper separation knife assembly, the isolation wheel assembly is installed at one end of the frame and is rotatably connected to the frame, and a gap is left between the isolation wheel assembly and the reversing wheel assembly for the release paper to pass through, the blowing tube is installed on the side of the paper separation knife assembly away from the spring for blowing the tape away from the frame, the tape suction and cutting assembly is installed in the frame to suck and cut the blown tape, and the glue pressing wheel assembly is installed at the other end of the frame to press the tape; the vacuum generator is installed on the tape suction and cutting assembly to provide adsorption force.

[0013] The brake unit in the above scheme includes: a cowhide belt, a brake rocker, a tensioning wheel mounting plate, a tensioning unit mounting seat, a brake compression spring guide rod, a movable reversing wheel assembly, a linear guide slider and a brake compression spring. The brake rocker is located at the other side of the frame, and one end of the brake rocker is fixedly connected to a knob, one end of the cowhide belt is wrapped around the knob, and the other end passes around the brake wheel and is fixed next to the knob. The other end of the brake rocker is hinged to one end of the tensioning wheel mounting plate, and the other end of the tensioning wheel mounting plate is fixed to the linear guide slider, and the linear guide slider slides and fits on the brake compression spring guide rod, and the two ends of the brake compression spring guide rod are fixed to the other side of the frame through the tensioning unit mounting seat, and one end of the movable reversing wheel assembly is fixed to the other end of the tensioning wheel mounting plate. The frame is provided with a slide groove, and the other end of the movable reversing wheel assembly passes through the slide groove to one side of the frame to cooperate with the tape.

[0014] The buffer unit in the above scheme includes: a buffer rocker, a connecting rod, a slider, a buffer compression spring and a buffer compression spring guide rod. One end of the buffer rocker is sleeved on one end of the reversing wheel assembly and is located on the other side of the frame. The other end of the rocker is hinged to one end of the connecting rod. The other end of the connecting rod is hinged to the slider. The slider is slidably installed on the buffer compression spring guide rod. The buffer compression spring is arranged between the slider and the end of the buffer compression spring guide rod away from the connecting rod.

[0015] The beneficial effects of the present utility model are: 1. Wide range of applications: it can meet the needs of various specifications of bag packaging currently on the market; 2. Simple manufacturing: the product components are commonly used components in the market, and the various systems are combined together by fastening components, so the structure is stable and the processing, manufacturing and assembly are simple; 3. High level of automation: it completely replaces manual plugging; 4. Easy maintenance: it adopts a modular design, and each system is an independent mechanism, which is assembled together by fasteners, making maintenance and repair convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 、 Figure 2 Schematic diagrams of the three-dimensional structure of the utility model from two angles;

[0017] Figure 3 This is a schematic diagram of the main structure of the utility model;

[0018] Figure 4 for Figure 3 Schematic diagram of the top view structure;

[0019] Figure 5 for Figure 3 Schematic diagram of the left view structure;

[0020] Figure 6 for Figure 3 Schematic diagram of the rear view structure;

[0021] Figure 7 This is a schematic diagram of the axial structure of the frame in the utility model;

[0022] Figure 8 This is a schematic diagram of the axial structure of the tape release unit in the present invention;

[0023] Figure 9 This is a schematic diagram of the axial structure of the fixed reversing wheel assembly in the present invention;

[0024] Figure 10 This is a schematic diagram of the axial structure of the brake unit in the present invention;

[0025] Figure 11 This is a schematic diagram of the axial structure of the release paper recovery unit in the present invention;

[0026] Figure 12 This is a schematic diagram of the axial structure of the power unit in the present utility model;

[0027] Figure 13 This is a schematic diagram of the axial structure of the paper separation and gluing unit of the present invention;

[0028] Figure 14 This is a schematic diagram of the axial structure of the buffer unit in the present invention;

[0029] In the figure, 1. frame, 2. tape release unit, 2-1. tape positioning plate, 2-2. tape clamping plate, 2-3. tape release shaft, 2-4. brake wheel, 2-5. mounting flange, 3. fixed reversing wheel assembly, 3-1. fixed reversing wheel hub, 3-2. fixed reversing wheel shaft, 3-3. positioning ring, 3-4. fixed reversing wheel end cover, 4. brake unit, 4-1. cowhide belt, 4-2. brake rocker, 4-3. tensioning wheel mounting plate, 4-4. tensioning unit mounting seat, 4-5. brake compression spring guide rod, 4-6. mobile reversing wheel assembly, 4-7. linear guide slider, 4-8. brake compression spring, 5. release paper recovery unit, 5-1. release paper positioning plate, 5-2. recovery wheel release paper shaft, 5-3. paper clamping rod, 5-4. Paper recovery wheel shaft, 5-5, synchronous pulley, 5-6, wool felt sheet, 5-7, recovery unit compression spring, 5-8, mounting flange, 6, power unit, 6-1, power shaft, 6-2, power roller, 6-3, paper clamping wheel, 6-4, synchronous pulley, 6-5, synchronous belt, 6-6, pull rod, 6-7, servo motor, 7, paper separation and gluing unit, 7-1, paper separation knife assembly, 7-2, belt suction and cutting assembly, 7-3, glue pressing wheel assembly, 7-4, reversing wheel assembly, 7-5, isolation wheel assembly, 7-6, blowing tube, 7-7, shrapnel, 7-8, vacuum generator, 8, buffer unit, 8-1, buffer rocker, 8-2, connecting rod, 8-3, slider, 8-4, buffer compression spring, 8-5, buffer compression spring guide rod, 9, 3D vision camera. DETAILED DESCRIPTION

[0030] The following, in conjunction with the accompanying drawings, clearly and completely describes the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments that can be realized by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figure 1-14 As shown, a hole plugging gripper includes: a frame 1; a tape release unit 2, which is installed on one side of the frame for releasing the tape; two fixed reversing wheel assemblies 3, which are installed on one side of the frame for reversing the tape released from the tape release unit; a paper separating and gluing unit 7, which is installed on one side of the frame for slitting and gluing the tape passing through the two fixed reversing wheel assemblies; a power unit 6, which is installed on one side of the frame for driving the tape to be released from the tape release unit; a release paper recovery unit 5, which is installed on one side of the frame for recovering the release paper from the tape passing through the slitting and gluing unit.

[0032] The tape release unit includes: a tape positioning plate 2-1, a tape clamping plate 2-2, a tape release shaft 2-3, a brake wheel 2-4 and a mounting flange 2-5. The tape positioning plate and the tape clamping plate are rotatably mounted on the tape release shaft for clamping the tape. The brake wheel is connected to the brake unit, and the brake wheel is mounted on the tape release shaft through the mounting flange.

[0033] The fixed reversing wheel assembly includes a fixed reversing wheel hub 3-1, a fixed reversing wheel shaft 3-2, a positioning ring 3-3, and a fixed reversing wheel end cap 3-4. One end of the fixed reversing wheel hub is mounted on one side of the frame, the fixed reversing wheel shaft is mounted within the fixed reversing wheel hub, the positioning ring is sleeved onto the outer surface of the fixed reversing wheel hub to position the tape, and the fixed reversing wheel end cap is mounted on the end of the fixed reversing wheel hub closest to the frame. The fixed reversing wheel assembly serves as the path for the tape to change direction.

[0034] As a preferred example, the utility model also includes a brake unit 4, which is installed on the frame and located between the two fixed reversing wheel assemblies for cooperating with the passing tape to control the start of the tape release unit. The brake unit includes: a cowhide belt 4-1, a brake rocker 4-2, a tensioning wheel mounting plate 4-3, a tensioning unit mounting seat 4-4, a brake compression spring guide rod 4-5, a mobile reversing wheel assembly 4-6, a linear guide slider 4-7 and a brake compression spring 4-8. The brake rocker is located on the other side of the frame, and a knob is fixed to one end of the brake rocker. The cowhide One end of the belt is wrapped around the knob, while the other end passes around the brake wheel and is fixed to the knob. The other end of the brake rocker is hinged to one end of the tensioning wheel mounting plate, which is fixed to the linear guide slider. The linear guide slider slides and fits on the brake spring guide rod. Both ends of the brake spring guide rod are fixed to the other side of the frame via the tensioning unit mounting seat. One end of the movable reversing wheel assembly is fixed to the other end of the tensioning wheel mounting plate. The frame is provided with a slide slot, and the other end of the movable reversing wheel assembly passes through the slide slot to one side of the frame to engage with the belt. The brake unit 4 is reset by the brake compression spring to the brake tape release unit 2. When the tape is pulled out, the brake compression spring is compressed, reducing the friction between the cowhide belt and the brake wheel, allowing the tape release unit 2 to release the tape. The brake unit controls the tape tension and prevents the tape release unit 2 from flying.

[0035] The release paper recovery unit 5 is fixed on the frame 1, and includes a release paper positioning plate 5-1, a recovery wheel release paper shaft 5-2, a paper clamping rod 5-3, a release paper recovery wheel shaft 5-4, a synchronous pulley 5-5, a wool felt sheet 5-6, a recovery unit compression spring 5-7 and a mounting flange 5-8.

[0036] The mounting flange 5-8 is fixed on one side of the frame 1, and the release paper recovery wheel shaft 5-4 is fixed on the mounting flange 5-8 in cooperation with the deep groove ball bearing; the synchronous pulley 5-5 is mounted on the release paper recovery wheel shaft 5-4 and is located on one side of the mounting flange, the release paper positioning plate is located on the other side of the mounting flange and its center is matched with the release paper recovery wheel shaft, and a copper sleeve is installed between the synchronous pulley 5-5 shaft hole and the release paper recovery wheel shaft 5-4 to reduce friction, and a wool felt piece 5-6 and a stainless steel piece with a rough surface are installed on the release paper recovery wheel shaft, which are respectively located on both sides of the synchronous pulley 5-5. The wool felt piece 5-6 and the surface of the synchronous pulley 5-5 are respectively matched. Surface contact, the rough surface of the stainless steel sheet contacts one end of the recovery unit compression spring 5-7, and the other end of the recovery unit compression spring 5-7 is equipped with a flange nut for adjusting the spring force; the spring force of the recovery unit compression spring 5-7 causes friction between the wool felt sheet 5-6 and the synchronous pulley 5-5 to control whether the synchronous pulley 5-5 is in an idling state or a non-idling state. When the release paper tension is relaxed, the synchronous pulley 5-5 is in a non-idling state, driving the recovery wheel release paper shaft 5-2 to rotate and recycle the release paper. When the release paper tension is tight, the synchronous pulley 5-5 is in an idling state, and the recovery wheel release paper shaft 5-2 does not rotate and does not recycle the release paper.

[0037] The recycling wheel release paper shaft 5-2 is installed on the release paper positioning plate 5-1. A hole is provided at the end of the recycling wheel release paper shaft 5-2 away from the release paper positioning plate. A groove is provided on the outer surface of the recycling wheel release paper shaft along the axial direction. The paper clamping rod includes a short end, a long end and a special-shaped transition section. The short end is inserted into the end hole, and the long end is stuck in the groove; the release paper is first wrapped around the recycling wheel release paper shaft 5-2 2 to 3 times, and then the long end of the paper clamping rod 5-3 is inserted into the axial groove of the recycling wheel release paper shaft 5-2 and clamps the release paper. After the long end of the paper clamping rod 5-3 is inserted to a certain depth, the short end is inserted into the end hole, and then inserted to a certain depth to fix the paper clamping rod 5-3.

[0038] The power unit includes: a mounting frame, a power shaft 6-1, a power roller 6-2, a paper clamping wheel 6-3, a synchronous pulley 6-4, a synchronous belt 6-5, a pull rod 6-6 and a servo motor 6-7. One end of the mounting frame is mounted on one side of the frame, and the power roller is axially rotated along one end of the mounting frame and is mounted in the mounting frame. The power shaft is the core shaft of the power roller, and the paper clamping wheel is axially rotated along the other end of the mounting frame and is mounted in the mounting frame and is gap-matched with the power roller. The synchronous pulley is mounted on one end of the power roller and is located on the other side of the frame. The servo motor is mounted on the top of the mounting frame, and the synchronous pulley is respectively connected to the servo motor and the release paper recovery unit through a synchronous belt.

[0039] The paper separation and gluing unit includes: a frame, a paper separation knife assembly 7-1, a tape suction and cutting assembly 7-2, a glue pressing wheel assembly 7-3, a reversing wheel assembly 7-4, an isolation wheel assembly 7-5, a blowing tube 7-6, a spring 7-7 and a vacuum generator 7-8. One end of the frame passes through the frame. The paper separation knife assembly is installed in the frame to separate the tape and the release paper. The spring is installed in the frame and is located above the paper separation knife assembly. The function is to supplement the tape to give it a certain force so that the tape is close to the paper separation knife. The tape can slide on the paper separation knife. The reversing wheel assembly is installed in the frame to The tape is reversed to approach the spring and the paper-splitting knife assembly. The isolation wheel assembly is installed at one end of the frame and is rotatably connected to the frame. A gap is left between the isolation wheel assembly and the reversing wheel assembly for the release paper to pass through. The blowing tube is installed on the side of the paper-splitting knife assembly away from the spring, and its function is to supplement the function of covering the blown tape on the tape suction plate. The tape suction and cutting assembly is installed in the frame to suck and cut the blown tape. The pressing wheel assembly is installed at the other end of the frame to press the tape; the vacuum generator is installed on the tape suction and cutting assembly to provide adsorption force.

[0040] As a preferred example, the present invention further comprises: a buffer unit 8, which is installed on the other side of the frame and is used to control the swing of the paper separation and gluing unit.

[0041] The buffer unit comprises a buffer rocker 8-1, a connecting rod 8-2, a slider 8-3, a buffer compression spring 8-4, and a buffer compression spring guide rod 8-5. These units form a slider-rocker mechanism. One end of the buffer rocker is sleeved onto one end of the reversing wheel assembly and located on the other side of the frame. The other end of the rocker is hinged to one end of the connecting rod, which in turn is hinged to the slider. The slider is slidably mounted on the buffer compression spring guide rod, and the buffer compression spring is located between the slider and the end of the buffer compression spring guide rod away from the connecting rod. A buffer compression spring is located within the buffer unit 8 to propel the slider. The buffer rocker connects to the paper separation and gluing unit 7 to mitigate height differences on the surface of the ton bag.

[0042] The power unit includes: a mounting frame, a power shaft 6-1, a power roller 6-2, a paper clamping wheel 6-3, a synchronous pulley 6-4, a synchronous belt 6-5, a pull rod 6-6, and a servo motor 6-7. One end of the mounting frame is mounted on one side of the frame. The power roller is mounted within the mounting frame so as to rotate axially along one end of the mounting frame. The power shaft is the core shaft of the power roller. The paper clamping wheel is mounted within the mounting frame so as to rotate axially along the other end of the mounting frame and is in clearance with the power roller. The synchronous pulley is mounted at one end of the power roller and is located on the other side of the frame. The servo motor is mounted on top of the mounting frame. The synchronous pulley is connected to the servo motor and the release paper recovery unit via synchronous belts. The release paper is clamped by the power roller and the paper clamping wheel inside the power unit 6. The servo motor drives the power roller to drive the release paper via the synchronous belt.

[0043] As a preferred example, the present invention also includes a 3D vision camera 9, which is fixed on the frame 1, and a control system. The control system receives the positioning information of the 3D vision camera and controls the frame to move to the hole. The control system is electrically connected to the power unit 6, the paper separation and gluing unit 7, and the 3D vision camera 9 respectively. The frame 1 is connected and fixed to the robot with a flange, and the control system is a PLC control system.

[0044] The working principle of this utility model is:

[0045] Before work, install the tape to the tape release unit 2 and install the tape according to the schematic diagram. The tape needs to pass through the fixed reversing wheel assembly 3, the brake unit 4, the paper separation and gluing unit 7, the power unit 6, and the release paper recovery unit 5, and pull the tape to the bottom of the gluing wheel assembly 7-3.

[0046] During operation, the 3D vision camera 9 takes pictures and locates the position, and sends the information to the control system. The control system controls the plugging gripper to move until the rubber pressing wheel assembly 7-3 presses the adhesive tape onto the ton bag; the plugging gripper starts to move, and at the same time, the servo motor 6-7 of the power unit 6 is started, and the synchronous belt 6-5 transmits power to drive the power shaft 6-1, the power roller 6-2, and the paper clamping wheel 6-3 to rotate, and the power roller 6-2 and the paper clamping wheel 6-3 drive the adhesive tape to be delivered; at the same time, the servo motor 6-7 is started, and the synchronous belt 6-5 transmits power to drive the synchronous pulley 5-5 of the release paper recycling unit 5 to rotate, transmitting power to the recycling wheel. The liner shaft 5-2, the paper clamping rod 5-3, and the release paper recovery wheel shaft 5-4 rotate to recycle the release paper of the tape; after gluing the tape of a certain size, the hole plugging gripper stops moving, and the servo motor 6-7 of the power unit 6 stops to stop the power shaft 6-1, the power roller 6-2, and the paper clamping wheel 6-3 from rotating, and the white steel knife inside the tape suction and cutting assembly 7-2 of the paper separation and gluing unit 7 moves to cut off the tape. After the tape is cut, the hole plugging gripper moves again to stick all the broken tapes together; the hole plugging gripper returns to the position to be plugged, and the power unit 6 rotates to send the tape to the bottom of the glue wheel assembly 7-3 of the paper separation and gluing unit 7.

[0047] During operation, the tape is started by the servo motor 6-7 of the power unit 6 and the power is driven by the synchronous belt 6-5 to drive the power shaft 6-1, the power roller 6-2 and the paper clamping wheel 6-3 to rotate. When the power roller 6-2 and the paper clamping wheel 6-3 drive the tape to be delivered, the tape pulls the moving reversing wheel assembly 4-6 of the brake unit 4 to move upward, so that the brake compression spring 4-8 is compressed and stores energy; while the moving reversing wheel assembly 4-6 moves upward, the tensioning wheel mounting plate 4-3 also moves upward, pushing the brake rocker 4-2 upward to form a gap between the cowhide belt 4-1 and the brake wheel 2-4 of the tape release unit 2 to reduce friction; when the friction is less than a certain value, the tape release unit 2 will be pulled by the tape to release the tape; when the moving reversing wheel assembly 4-6 of the brake unit 4 moves downward, the function is opposite. When the friction increases to a certain value, the tape release unit 2 will be tightened by the cowhide belt 4-1 of the brake unit 4 and cannot rotate; it plays a role in controlling the release of the tape.

[0048] During operation, the paper separation and gluing unit 7 swings upward, driving the buffer rocker 8-1 of the buffer unit 8 to swing upward, transmitting the upward force through the connecting rod 8-2 to push the slider 8-3 to move upward to compress the buffer compression spring 8-4. The spring force of the compressed buffer compression spring 8-4 is transmitted to the shaft of the paper separation and gluing unit 7 by the slider 8-3, the connecting rod 8-2, and the rocker 8-1, generating a torque so that the gluing wheel assembly 7-3 has a controllable pressure with the surface of the ton bag, and the gluing tape sticks to the surface of the ton bag.

Claims

1. A plugging gripper, characterized by comprising: A frame (1); a tape release unit (2), the tape release unit being mounted on one side of the frame for releasing the tape; two fixed reversing wheel assemblies (3), the two fixed reversing wheel assemblies being mounted on one side of the frame for reversing the tape released from the tape release unit; a paper separation and gluing unit (7), the paper separation and gluing unit being mounted on one side of the frame for slitting and gluing the tape that has passed through the two fixed reversing wheel assemblies; a power unit (6), the power unit being mounted on one side of the frame for driving the tape to be released from the tape release unit; and a release paper recovery unit (5), the release paper recovery unit being mounted on one side of the frame for recovering the release paper from the tape that has passed through the slitting and gluing units.

2. A plugging gripper as claimed in claim 1, characterized in that: include: A brake unit (4) is mounted on the frame and located between the two fixed reversing wheel assemblies for cooperating with the passing adhesive tape to control the start of the adhesive tape release unit.

3. The hole plugging gripper according to claim 1, characterized in that: Also includes: A buffer unit (8) is installed on the other side of the frame and is used to control the swing of the paper separation and gluing unit.

4. A plugging gripper according to claim 1, characterized in that: include: A 3D vision camera (9), wherein the 3D vision camera is used to locate the hole position; A control system receives positioning information from the 3D vision camera and controls the frame to move to the hole.

5. The hole plugging gripper according to claim 2, characterized in that: The tape release unit comprises: a tape positioning plate (2-1), a tape clamping plate (2-2), a tape release shaft (2-3), a brake wheel (2-4) and a mounting flange (2-5); the tape positioning plate and the tape clamping plate are rotatably mounted on the tape release shaft for clamping the tape; the brake wheel is connected to the brake unit and is mounted on the tape release shaft via the mounting flange.

6. The hole plugging gripper according to claim 1, characterized in that: The fixed reversing wheel assembly comprises: a fixed reversing wheel hub (3-1), a fixed reversing wheel shaft (3-2), a positioning ring (3-3) and a fixed reversing wheel end cover (3-4); one end of the fixed reversing wheel hub is mounted on one side of a frame; the fixed reversing wheel shaft is mounted in the fixed reversing wheel hub; the positioning ring is sleeved on the outer surface of the fixed reversing wheel hub for positioning the tape; and the fixed reversing wheel end cover is mounted on one end of the fixed reversing wheel hub close to the frame.

7. The hole plugging gripper according to claim 3, characterized in that: The paper separation and gluing unit comprises: a frame, a paper separation knife assembly (7-1), a tape suction and cutting assembly (7-2), a glue pressing wheel assembly (7-3), a reversing wheel assembly (7-4), an isolation wheel assembly (7-5), a blowing tube (7-6), a spring (7-7) and a vacuum generator (7-8); one end of the frame passes through the frame; the paper separation knife assembly is installed in the frame for separating the adhesive tape and the release paper; the spring is installed in the frame and is located above the paper separation knife assembly; the reversing wheel assembly is installed in the frame for The direction is reversed to approach the spring and the paper-separating knife assembly. The isolation wheel assembly is installed at one end of the frame and is rotatably connected to the frame. A gap is left between the isolation wheel assembly and the reversing wheel assembly for the release paper to pass through. The blowing tube is installed on the side of the paper-separating knife assembly away from the spring and is used to blow the tape away from the frame. The tape suction and cutting assembly is installed in the frame and is used to suck and cut the blown tape. The pressing wheel assembly is installed at the other end of the frame and is used to press the tape. The vacuum generator is installed on the tape suction and cutting assembly and is used to provide adsorption force.

8. The hole plugging gripper according to claim 5, characterized in that: The brake unit comprises: a cowhide belt (4-1), a brake rocker (4-2), a tensioning wheel mounting plate (4-3), a tensioning unit mounting seat (4-4), a brake compression spring guide rod (4-5), a movable reversing wheel assembly (4-6), a linear guide slider (4-7) and a brake compression spring (4-8), wherein the brake rocker is located on the other side of the frame, one end of the brake rocker is fixedly connected to a knob, one end of the cowhide belt is wound around the knob, and the other end passes around the brake wheel and is fixed next to the knob, the other end of the brake rocker is hinged to one end of the tensioning wheel mounting plate, the other end of the tensioning wheel mounting plate is fixedly connected to the linear guide slider, the linear guide slider is slidably fitted on the brake compression spring guide rod, the two ends of the brake compression spring guide rod are fixedly connected to the other side of the frame through the tensioning unit mounting seat, one end of the movable reversing wheel assembly is fixedly connected to the other end of the tensioning wheel mounting plate, a slide groove is provided on the frame, and the other end of the movable reversing wheel assembly passes through the slide groove to one side of the frame and cooperates with the tape.

9. The hole plugging gripper according to claim 7, characterized in that: The buffer unit comprises: a buffer rocker (8-1), a connecting rod (8-2), a slider (8-3), a buffer compression spring (8-4) and a buffer compression spring guide rod (8-5); one end of the buffer rocker is sleeved on one end of the reversing wheel assembly and is located on the other side of the frame; the other end of the rocker is hinged to one end of the connecting rod; the other end of the connecting rod is hinged to the slider; the slider is slidably mounted on the buffer compression spring guide rod; and the buffer compression spring is arranged between the slider and the end of the buffer compression spring guide rod away from the connecting rod.

10. The hole plugging gripper according to claim 1, characterized in that: The power unit comprises: a mounting frame, a power shaft (6-1), a power roller (6-2), a paper clamping wheel (6-3), a synchronous pulley (6-4), a synchronous belt (6-5), a pull rod (6-6) and a servo motor (6-7); one end of the mounting frame is mounted on one side of the frame; the power roller is mounted in the mounting frame along one end of the mounting frame so as to be axially rotated; the power shaft is the core shaft of the power roller; the paper clamping wheel is mounted in the mounting frame along the other end of the mounting frame so as to be axially rotated and to be in clearance with the power roller; the synchronous pulley is mounted on one end of the power roller and is located on the other side of the frame; the servo motor is mounted on the top of the mounting frame; and the synchronous pulley is respectively connected to the servo motor and the release paper recovery unit through a synchronous belt.

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