Automatic paper tube discharging and egg tube shifting manipulator

Abstract

The utility model discloses an automatic paper tube unloading and egg cone shifting manipulator which comprises a first conveying line, a first shifting assembly is installed on the first conveying line and comprises a first installation frame, the first installation frame is fixedly connected to the first conveying line, a first linear module is fixedly connected to the first installation frame, and a second linear module is fixedly connected to the second conveying line. The output end of the first linear module is fixedly connected with a second moving frame; according to the full-automatic paper tube discharging and shifting device, full-automatic coherent operation of paper tube discharging and shifting is achieved through cooperation of the paper tube discharging assembly, the shifting assembly and the conveying line; according to the paper tube discharging assembly, a first paper tube supporting clamp, a second paper tube supporting clamp and a paper tube falling clamp can be driven by an air cylinder to cooperatively act, the discharging process is coherent and concise, meanwhile, a linear module can be adopted for driving an air suction clamp to complete discharging in the discharging operation, and the discharging efficiency can be greatly improved through the two modes; and the shifting assemblies are designed into various types, so that the use requirements of different application scenes can be flexibly met.

Description

Technical Field

[0001] This utility model relates to the field of food packaging equipment technology, and in particular to an automatic paper tube and egg carton transfer robot. Background Technology

[0002] Paper tubes and egg cones, as environmentally friendly and lightweight packaging materials, are widely used in the food industry. In their production and processing, material feeding and transfer are crucial steps connecting forming and subsequent packaging, directly impacting the efficiency of the entire production line. To address the inefficiency caused by manual operation, existing technologies employ automated material feeding and transfer equipment based on robotic arms to replace manual labor. However, the cumbersome and time-consuming movements of existing robotic arms limit the processing capacity per unit time, preventing the expected efficiency improvement. Utility Model Content

[0003] The purpose of this invention is to provide an automatic paper tube and egg carton transfer robot to solve the problems mentioned in the background art.

[0004] To solve the above-mentioned technical problems, this utility model provides the following technical solution: an automatic paper tube and egg carton shifting robot, including a first conveyor line, a first shifting component installed on the first conveyor line, the first shifting component including a first mounting frame, and the first mounting frame being fixedly connected to the first conveyor line, a first linear module being fixedly connected to the first mounting frame, a second movable frame being fixedly connected to the output end of the first linear module, a first electric telescopic rod being fixedly connected to the second movable frame, a first connecting frame being fixedly connected to the output end of the first electric telescopic rod, and a plurality of first pneumatic grippers being fixedly connected to the first connecting frame.

[0005] Preferably, a plurality of fourth guide rods are fixedly connected to the first connecting frame, and the fourth guide rods slide through the second movable frame.

[0006] Preferably, the first conveyor line is equipped with multiple paper tube lowering assemblies. Each paper tube lowering assembly includes a fixed frame, a first movable frame, a first cylinder, a second cylinder, a first connecting block, a first guide rod, a first paper tube support clamp, a third cylinder, a second connecting block, a second guide rod, a paper tube dropping clamp, a mounting plate, a fourth cylinder, a third connecting block, a third guide rod, a second paper tube support clamp, a first paper tube frame, and a through slot. The fixed frame is fixedly connected to the first conveyor line, and the fixed frame has a through slot. A first paper tube frame is fixedly connected to the fixed frame at the position corresponding to the through slot.

[0007] Preferably, a first movable frame is slidably connected to the fixed frame, and a second cylinder is fixedly connected to the outer walls on both sides of the first movable frame. A first connecting block is fixedly connected to the output end of the second cylinder, and a first paper tube clamp is fixedly connected to the first connecting block.

[0008] Preferably, a plurality of first guide rods are fixedly connected to the first connecting block, and the first guide rods slide through the first movable frame.

[0009] Preferably, a first cylinder is fixedly connected to the fixed frame, and the output end of the first cylinder is fixedly connected to the first movable frame.

[0010] Preferably, a third cylinder is fixedly connected to both outer walls of the first movable frame, and the third cylinder is located at the top of the second cylinder. A second connecting block is fixedly connected to the output end of the third cylinder, and a paper drop tube clamp is fixedly connected to the second connecting block. The paper drop tube clamp is located at the top of the first paper support tube clamp.

[0011] Preferably, a plurality of second guide rods are fixedly connected to the second connecting block, and the second guide rods slide through the first movable frame.

[0012] Preferably, a fourth cylinder is provided at the top of the third cylinder, an mounting plate is fixedly connected to the fourth cylinder and the mounting plate is fixedly connected to the fixed frame, a third connecting block is fixedly connected to the output end of the fourth cylinder, a second paper tube clamp is fixedly connected to the third connecting block and the second paper tube clamp is provided at the top of the paper tube clamp.

[0013] Preferably, a plurality of third guide rods are fixedly connected to the third connecting block, and the third guide rods slide through the mounting plate.

[0014] This utility model provides an automatic paper tube unloading and egg carton shifting robot, the advantages of which are: this utility model achieves fully automated and continuous operation of paper tube unloading and shifting through the coordinated cooperation of the paper tube unloading component, the shifting component and the conveyor line; the paper tube unloading component can be driven by a cylinder to coordinate the operation of the first paper tube holding fixture, the second paper tube holding fixture and the paper tube dropping fixture, making the unloading process smooth and concise. At the same time, the unloading operation can also be completed by using a linear module to drive the suction fixture, both of which can greatly improve the unloading efficiency; the shifting component is designed with multiple types to flexibly adapt to the usage requirements of different application scenarios. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall main view structure of Example 1;

[0017] Figure 2This is a side view of the first shifting component in Embodiment 1;

[0018] Figure 3 This is a three-dimensional cross-sectional view of the lower paper tube assembly of this utility model;

[0019] Figure 4 for Figure 3 Enlarged view of the structure of region A in the middle;

[0020] Figure 5 This is a schematic diagram of the overall main view structure of Example 2;

[0021] Figure 6 This is a side view of the second shifting component in Embodiment 2;

[0022] Figure 7 This is a schematic diagram of the overall main view structure of Example 3;

[0023] Figure 8 This is a side view of the third shifting component in Embodiment 3.

[0024] In the diagram: 1. Lower paper tube assembly; 11. Fixing frame; 12. First moving frame; 13. First cylinder; 14. Second cylinder; 15. First connecting block; 16. First guide rod; 17. First paper tube clamp; 18. Third cylinder; 19. Second connecting block; 110. Second guide rod; 111. Paper tube drop clamp; 112. Mounting plate; 113. Fourth cylinder; 114. Third connecting block; 115. Third guide rod; 116. Second paper tube clamp; 117. First paper tube holder; 118. Through slot; 2. First conveyor line; 3. First shifting assembly; 31. First mounting frame; 32. First linear module; 33. Second moving frame; 34. First electric telescopic rod; 35. First connecting frame; 36. First pneumatic gripper; 37. Fourth cylinder; 4. Guide rod; 5. Second conveyor line; 6. Second linear module; 7. Third moving frame; 8. First suction clamp; 9. Second paper tube holder; 10. Second shifting assembly; 11. Second mounting frame; 12. Fourth moving frame; 13. Motor; 14. Gear; 15. Rack; 16. Second electric telescopic rod; 17. Second connecting frame; 18. Second pneumatic gripper; 19. Fifth guide rod; 20. Third conveyor line; 21. Third linear module; 22. Fifth moving frame; 33. Second suction clamp; 44. Third paper tube holder; 55. Third shifting assembly; 66. Third mounting frame; 77. Fourth linear module; 88. Sixth moving frame; 98. Third electric telescopic rod; 19. Third connecting frame; 10. Third pneumatic gripper; 10. Sixth guide rod. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] Please see the appendix Figure 1 -Appendix Figure 8 The present invention provides a technical solution as follows: Example 1

[0027] An automatic paper tube and cone transfer robot includes a first conveyor line 2, on which a first transfer component 3 is mounted. The first transfer component 3 includes a first mounting frame 31, which is fixedly connected to the first conveyor line 2. A first linear module 32 is fixedly connected to the first mounting frame 31. A second movable frame 33 is fixedly connected to the output end of the first linear module 32. A first electric telescopic rod 34 is fixedly connected to the second movable frame 33. A first connecting frame 35 is fixedly connected to the output end of the first electric telescopic rod 34. Multiple first pneumatic grippers 36 are fixedly connected to the first connecting frame 35. The first conveyor line 2 is used to convey paper tubes, the first mounting frame 31 is used to support the first linear module 32, and the first linear module 32 is used for driving. The second movable frame 33 carries the first electric telescopic rod 34, which drives the first connecting frame 35. The first connecting frame 35 carries the first pneumatic gripper 36, which grips the paper tube. Multiple fourth guide rods 37 are fixedly connected to the first connecting frame 35 and slide through it, guiding the movement of the first connecting frame 35. Multiple lower paper tube assemblies 1 are installed on the first conveyor line 2. Each lower paper tube assembly 1 includes a fixed frame 11, a first movable frame 12, a first cylinder 13, a second cylinder 14, a first connecting block 15, a first guide rod 16, a first paper tube clamp 17, and a third cylinder 18. The system includes a second connecting block 19, a second guide rod 110, a paper tube clamp 111, a mounting plate 112, a fourth cylinder 113, a third connecting block 114, a third guide rod 115, a second paper tube clamp 116, a first paper tube holder 117, and a through groove 118. A fixed frame 11 is fixedly connected to the first conveyor line 2. The fixed frame 11 has a through groove 118, and a first paper tube holder 117 is fixedly connected to the fixed frame 11 at a position corresponding to the through groove 118. The fixed frame 11 is used to install the first paper tube holder 117, which is used to place paper tubes. The through groove 118 is used to avoid paper tubes. A first movable frame 12 is slidably connected to the fixed frame 11. Second cylinders 14 are fixedly connected to the outer walls of both sides of the first movable frame 12. A first connecting block 15 is fixedly connected to the output end of a device 14. A first paper tube clamp 17 is fixedly connected to the first connecting block 15. A first movable frame 12 is used to install a second cylinder 14. The second cylinder 14 is used to drive the first connecting block 15. The first connecting block 15 is used to install the first paper tube clamp 17, and the first paper tube clamp 17 is used to hold the paper tube. A plurality of first guide rods 16 are fixedly connected to the first connecting block 15, and the first guide rods 16 slide through the first movable frame 12. The first guide rods 16 are used to guide the movement of the first connecting block 15. A first cylinder 13 is fixedly connected to the fixed frame 11, and the output end of the first cylinder 13 is fixedly connected to the first movable frame 12. The first cylinder 13 is used to drive the first movable frame 12.A third cylinder 18 is fixedly connected to both outer walls of the first movable frame 12, and the third cylinder 18 is located at the top of the second cylinder 14. A second connecting block 19 is fixedly connected to the output end of the third cylinder 18. A paper dropper clamp 111 is fixedly connected to the second connecting block 19, and the paper dropper clamp 111 is located at the top of the first paper tube clamp 17. The third cylinder 18 is used to drive the second connecting block 19, and the second connecting block 19 is used to install the paper dropper clamp 111. The paper dropper clamp 111 is used to push the paper tube down. A plurality of second guide rods 110 are fixedly connected to the second connecting block 19, and the second guide rods 110 slide through the first movable frame 12. The second guide rods 110 are used to guide the movement of the second connecting block 19. A fourth cylinder 113 is located at the top of the third cylinder 18. A mounting plate 112 is fixedly connected to cylinder 113, and the mounting plate 112 is fixedly connected to the fixing frame 11. A third connecting block 114 is fixedly connected to the output end of the fourth cylinder 113. A second paper tube clamp 116 is fixedly connected to the third connecting block 114, and the second paper tube clamp 116 is located at the top of the paper tube clamp 111. The mounting plate 112 is used to mount the fourth cylinder 113, and the fourth cylinder 113 is used to drive the third connecting block 114. The third connecting block 114 is used to mount the second paper tube clamp 116, and the second paper tube clamp 116 is used to hold the paper tube. Multiple third guide rods 115 are fixedly connected to the third connecting block 114, and the third guide rods 115 slide through the mounting plate 112. The third guide rods 115 are used to guide the movement of the third connecting block 114. Example 2

[0028] An automatic paper tube and egg carton transfer robot includes a second conveyor line 4, on which a second transfer component 5 is mounted. The second transfer component 5 includes a second mounting frame 51, which is fixedly connected to the second conveyor line 4. A fourth movable frame 52 is slidably connected to the second mounting frame 51. A second electric telescopic rod 56 is fixedly connected to the fourth movable frame 52. A second connecting frame 57 is fixedly connected to the output end of the second electric telescopic rod 56. Multiple second pneumatic grippers 58 are fixedly connected to the second connecting frame 57. Multiple fifth guide rods 59 are fixedly connected to the second connecting frame 57 and slide through the fourth movable frame 52. A motor 53 is fixedly connected to the fourth movable frame 52, and a gear is fixedly connected to the output end of the motor 53. 54. A rack 55 is meshed with the gear 54, and the rack 55 is fixedly connected to the second mounting frame 51. A second linear module 41 is fixedly connected to the second conveyor line 4. A third movable frame 42 is fixedly connected to the output end of the second linear module 41. Multiple first suction clamps 43 are fixedly connected to the third movable frame 42. A second paper tube holder 44 is fixedly connected to the second conveyor line 4 at the position corresponding to the first suction clamps 43. The second conveyor line 4 is used to convey paper tubes. The second mounting frame 51 is used to support the fourth movable frame 52. The fourth movable frame 52 is used to support the second electric telescopic rod 56 and the motor 53. The second electric telescopic rod 56 is used to drive the second connecting frame 57. The second connecting frame 57 is used to support the second pneumatic gripper 58. The fifth guide rod 59 is used to... The movement of the second connecting frame 57 is guided by the motor 53, which drives the gear 54 so that the gear 54 can roll along the rack 55, thereby driving the fourth moving frame 52 to move. Multiple paper tube assemblies 1 are installed on the second conveyor line 4. Each paper tube assembly 1 includes a fixed frame 11, a first moving frame 12, a first cylinder 13, a second cylinder 14, a first connecting block 15, a first guide rod 16, a first paper tube clamp 17, a third cylinder 18, a second connecting block 19, a second guide rod 110, a paper tube clamp 111, a mounting plate 112, a fourth cylinder 113, a third connecting block 114, a third guide rod 115, a second paper tube clamp 116, a first paper tube frame 117, and a through groove 118. The fixed frame 11 is fixedly connected to the second conveyor line 4. A through slot 118 is provided on the frame 11. A first paper tube holder 117 is fixedly connected to the fixed frame 11 at the position corresponding to the through slot 118. The fixed frame 11 is used to install the first paper tube holder 117. The first paper tube holder 117 is used to place paper tubes. The through slot 118 is used to avoid the paper tubes. A first movable frame 12 is slidably connected to the fixed frame 11. A second cylinder 14 is fixedly connected to the outer walls on both sides of the first movable frame 12. A first connecting block 15 is fixedly connected to the output end of the second cylinder 14. A first paper tube clamp 17 is fixedly connected to the first connecting block 15. The first movable frame 12 is used to install the second cylinder 14. The second cylinder 14 is used to drive the first connecting block 15. The first connecting block 15 is used to install the first paper tube clamp 17. The first paper tube clamp 17 is used to hold the paper tubes.A plurality of first guide rods 16 are fixedly connected to the first connecting block 15, and the first guide rods 16 slide through the first movable frame 12. The first guide rods 16 are used to guide the movement of the first connecting block 15. A first cylinder 13 is fixedly connected to the fixed frame 11, and the output end of the first cylinder 13 is fixedly connected to the first movable frame 12. The first cylinder 13 is used to drive the first movable frame 12. A third cylinder 18 is fixedly connected to the outer walls on both sides of the first movable frame 12. A second connecting block 19 is fixedly connected to the output end of a third cylinder 18, which is positioned at the top of a second cylinder 14. A paper dropper clamp 111 is fixedly connected to the second connecting block 19, and the paper dropper clamp 111 is located at the top of a first paper dropper clamp 17. The third cylinder 18 drives the second connecting block 19, which is used to install the paper dropper clamp 111. The paper dropper clamp 111 is used to push the paper dropper. Multiple second guide rods 110 are fixedly connected to the second connecting block 19. 10 slides through the first movable frame 12, and the second guide rod 110 guides the movement of the second connecting block 19; a fourth cylinder 113 is provided at the top of the third cylinder 18, and a mounting plate 112 is fixedly connected to the fourth cylinder 113 and fixedly connected to the fixed frame 11; a third connecting block 114 is fixedly connected to the output end of the fourth cylinder 113, and a second paper tube clamp 116 is fixedly connected to the third connecting block 114 and disposed on the third connecting block 114. At the top of the paper tube clamp 111, a mounting plate 112 is used to mount a fourth cylinder 113. The fourth cylinder 113 drives a third connecting block 114. The third connecting block 114 is used to mount a second paper tube support clamp 116, which supports the paper tube. Multiple third guide rods 115 are fixedly connected to the third connecting block 114, and these guide rods 115 slide along the mounting plate 112, guiding the movement of the third connecting block 114. Example 3

[0029] An automatic paper tube and egg carton transfer robot includes a third conveyor line 6, on which a third transfer component 7 is mounted. The third transfer component 7 includes a third mounting frame 71, which is fixedly connected to the third conveyor line 6. A fourth linear module 72 is fixedly connected to the third mounting frame 71. A sixth movable frame 73 is fixedly connected to the output end of the fourth linear module 72. A third electric telescopic rod 74 is fixedly connected to the sixth movable frame 73. A third connecting frame 75 is fixedly connected to the output end of the third electric telescopic rod 74. Multiple third pneumatic grippers 76 are fixedly connected to the third connecting frame 75. Multiple sixth guide rods 77 are fixedly connected to the third connecting frame 75 and slide through the sixth movable frame 73. A third linear module 61 is fixedly connected. A fifth movable frame 62 is fixedly connected to the output end of the third linear module 61. Multiple second suction clamps 63 are fixedly connected to the fifth movable frame 62. A third paper tube holder 64 is fixedly connected to the third conveyor line 6 at the position corresponding to the second suction clamps 63. The third conveyor line 6 is used to convey paper tubes. A third mounting frame 71 is used to support a fourth linear module 72. The fourth linear module 72 is used to drive a sixth movable frame 73. The sixth movable frame 73 is used to support a third electric telescopic rod 74. The third electric telescopic rod 74 is used to drive a third connecting frame 75. The third connecting frame 75 is used to support a third pneumatic gripper 76. A sixth guide rod 77 is used to guide the movement of the third connecting frame 75. Multiple paper feeders are installed on the third conveyor line 6. The paper tube assembly 1 includes a fixed frame 11, a first movable frame 12, a first cylinder 13, a second cylinder 14, a first connecting block 15, a first guide rod 16, a first paper tube support clamp 17, a third cylinder 18, a second connecting block 19, a second guide rod 110, a paper tube drop clamp 111, a mounting plate 112, a fourth cylinder 113, a third connecting block 114, a third guide rod 115, a second paper tube support clamp 116, a first paper tube holder 117, and a through groove 118. The fixed frame 11 is fixedly connected to the third conveyor line 6. The fixed frame 11 has a through groove 118. The first paper tube holder 117 is fixedly connected to the fixed frame 11 at the position corresponding to the through groove 118. The fixed frame 11 is used to install the first paper tube holder 117. The paper tube is placed in a slot 118 to avoid it. A first movable frame 12 is slidably connected to the fixed frame 11. A second cylinder 14 is fixedly connected to the outer walls on both sides of the first movable frame 12. A first connecting block 15 is fixedly connected to the output end of the second cylinder 14. A first paper tube clamp 17 is fixedly connected to the first connecting block 15. The first movable frame 12 is used to install the second cylinder 14. The second cylinder 14 is used to drive the first connecting block 15. The first connecting block 15 is used to install the first paper tube clamp 17. The first paper tube clamp 17 is used to hold the paper tube. A plurality of first guide rods 16 are fixedly connected to the first connecting block 15. The first guide rods 16 slide through the first movable frame 12 and guide the movement of the first connecting block 15.A first cylinder 13 is fixedly connected to the fixed frame 11, and the output end of the first cylinder 13 is fixedly connected to the first movable frame 12. The first cylinder 13 is used to drive the first movable frame 12. A third cylinder 18 is fixedly connected to the outer walls of both sides of the first movable frame 12, and the third cylinder 18 is located at the top of the second cylinder 14. A second connecting block 19 is fixedly connected to the output end of the third cylinder 18. A paper dropper clamp 111 is fixedly connected to the second connecting block 19, and the paper dropper clamp 111 is located at the top of the first paper support clamp 17. The third cylinder 18 is used to drive the second connecting block 19, and the second connecting block 19 is used to install the paper dropper clamp 111. The paper dropper clamp 111 is used to push the paper dropper. Multiple second guide rods 110 are fixedly connected to the second connecting block 19, and the second guide rods 110 slide through the first movable frame 12. The second guide rods 110 are used to guide the second connecting block 19. The movement is guided by a third cylinder 18; a fourth cylinder 113 is mounted on the top of the third cylinder 18, and a mounting plate 112 is fixedly connected to the fourth cylinder 113 and fixedly connected to the mounting frame 11. A third connecting block 114 is fixedly connected to the output end of the fourth cylinder 113, and a second paper tube clamp 116 is fixedly connected to the third connecting block 114 and located at the top of the paper tube clamp 111. The mounting plate 112 is used to mount the fourth cylinder 113, which drives the third connecting block 114. The third connecting block 114 is used to mount the second paper tube clamp 116, which supports the paper tube. Multiple third guide rods 115 are fixedly connected to the third connecting block 114 and slide through the mounting plate 112. The third guide rods 115 guide the movement of the third connecting block 114.

[0030] Working principle: When using this utility model, the paper tube feeding and shifting can be achieved through the lower paper tube assembly 1, the first conveyor line 2, and the first shifting assembly 3. Specifically, in the initial state, the lower paper tube clamp 111 and the second paper tube support clamp 116 of the lower paper tube assembly 1 are both in the separated state, and the first paper tube support clamp 17 is in the closed state. The paper tube is placed on the first paper tube frame 117 at the through slot 118, and the bottommost paper tube falls on the first paper tube support clamp 17. At this time, the third cylinder 18 and the fourth cylinder 113 extend. The third cylinder 18 drives the lower paper tube clamp 111 through the second connecting block 19. The lower paper tube clamp 111 clamps the second to last paper tube. The fourth cylinder 113 drives the second paper tube support clamp 116 through the third connecting block 114. The second paper tube clamp 116 is positioned between the last and second-to-last paper tubes. Then, the first cylinder 13 retracts, causing the first moving frame 12 to move downwards along the fixed frame 11. The second cylinder 14 and third cylinder 18 on the first moving frame 12 move accordingly, causing the first paper tube clamp 17 and the paper tube drop clamp 111 to move as well. The first paper tube clamp 17 and the paper tube drop clamp 111 cooperate to move the last paper tube onto the first conveyor line 2. Then, the second cylinder 14 retracts, and the first connecting block 15 causes the first paper tube clamp 17 to separate, releasing the paper tube. The paper tube falls onto the chain plate of the first conveyor line 2. Then, the first cylinder 13 extends, causing the first moving frame... 12 moves upward to reset, extending the second cylinder 14, causing the first paper tube clamp 17 to close. Then, the third cylinder 18 and the fourth cylinder 113 retract, and the paper tube dropping clamp 111 and the second paper tube clamp 116 return to their separated state, causing the original second-to-last paper tube to fall onto the closed first paper tube holder 117, thus completing one unloading action. The first guide rod 16 guides the movement of the first connecting block 15, the second guide rod 110 guides the movement of the second connecting block 19, and the third guide rod 115 guides the movement of the third connecting block 114. The mounting plate 112 is used to mount the fourth cylinder 113. The first conveyor line 2 transports the paper tube to the shifting position, where the first shifting assembly 3 performs the shifting operation. The first electric telescopic rod 34 drives the first connecting frame 35 to move downward, guided by the fourth guide rod 37, until the first pneumatic gripper 36 on the first connecting frame 35 moves to the material picking position and picks up the paper tube. Then, the first electric telescopic rod 34 drives the first connecting frame 35 to move upward and reset. Then, the first linear module 32 on the first mounting frame 31 drives the second moving frame 33 to move to the target position of the displacement. The first electric telescopic rod 34 drives the first connecting frame 35 to move downward until the first pneumatic gripper 36 on the first connecting frame 35 moves to the material dispensing position and releases the paper tube. Then, the first electric telescopic rod 34 and the first linear module 32 reset, completing one displacement action.The paper tube unloading and displacement can be achieved through the lower paper tube assembly 1, the second conveyor line 4, and the second shifting assembly 5. Specifically, the lower paper tube assembly 1 operates as described above. The second linear module 41 on the second conveyor line 4 drives the third moving frame 42 to move upward, so that the first suction clamp 43 passes through the hole on the chain plate and fits against the bottom of the last paper tube on the second paper tube holder 44. At this time, the first suction clamp 43 adsorbs the paper tube, and the second linear module 41 drives the third moving frame 42 to move downward, thus moving the last paper tube down into the hole on the chain plate. Then, the first suction clamp 43 releases the paper tube, and the second linear module 41 drives the third moving frame 42 to return to the initial position, thus completing one unloading action. The second conveyor line 4 can transport the paper tube unloaded by the lower paper tube assembly 1 and the first suction clamp 43 to the displacement position, where the second shifting assembly 5 will perform the displacement. The shifting operation is initiated by the second electric telescopic rod 56 driving the second connecting frame 57 to move downwards, guided by the fifth guide rod 59, until the second pneumatic gripper 58 on the second connecting frame 57 moves to the material-picking position and grips the paper tube. Then, the second electric telescopic rod 56 drives the second connecting frame 57 to move upwards and reset. Next, the motor 53 on the fourth moving frame 52 drives the gear 54, which rolls along the rack 55 on the second mounting frame 51, causing the fourth moving frame 52 to move to the target shifting position. The second electric telescopic rod 56 then drives the second connecting frame 57 to move downwards until the second pneumatic gripper 58 on the second connecting frame 57 moves to the material-releasing position and releases the paper tube. Immediately afterward, the second electric telescopic rod 56 resets, and the motor 53 drives the fourth moving frame 52 to reset, completing one shifting action.The paper tube unloading and displacement can be achieved through the lower paper tube assembly 1, the third conveyor line 6, and the third shifting assembly 7. Specifically, the lower paper tube assembly 1 operates as described above. The third linear module 61 on the third conveyor line 6 drives the fifth moving frame 62 to move upward, so that the second suction clamp 63 passes through the hole on the chain plate and fits against the bottom of the last paper tube on the third paper tube holder 64. At this time, the second suction clamp 63 adsorbs the paper tube, and the third linear module 61 drives the fifth moving frame 62 to move downward, thus moving the last paper tube down into the hole on the chain plate. Then, the second suction clamp 63 releases the paper tube, and the third linear module 61 drives the fifth moving frame 62 to return to the initial position, thus completing one unloading action. The third conveyor line 6 can transport the paper tubes unloaded by the lower paper tube assembly 1 and the second suction clamp 63. Upon reaching the shift position, the third shifting component 7 performs the shifting operation. The third electric telescopic rod 74 drives the third connecting frame 75 downwards, guided by the sixth guide rod 77, until the third pneumatic gripper 76 on the third connecting frame 75 moves to the material-grabbing position and grips the paper tube. Then, the third electric telescopic rod 74 drives the third connecting frame 75 upwards to reset. Next, the fourth linear module 72 on the third mounting frame 71 drives the sixth moving frame 73 to move to the target shift position. The third electric telescopic rod 74 then drives the third connecting frame 75 downwards until the third pneumatic gripper 76 on the third connecting frame 75 moves to the material-releasing position, releasing the paper tube. Immediately, the third electric telescopic rod 74 and the fourth linear module 72 reset, completing one shifting action.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An automatic paper tube and egg carton transfer robot, comprising a first conveyor line (2), characterized in that: A first shifting component (3) is installed on the first conveyor line (2). The first shifting component (3) includes a first mounting frame (31) and the first mounting frame (31) is fixedly connected to the first conveyor line (2). A first linear module (32) is fixedly connected to the first mounting frame (31). A second moving frame (33) is fixedly connected to the output end of the first linear module (32). A first electric telescopic rod (34) is fixedly connected to the second moving frame (33). A first connecting frame (35) is fixedly connected to the output end of the first electric telescopic rod (34). A plurality of first pneumatic grippers (36) are fixedly connected to the first connecting frame (35).

2. The automatic paper tube and egg carton shifting robot according to claim 1, characterized in that: Multiple fourth guide rods (37) are fixedly connected to the first connecting frame (35), and the fourth guide rods (37) slide through the second moving frame (33).

3. The automatic paper tube and egg carton shifting robot according to claim 1, characterized in that: Multiple paper tube assemblies (1) are installed on the first conveyor line (2). The paper tube assembly (1) includes a fixed frame (11), a first movable frame (12), a first cylinder (13), a second cylinder (14), a first connecting block (15), a first guide rod (16), a first paper tube clamp (17), a third cylinder (18), a second connecting block (19), a second guide rod (110), a paper tube drop clamp (111), a mounting plate (112), a fourth cylinder (113), a third connecting block (114), a third guide rod (115), a second paper tube clamp (116), a first paper tube frame (117), and a through groove (118). The fixed frame (11) is fixedly connected to the first conveyor line (2). The fixed frame (11) has a through groove (118). The first paper tube frame (117) is fixedly connected to the fixed frame (11) at the position corresponding to the through groove (118).

4. The automatic paper tube and egg carton shifting robot according to claim 3, characterized in that: The fixed frame (11) is slidably connected to a first movable frame (12), and a second cylinder (14) is fixedly connected to the outer walls on both sides of the first movable frame (12). A first connecting block (15) is fixedly connected to the output end of the second cylinder (14), and a first paper tube clamp (17) is fixedly connected to the first connecting block (15).

5. The automatic paper tube and egg carton shifting robot according to claim 4, characterized in that: Multiple first guide rods (16) are fixedly connected to the first connecting block (15), and the first guide rods (16) slide through the first movable frame (12).

6. The automatic paper tube and egg carton shifting robot according to claim 4, characterized in that: The first cylinder (13) is fixedly connected to the fixed frame (11), and the output end of the first cylinder (13) is fixedly connected to the first movable frame (12).

7. The automatic paper tube and egg carton shifting robot according to claim 6, characterized in that: A third cylinder (18) is fixedly connected to both outer walls of the first movable frame (12), and the third cylinder (18) is located at the top of the second cylinder (14). A second connecting block (19) is fixedly connected to the output end of the third cylinder (18), and a paper drop tube clamp (111) is fixedly connected to the second connecting block (19), and the paper drop tube clamp (111) is located at the top of the first paper support tube clamp (17).

8. The automatic paper tube and egg carton shifting robot according to claim 7, characterized in that: Multiple second guide rods (110) are fixedly connected to the second connecting block (19), and the second guide rods (110) slide through the first movable frame (12).

9. The automatic paper tube and egg carton shifting robot according to claim 7, characterized in that: The third cylinder (18) is provided with a fourth cylinder (113) at its top. A mounting plate (112) is fixedly connected to the fourth cylinder (113), and the mounting plate (112) is fixedly connected to the fixed frame (11). A third connecting block (114) is fixedly connected to the output end of the fourth cylinder (113). A second paper tube clamp (116) is fixedly connected to the third connecting block (114), and the second paper tube clamp (116) is located at the top of the paper tube clamp (111).

10. The automatic paper tube unloading and egg carton shifting robot according to claim 9, characterized in that: The third connecting block (114) is fixedly connected with a plurality of third guide rods (115), and the third guide rods (115) slide through the mounting plate (112).

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