Large-diameter paper tube discharging and placing robot

Abstract

The utility model belongs to the technical field of paper tube production equipment, and particularly relates to a large-diameter paper tube blanking and placing robot which comprises a base, trays arranged on the two sides of the base, paper tubes placed on the surfaces of the trays, and a displacement mechanism comprising a shell arranged above the base. A sliding rail is fixedly connected to the surface of the shell, a sliding block is slidably connected to the surface of the sliding rail, a bottom plate and a lower pipe placing mechanism are fixedly connected to the surface of the sliding block, and the lower pipe placing mechanism comprises a first moving arm mounted on the surface of the mounting plate; the end, away from the bottom plate, of the first moving arm is rotationally connected with a second moving arm through a bearing, the end, away from the first moving arm, of the second moving arm is fixedly connected with a mounting plate, and an air cylinder is mounted on the surface of the mounting plate. And the effects of improving the production efficiency and reducing the labor cost are achieved, and meanwhile the safety in the production process is enhanced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to paper tube production equipment technical field, concretely relates to a large -diameter paper tube blanking placing robot. BACKGROUND

[0002] Large -diameter paper tube generally refers to the paper tube of 300mm above in diameter, and the weight is relatively big, and this kind of paper tube is often applied to the winding of metal foil.In paper tube production and processing industry, the traditional large -diameter paper tube blanking placing work usually relies on manual operation, and because paper tube is heavy, not only is the efficiency low, the labor intensity is big, and the security hidden danger can easily appear.In order to solve these problems, a large -diameter paper tube blanking placing robot is pushed out, and the design of the robot aims at realizing the automation of large -diameter paper tube blanking placing work, improving production efficiency, reducing labor cost and enhancing the safety in production process. SUMMARY

[0003] To solve the problems in the background art, the utility model provides a large -diameter paper tube blanking placing robot, improves production efficiency, reduces labor cost and enhances the safety in production process.

[0004] To achieve the above object, the utility model provides the following technical scheme: a large -diameter paper tube blanking placing robot, including the base, the both sides of base are provided with tray, the surface of tray is placed with paper tube, still include:

[0005] Displacement mechanism, the displacement mechanism includes the shell that is arranged on the base, the surface of shell is fixedly connected with slide rail, the surface of slide rail is connected with sliding block, the surface of sliding block is fixedly connected with bottom plate;

[0006] Lower pipe placing mechanism, the lower pipe placing mechanism includes the first mobile arm that is installed on the surface of bottom plate, the first mobile arm principle the one end of bottom plate is rotatably connected with second mobile arm through bearing, the one end that second mobile arm is away from the first mobile arm is fixedly connected with mounting plate, the surface of mounting plate is installed with cylinder, the surface of cylinder is fixedly connected with first crosspiece, and the both ends of first crosspiece are rotatably connected with clamping arm, and the one end that two clamping arms are away from the first crosspiece is connected with clamping plate through bolt;

[0007] Turnover mechanism, the turnover mechanism is arranged at one side of the base, and is used for 90 ° overturning paper tube.

[0008] As a preferred embodiment of the large-diameter paper tube unloading and placement robot of this utility model, a frustum is fixedly connected to the surface of the base, a gear is rotatably connected to the surface of the frustum, a mounting platform is fixedly connected to the upper surface of the gear, the outer shell is fixedly connected to the surface of the mounting platform, a first servo motor is provided on one side of the outer shell, the first servo motor is mounted on the surface of the mounting platform, the output shaft of the first servo motor passes through the surface of the mounting platform, extends to the lower side of the mounting platform, and is fixedly connected to a transmission gear, the transmission gear meshing with the gear.

[0009] As a preferred embodiment of the large-diameter paper tube unloading and placement robot of this utility model, a reducer is installed on the upper surface of the outer shell, a second servo motor is installed on the surface of the reducer, and the output shaft of the second servo motor is connected to the reducer, and the output shaft of the reducer is fixedly connected to a sprocket.

[0010] As a preferred embodiment of the large-diameter paper tube unloading and placement robot of this utility model, the surface of the sprocket is meshed with a chain, and the chain is connected to the base plate through a connector.

[0011] As a preferred embodiment of the large-diameter paper tube unloading and placement robot of this utility model, the surface of the outer shell is provided with a movable groove for cooperating with the chain.

[0012] As a preferred embodiment of the large-diameter paper tube unloading and placement robot of this utility model, a counterweight is provided on the inner side of the outer shell, and the counterweight is connected to the chain through a connecting piece two.

[0013] As a preferred embodiment of the large-diameter paper tube unloading and placement robot of this utility model, a third servo motor is installed at the end of the first moving arm, and the output shaft of the third servo motor is fixedly connected to the second moving arm. A fourth servo motor is installed at the end of the second moving arm away from the third servo motor, and the output shaft of the fourth servo motor is fixedly connected to the mounting plate.

[0014] As a preferred embodiment of the large-diameter paper tube unloading and placement robot of this utility model, the output shaft of the cylinder is fixedly connected to a second crossbeam, and both ends of the second crossbeam are rotatably connected to movable arms. The end of the movable arm away from the second crossbeam is rotatably connected to the middle part of the gripping arm.

[0015] As a preferred embodiment of the large-diameter paper tube unloading and placement robot of this utility model, the flipping mechanism includes a base frame, a flipping plate is rotatably connected to the surface of the base frame via a rotating shaft, a fifth servo motor is mounted on the surface of the base frame, the output shaft of the fifth servo motor is fixedly connected to the rotating shaft, a limiting strip for limiting the paper tube is fixedly connected to the surface of the flipping plate, and a baffle is fixedly connected to the end of the flipping plate.

[0016] Compared with the prior art, the paper has the beneficial effects that:

[0017] 1、Paper tube is horizontally conveyed to the discharging end after fine cutting, and a 90° turnover mechanism is arranged at the discharging end, the turnover mechanism is provided with a detection device, when the detection device detects that the paper tube is conveyed to the position, the turnover mechanism starts to act, and drives the paper tube to rotate by 90°. Through the rotation process, the originally horizontally placed central paper tube is converted into a vertically placed state, and the vertically placed state facilitates subsequent industrial robots to clamp and take the paper tube and insert it into the stacked diaphragm roll;

[0018] 2、A pipe placing robot is arranged at the pipe placing link, the robot is provided with a sensing probe. When the sensing probe detects that the paper tube is turned over to the position by the 90° turnover mechanism, the robot moves the mechanical arm to one side of the vertically placed paper tube. At this time, the robot can automatically adjust the clamping position to ensure that the clamping jaw accurately aligns with the paper tube. When the paper tube is clamped, the clamping jaw has the function of self-adaptive clamping pressure, which can firmly clamp the paper tube while avoiding causing pressure marks on the surface of the paper tube, and ensuring the appearance quality of the paper tube;

[0019] 3、After the pipe placing robot clamps the paper tube, the paper tube needs to be placed on the tray. The robot is provided with a position detection device, which can automatically adjust the placing position and angle after detecting the position of the tray, and place the paper tubes on the tray according to the preset rules. At the same time, the paper tubes can be placed on the tray in single layer or double layers according to actual production requirements. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, and are used together with the embodiments of the present application to explain the present application, and do not constitute a limitation on the present application. In the drawings:

[0021] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0022] Figure 2 It is a schematic diagram of the structure of the first servo motor in the present application;

[0023] Figure 3 It is a schematic diagram of the structure of the chain in the present application;

[0024] Figure 4 It is a schematic diagram of the structure of the first moving arm in the present application;

[0025] Figure 5 It is a schematic diagram of the structure of the second servo motor in the present application;

[0026] Figure 6 It is a schematic diagram of the structure of theFigure 4 A is enlarged view;

[0027] Figure 7 It is structural schematic view of bottom frame in the utility model;

[0028] In the figure:

[0029] 1, base;11, tray;12, paper tube;

[0030] 2, displacement mechanism;21, circular table;22, toothed disc;23, mounting table;24, first servo motor;25, transmission gear;26, shell;27, slide rail;28, sliding block;29, bottom plate;210, connecting piece one;211, chain;212, second servo motor;213, speed reducer;214, sprocket;215, movable groove;216, connecting piece two;217, counterweight;

[0031] 3, lower tube placing mechanism;31, first moving arm;32, second moving arm;33, third servo motor;34, mounting plate;35, fourth servo motor;36, air cylinder;37, first cross frame;38, clamping arm;39, clamping plate;310, second cross frame;311, movable arm;

[0032] 4, turnover mechanism;41, bottom frame;42, fifth servo motor;43, rotating shaft;44, turnover plate;45, limiting strip;46, baffle. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0034] Embodiment 1

[0035] As Figure 1 indicated;

[0036] A large-diameter paper tube unloading placing robot, including base 1, the both sides of base 1 are provided with tray 11, the surface of tray 11 is placed with paper tube 12.

[0037] In the paper tube production and processing industry, the traditional large-diameter paper tube unloading placing work usually relies on manual operation, because the paper tube is heavy, not only the efficiency is low, the labor intensity is big, and the security hidden danger appears easily, to solve this technical problem, displacement mechanism 2, lower tube placing mechanism 3 and turnover mechanism 4 are added on this basis.

[0038] Further in this regard:

[0039] As shown in the drawings: Figures 1 to 7

[0040] In combination with the above: further includes:

[0041] The displacement mechanism 2 includes a shell 26 arranged above the base 1, the surface of the shell 26 is fixedly connected with a sliding rail 27, the surface of the sliding rail 27 is slidingly connected with a sliding block 28, the surface of the sliding block 28 is fixedly connected with a bottom plate 29;

[0042] The lower tube placing mechanism 3 includes a first moving arm 31 installed on the surface of the bottom plate 29, one end of the first moving arm 31 is rotatably connected with a second moving arm 32 through a bearing, the end of the second moving arm 32 away from the first moving arm 31 is fixedly connected with a mounting plate 34, the surface of the mounting plate 34 is installed with a pneumatic cylinder 36, the surface of the pneumatic cylinder 36 is fixedly connected with a first cross frame 37, both ends of the first cross frame 37 are rotatably connected with clamping arms 38, the ends of the two clamping arms 38 away from the first cross frame 37 are connected with clamping plates 39 through bolts;

[0043] The turnover mechanism 4 is arranged on one side of the base 1, and is used for turning the paper tube 12 by 90°.

[0044] In this embodiment: because the sliding block 28 and the sliding rail 27 are arranged on the surface of the shell 26, the displacement of the bottom plate 29 is realized through the sliding of the sliding block 28 on the sliding rail 27, so as to drive the mounting plate 34 connected to the bottom plate 29 to move, and because the first moving arm 31 is arranged on the surface of the mounting plate 34, the position and angle of the clamping plate 39 are adjusted through the rotation of the first moving arm 31 and the second moving arm 32, the pneumatic cylinder 36 drives the opening and closing of the clamping arm 38, and the clamping and placing operations of the paper tube 12 are realized, and the position adjustment function is provided for the grabbing and placing of the paper tube 12, and through the arrangement of the turnover mechanism 4, the paper tube 12 originally placed horizontally is turned to a vertical state, facilitating the clamping of the clamping plate 39.

[0045] It should be noted that: the displacement mechanism 2 and the lower tube placing mechanism 3 jointly constitute a discharging placing robot, the surface of the mounting plate 34 is installed with a sensing probe for sensing that the paper tube 12 is turned to position through the 90° turnover mechanism 4, and a detection probe for detecting the position of the tray 11, and the bottom frame 41 of the turnover mechanism 4 is provided with a detection device (the sensing probe, the detection probe and the detection device, etc. can be a photoelectric sensing probe, for example, an Omron E3Z-L61 type, having high sensitivity and fast response characteristics, commonly used in object detection, position detection and other scenes) for detecting whether the paper tube 12 is in place.

[0046] Further in this regard:

[0047] ​In an optional embodiment, the surface of the base 1 is fixedly connected with a circular table 21, the surface of the circular table 21 is rotatably connected with a toothed disc 22, the upper surface of the toothed disc 22 is fixedly connected with a mounting table 23, the surface of the mounting table 23 is fixedly connected with an outer shell 26, one side of the outer shell 26 is provided with a first servo motor 24, the first servo motor 24 is installed on the surface of the mounting table 23, the output shaft of the first servo motor 24 penetrates through the surface of the mounting table 23, extends to the lower side of the mounting table 23, and is fixedly connected with a transmission gear 25, and the transmission gear 25 is engaged with the toothed disc 22.

[0048] In this embodiment, the surface of the base 1 is fixedly connected with the circular table 21, the surface of the circular table 21 is rotatably connected with the toothed disc 22, the upper surface of the toothed disc 22 is fixedly connected with the mounting table 23, the surface of the mounting table 23 is fixedly connected with the outer shell 26, so that the outer shell 26 and the components thereon can rotate around the center of the circular table 21, the first servo motor 24 is installed on the surface of the mounting table 23, the output shaft of the first servo motor 24 penetrates through the mounting table 23 and is connected with the transmission gear 25, the transmission gear 25 is engaged with the toothed disc 22, the first servo motor 24 drives the transmission gear 25 to rotate, thereby driving the toothed disc 22 to rotate, realizing the rotation of the outer shell 26 and the components connected with the outer shell 26, and increasing the freedom degree of movement and the working range of the robot.

[0049] Further more,

[0050] In an optional embodiment, the upper end surface of the outer shell 26 is installed with a speed reducer 213, the surface of the speed reducer 213 is installed with a second servo motor 212, the output shaft of the second servo motor 212 is connected with the speed reducer 213, and the output shaft of the speed reducer 213 is fixedly connected with a chain wheel 214.

[0051] In this embodiment, the speed reducer 213 is installed, the surface of the speed reducer 213 is installed with the second servo motor 212, the output shaft of the second servo motor 212 is connected with the speed reducer 213, the output shaft of the speed reducer 213 is fixedly connected with the chain wheel 214, the second servo motor 212 provides power, reduces the rotating speed and increases the torque through the speed reducer 213, and then transmits the power to the chain wheel 214, thereby providing a power source for the subsequent chain transmission.

[0052] It should be noted that the speed reducer 213 is a double-output shaft speed reducer.

[0053] Further more,

[0054] In an optional embodiment, the surface of the chain wheel 214 is engaged with a chain 211, and the chain 211 is connected with the bottom plate 29 through a connecting piece one 210.

[0055] In the embodiment, the chain 211 is connected with the bottom plate 29 through the connecting piece one 210, and the chain 211 is driven to move through the rotation of the chain wheel 214, and then the bottom plate 29 is driven to slide on the slide rail 27 through the connecting piece one 210, so that the movement mechanism 2 is driven to move.

[0056] It should be noted that the connecting piece one 210 is composed of a pin shaft and a fixed plate, and the fixed plate is installed on the surface of the bottom plate 29.

[0057] Further, the connecting piece one 210 is composed of a pin shaft and a fixed plate, and the fixed plate is installed on the surface of the bottom plate 29.

[0058] In an optional embodiment, the surface of the shell 26 is provided with a movable groove 215 for matching the chain 211.

[0059] In the embodiment, the movable groove 215 is provided, and the design further facilitates the movement of the chain 211.

[0060] Further, the connecting piece one 210 is composed of a pin shaft and a fixed plate, and the fixed plate is installed on the surface of the bottom plate 29.

[0061] In an optional embodiment, the inner side of the shell 26 is provided with a counterweight 217, and the counterweight 217 is connected with the chain 211 through a connecting piece two 216.

[0062] In the embodiment, the counterweight 217 is connected with the chain 211 through the connecting piece two 216, and the counterweight 217 balances the weight of the bottom plate 29 and the components connected with the bottom plate 29, so that the transmission of the chain 211 is more stable, the shaking and wear caused by the unbalanced weight are reduced, and the working precision and reliability of the robot are improved.

[0063] Further, the connecting piece one 210 is composed of a pin shaft and a fixed plate, and the fixed plate is installed on the surface of the bottom plate 29.

[0064] In an optional embodiment, the end of the first moving arm 31 is provided with a third servo motor 33, the output shaft of the third servo motor 33 is fixedly connected with a second moving arm 32, the end of the second moving arm 32 away from the third servo motor 33 is provided with a fourth servo motor 35, and the output shaft of the fourth servo motor 35 is fixedly connected with a mounting plate 34.

[0065] In the embodiment, the third servo motor 33 and the fourth servo motor 35 are provided, and the design further facilitates the clamping and placing of the aligned paper tube 12.

[0066] Further, the connecting piece one 210 is composed of a pin shaft and a fixed plate, and the fixed plate is installed on the surface of the bottom plate 29.

[0067] In an optional embodiment, the output shaft of the air cylinder 36 is fixedly connected with a second cross frame 310, the two ends of the second cross frame 310 are rotatably connected with movable arms 311, and the end of the movable arm 311 away from the second cross frame 310 is rotatably connected to the middle part of the clamping arm 38.

[0068] In this embodiment: the output shaft of the cylinder 36 is fixedly connected with the second cross frame 310, the two ends of the second cross frame 310 are rotatably connected with the movable arms 311, and the end of the movable arms 311 away from the second cross frame 310 is rotatably connected with the middle part of the clamping arm 38. When the output shaft of the cylinder 36 is extended or retracted, the second cross frame 310 is driven to move, and then the movable arms 311 drive the clamping arm 38 to rotate around the connecting point with the first cross frame 37, so as to realize the opening and closing action of the clamping arm 38, and clamp or release the paper tube 12.

[0069] Further, in this embodiment:

[0070] In an optional embodiment, the turnover mechanism 4 comprises a base frame 41, the surface of the base frame 41 is rotatably connected with a turnover plate 44 through a rotating shaft 43, the surface of the base frame 41 is provided with a fifth servo motor 42, the output shaft of the fifth servo motor 42 is fixedly connected with the rotating shaft 43, the surface of the turnover plate 44 is fixedly connected with a limiting strip 45 for limiting the paper tube 12, and the end of the turnover plate 44 is fixedly connected with a baffle 46.

[0071] In this embodiment: the rotating shaft 43 is driven to rotate by the fifth servo motor 42, so as to drive the turnover plate 44 to rotate around the rotating shaft 43, realize the 90° turnover of the paper tube 12 placed on the turnover plate 44, and prevent the paper tube 12 from falling off in the turnover process by arranging the baffle 46 and the limiting strip 45.

[0072] It should be noted that: the limiting strip 45 is in close contact with the paper tube 12.

[0073] Working principle: because the surface of the shell 26 is provided with the slider 28 and the slide rail 27, through the sliding of the slider 28 on the slide rail 27, the displacement of the bottom plate 29 is realized, thereby driving the mounting plate 34 connected to the bottom plate 29 to move, and because the surface of the mounting plate 34 is provided with the first moving arm 31, through the rotation of the first moving arm 31 and the second moving arm 32, the position and angle of the clamping plate 39 are adjusted, the cylinder 36 drives the opening and closing of the clamping arm 38, realizes the clamping and placing operation of the paper tube 12, provides the position adjustment function for the grabbing and placing of the paper tube 12, through the setting of the turnover mechanism 4, the originally horizontally placed paper tube 12 is turned over to the vertical state, which is convenient for the clamping of the clamping plate 39, the base 1 surface is fixed with the circular table 21, the circular table 21 surface is rotatably connected with the gear disc 22, the gear disc 22 upper surface is fixedly installed with the mounting table 23, the shell 26 is fixed on the surface of the mounting table 23, so that the shell 26 and the components thereon can rotate around the center of the circular table 21, the first servo motor 24 is installed on the surface of the mounting table 23, the output shaft thereof penetrates through the mounting table 23 and is connected with the transmission gear 25, the transmission gear 25 is engaged with the gear disc 22, the first servo motor 24 drives the transmission gear 25 to rotate, thereby driving the gear disc 22 to rotate, realizing the rotation of the shell 26 and the components connected thereto, increasing the freedom degree and working range of the robot, because the reducer 213 is installed, the second servo motor 212 is installed on the surface of the reducer 213, the output shaft of the second servo motor 212 is connected with the reducer 213, the output shaft of the reducer 213 is fixedly connected with the chain wheel 214, the second servo motor 212 provides power, reduces the rotating speed and increases the torque through the reducer 213, and then transmits power to the chain wheel 214, providing power source for the subsequent chain 211 transmission, because the chain wheel 214 surface is engaged with the chain 211, the chain 211 is connected with the bottom plate 29 through the connecting piece one 210, the chain wheel 214 can drive the chain 211 to move, and then the bottom plate 29 slides on the slide rail 27 through the connecting piece one 210, realizing the movement of the displacement mechanism 2, through the setting of the movable groove 215, this design further facilitates the movement of the chain 211, because the counterweight 217 is connected with the chain 211 through the connecting piece two 216, the counterweight 217 balances the weight of the bottom plate 29 and the components connected thereto, makes the chain 211 transmission more stable, reduces the shaking and wear caused by unbalanced weight, improves the working precision and reliability of the robot, because the third servo motor 33 and the fourth servo motor 35 are installed, this design further facilitates the clamping and placing of the aligned paper tube 12, the output shaft of the cylinder 36 is fixedly connected with the second cross frame 310, the second cross frame 310 two ends are rotatably connected with the movable arm 311, the end of the movable arm 311 away from the second cross frame 310 is rotatably connected with the middle part of the clamping arm 38, when the output shaft of the cylinder 36 stretches and contracts, the second cross frame 310 moves, and then the clamping arm 38 rotates around the connecting point with the first cross frame 37 through the movable arm 311, realizing the opening and closing action of the clamping arm 38, to clamp or release the paper tube 12,The rotation of the rotating shaft 43 is driven by the fifth servo motor 42, so as to drive the turnover plate 44 to rotate around the rotating shaft 43, and realize the 90° turnover of the paper tube 12 placed on the turnover plate 44.

[0074] Finally, it should be noted that: the above only for the preferred embodiments of the present application have, and is not intended to limit the present application, although the foregoing embodiments of the present application have been described in detail, for those skilled in the art, it still can be modified, or part of the technical features of the equivalent replacement. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, shall be included within the scope of the present application.

Claims

1. A large-diameter paper tube unloading and placing robot, comprising a base (1), both sides of the base (1) are provided with a tray (11), the surface of the tray (11) is placed with a paper tube (12), characterized in that, Also includes: The displacement mechanism (2) includes a housing (26) disposed above the base (1), a slide rail (27) is fixedly connected to the surface of the housing (26), a slider (28) is slidably connected to the surface of the slide rail (27), and a base plate (29) is fixedly connected to the surface of the slider (28). The lower tube placement mechanism (3) includes a first movable arm (31) mounted on the surface of the base plate (29). The end of the first movable arm (31) away from the base plate (29) is rotatably connected to a second movable arm (32) via a bearing. The end of the second movable arm (32) away from the first movable arm (31) is fixedly connected to a mounting plate (34). A cylinder (36) is mounted on the surface of the mounting plate (34). A first crossbeam (37) is fixedly connected to the surface of the cylinder (36). Both ends of the first crossbeam (37) are rotatably connected to clamping arms (38). The ends of the two clamping arms (38) away from the first crossbeam (37) are bolted to clamping plates (39). A flipping mechanism (4) is provided on one side of the base (1) for flipping the paper tube by 90°.

2. The large diameter paper tube unloading placement robot according to claim 1, characterized in that: A frustum (21) is fixedly connected to the surface of the base (1). A gear disk (22) is rotatably connected to the surface of the frustum (21). A mounting platform (23) is fixedly connected to the upper surface of the gear disk (22). The outer shell (26) is fixedly connected to the surface of the mounting platform (23). A first servo motor (24) is provided on one side of the outer shell (26). The first servo motor (24) is mounted on the surface of the mounting platform (23). The output shaft of the first servo motor (24) passes through the surface of the mounting platform (23), extends to the lower side of the mounting platform (23), and is fixedly connected to a transmission gear (25). The transmission gear (25) meshes with the gear disk (22).

3. The large diameter paper tube unloading placement robot according to claim 2, characterized in that: A reducer (213) is mounted on the upper surface of the housing (26). A second servo motor (212) is mounted on the surface of the reducer (213), and the output shaft of the second servo motor (212) is connected to the reducer (213). The output shaft of the reducer (213) is fixedly connected to a sprocket (214).

4. The large diameter paper tube unloading placement robot according to claim 3, characterized in that: The sprocket (214) is connected to a chain (211) by meshing, and the chain (211) is connected to the base plate (29) by a connector (210).

5. The large diameter paper tube unloading placement robot of claim 4, wherein: The surface of the outer shell (26) is provided with a movable groove (215) for cooperating with the chain (211).

6. The large diameter paper tube unloading placement robot of claim 5, wherein: A counterweight (217) is provided on the inner side of the outer shell (26), and the counterweight (217) is connected to the chain (211) through a connector (216).

7. The large diameter paper tube unloading placement robot of claim 1, wherein: The end of the first moving arm (31) is provided with a third servo motor (33), and the output shaft of the third servo motor (33) is fixedly connected with the second moving arm (32), one end of the second moving arm (32) away from the third servo motor (33) is provided with a fourth servo motor (35), and the output shaft of the fourth servo motor (35) is fixedly connected with the mounting plate (34).

8. The large diameter paper tube unloading placement robot of claim 7, wherein: The output shaft of the air cylinder (36) is fixedly connected with a second cross frame (310), both ends of the second cross frame (310) are rotatably connected with movable arms (311), and one end of the movable arms (311) away from the second cross frame (310) is rotatably connected with the middle part of the clamping arm (38).

9. The large diameter paper tube unloading placement robot of claim 1, wherein: The turnover mechanism (4) comprises a base frame (41), the surface of the base frame (41) is rotatably connected with a turnover plate (44) through a rotating shaft (43), the surface of the base frame (41) is provided with a fifth servo motor (42), the output shaft of the fifth servo motor (42) is fixedly connected with the rotating shaft (43), the surface of the turnover plate (44) is fixedly connected with a limiting strip (45) for limiting the paper tube (12), and the end of the turnover plate (44) is fixedly connected with a baffle (46).

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