Paper tube sucker palletizing robot

Abstract

The utility model belongs to the technical field of paper tube production equipment, and particularly relates to a paper tube sucker stacking robot which comprises a base and a lifting stand column installed on the surface of the base, a cantilever is installed on the surface of the lifting stand column, the paper tube sucker stacking robot is characterized by further comprising a sucker mechanism, the sucker mechanism comprises a servo motor installed at the end of the cantilever, and the servo motor is connected with the lifting stand column. A mounting plate is arranged at the output end of the servo motor, a mounting frame is fixedly connected to the bottom surface of the mounting plate, and a flexible suction cup and a lower pipe table mechanism are fixedly connected to the bottom surface of the mounting frame; the lower tube table mechanism comprises a first lower tube table and a second lower tube table which are arranged on one side of the base, and a paper tube placed on the surface of the second lower tube table; the problems that an existing palletizing robot is unstable in adsorption, low in grabbing precision and low in palletizing efficiency in the paper tube palletizing process are solved.

Description

Technical Field

[0001] This utility model belongs to the technical field of paper tube production equipment, specifically relating to a paper tube suction cup palletizing robot. Background Technology

[0002] In the paper tube manufacturing industry, paper tube palletizing is an important and tedious task. Traditional palletizing methods rely heavily on manual operation, which is not only inefficient and labor-intensive, but also prone to problems such as uneven palletizing and product damage. With the development of industrial automation, although some palletizing robots have emerged, existing palletizing robots have shortcomings when dealing with products like paper tubes, which have special shapes and fragile surfaces. These include unstable adsorption and low gripping accuracy, failing to meet the demand for efficient and high-quality paper tube palletizing.

[0003] To address this issue, a paper tube suction cup palletizing robot was designed. Utility Model Content

[0004] To address the problems mentioned in the background section, this invention provides a paper tube suction cup palletizing robot, which solves the problems of unstable suction, low gripping accuracy, and low palletizing efficiency in existing palletizing robots during the paper tube palletizing process.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a paper tube suction cup palletizing robot, comprising a base and a lifting column mounted on the surface of the base, wherein a cantilever is mounted on the surface of the lifting column, characterized in that it further comprises:

[0006] A suction cup mechanism, comprising a servo motor mounted on the end of the cantilever, an output plate provided with the output end of the servo motor, a mounting frame fixedly connected to the bottom surface of the mounting plate, and a flexible suction cup fixedly connected to the bottom surface of the mounting frame;

[0007] The lower tube platform mechanism includes a first lower tube platform and a second lower tube platform disposed on one side of the base, and paper tubes placed on the surfaces of the first lower tube platform and the second lower tube platform.

[0008] In a preferred embodiment of the paper tube suction cup palletizing robot of this utility model, the output end of the servo motor is fixedly connected to a rotating shaft, and the rotating shaft is rotatably connected to the surface of the mounting plate.

[0009] As a preferred embodiment of the paper tube suction cup palletizing robot of this utility model, the flexible suction cup is designed with a pressure sensor inside.

[0010] As a preferred embodiment of the paper tube suction cup palletizing robot of this utility model, the surfaces of the first lower tube platform and the second lower tube platform are both inclined, and a support cylinder is provided between the first lower tube platform and the second lower tube platform. The support cylinder is fixedly connected to the tail end of the first lower tube platform, and the extension shaft of the support cylinder is fixedly connected to a lifting frame.

[0011] As a preferred embodiment of the paper tube suction cup palletizing robot of this utility model, a pushing cylinder is fixedly connected to the surface of the second lower tube platform, and a pushing plate is fixedly connected to the extension shaft of the pushing cylinder. Furthermore, a first alignment plate and a second alignment plate are fixedly connected to the surface of the second lower tube platform respectively.

[0012] As a preferred embodiment of the paper tube suction cup palletizing robot of this utility model, a paper tube palletizing box is provided on the other side of the base, and a brake wheel is installed on the bottom surface of the paper tube palletizing box.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. Both the first and second lower tube platforms are designed with specific inclination angles. This inclination angle design allows the paper tubes to roll naturally downwards on the platform through the action of gravity. The paper tubes are transported to the first lower tube platform by a conveyor belt. The tail end of the first lower tube platform is equipped with a support cylinder. The support cylinder lifts one paper tube at a time and rolls it down to the second lower tube platform. When a certain number of paper tubes are above the second lower tube platform, the paper tube alignment cylinder moves to align the paper tubes, making them neatly arranged on the second lower tube platform. This determines the robot's gripping position and provides a good foundation for subsequent gripping and palletizing.

[0015] 2. The suction cup device uses a specially designed flexible suction cup. This suction cup can fit tightly against the surface of the paper tube while avoiding damage to the paper tube. To ensure the stability of the adsorption, a pressure sensor is designed inside the suction cup. This sensor can monitor the adsorption pressure in real time and feed the pressure data back to the control system so that the adsorption force can be adjusted in time. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the flexible suction cup in this utility model;

[0019] Figure 3 This is a schematic diagram of the mounting plate in this utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the first lower tube platform in this utility model;

[0021] Figure 5 This is a schematic diagram of the structure of the cylinder in this utility model;

[0022] In the picture:

[0023] 1. Base; 11. Lifting column; 12. Cantilever;

[0024] 2. Suction cup mechanism; 21. Servo motor; 22. Mounting plate; 221. Rotating shaft; 23. Mounting bracket; 24. Flexible suction cup;

[0025] 3. Lower tube platform mechanism; 31. First lower tube platform; 32. Second lower tube platform; 33. First alignment plate; 34. Second alignment plate; 35. Alignment pusher; 36. Alignment pusher cylinder; 37. Lifting frame; 38. Support cylinder; 39. Paper tube; 310. Stacking paper tube box. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Example 1

[0028] like Figure 1 As shown;

[0029] A paper tube suction cup palletizing robot includes a base 1 and a lifting column 11 mounted on the surface of the base 1, with a cantilever 12 mounted on the surface of the lifting column 11.

[0030] In this implementation plan: With the development of industrial automation, although some palletizing robots have emerged, existing palletizing robots have shortcomings such as unstable adsorption and low grasping accuracy when dealing with products like paper tubes, which have special shapes and easily damaged surface materials. They cannot meet the needs of efficient and high-quality paper tube palletizing. To solve this technical problem, a suction cup mechanism 2 and a tube lowering platform mechanism 3 are added on this basis.

[0031] Furthermore:

[0032] like Figures 1 to 5 As shown:

[0033] In combination with the above, it also includes:

[0034] The suction cup mechanism 2 includes a servo motor 21 installed at the end of the cantilever 12. The output end of the servo motor 21 is provided with a mounting plate 22. The bottom surface of the mounting plate 22 is fixedly connected to a mounting bracket 23. The bottom surface of the mounting bracket 23 is fixedly connected to a flexible suction cup 24.

[0035] The lower tube platform mechanism 3 includes a first lower tube platform 31 and a second lower tube platform 32 disposed on one side of the base 1, and a paper tube 39 placed on the surface of the first lower tube platform 31 and the second lower tube platform 32.

[0036] In this embodiment: the suction cup mechanism 2 is driven by a servo motor 21 installed at the end of the cantilever 12. The servo motor 21 can precisely control the movement, and its output end drives the mounting plate 22 to rotate. The mounting bracket 23 on the bottom surface of the mounting plate 22 is used to fix the flexible suction cup 24. The flexible suction cup 24 can better adapt to the surface shape of the paper tube 39 and achieve stable adsorption. The lower tube platform mechanism 3 is set on one side of the base 1 and includes a first lower tube platform 31 and a second lower tube platform 32. The paper tube 39 is placed on the surface of the first lower tube platform 31 and the second lower tube platform 32. These two lower tube platforms are used to temporarily store and transport the paper tube 39 and provide a source of paper tube 39 for the palletizing operation.

[0037] It should be noted that the base 1, lifting column 11 and cantilever 12 are described in the patent application No. 202520519329.2 for a large-diameter paper tube unloading and placement robot, and will not be described in detail again.

[0038] Furthermore:

[0039] In an optional embodiment, the output end of the servo motor 21 is fixedly connected to a rotating shaft 221, which is rotatably connected to the surface of the mounting plate 22.

[0040] In this embodiment, the output end of the servo motor 21 is fixedly connected to a rotating shaft 221, which is rotatably connected to the surface of the mounting plate 22. This design further facilitates the angle adjustment of the flexible suction cup 24 to adapt to different palletizing requirements or the placement position of the paper tube 39.

[0041] Furthermore:

[0042] In an optional embodiment, the flexible suction cup 24 is internally designed with a pressure sensor.

[0043] In this embodiment, the flexible suction cup 24 is equipped with a pressure sensor. This sensor can monitor the adsorption pressure in real time and feed the pressure data back to the control system so that the adsorption force can be adjusted in a timely manner.

[0044] Furthermore:

[0045] In an optional embodiment, the platforms of the first lower tube platform 31 and the second lower tube platform 32 are both inclined, and a support cylinder 38 is provided between the first lower tube platform 31 and the second lower tube platform 32. The support cylinder 38 is fixedly connected to the tail end of the first lower tube platform 31, and the extension shaft of the support cylinder 38 is fixedly connected to a lifting frame 37.

[0046] In this embodiment, a support cylinder 38 is provided between the first lower tube platform 31 and the second lower tube platform 32. It is fixedly connected to the tail end of the first lower tube platform 31. The extension shaft of the support cylinder 38 is fixedly connected to the lifting frame 37. The support cylinder 38 can control the lifting and lowering of the lifting frame 37. Since the platforms of the first lower tube platform 31 and the second lower tube platform 32 are inclined, the paper tube 39 conveyed to the surface of the first lower tube platform 31 by the conveyor belt will automatically roll down to the tail end of the first lower tube platform 31. Then, the support cylinder 38 and the lifting frame 37 will lift the rolling paper tube 39 and roll it down to the second lower tube platform 32.

[0047] Furthermore:

[0048] In an optional embodiment, a push-aligning cylinder 36 is fixedly connected to the surface of the second lower tube platform 32, and a push-aligning plate 35 is fixedly connected to the extension shaft of the push-aligning cylinder 36. A first alignment plate 33 and a second alignment plate 34 are fixedly connected to the surface of the second lower tube platform 32, respectively.

[0049] In this implementation scheme: Since the surface of the second lower tube platform 32 is provided with a pushing cylinder 36 and a pushing plate 35, and is also provided with a corresponding first alignment plate 33 and a second alignment plate 34, the pushing cylinder 36 drives the pushing plate 35 to cooperate with the first alignment plate 33 and the second alignment plate 34 to push the paper tube 39 lifted onto the second lower tube platform 32 to align.

[0050] It should be noted that the second alignment plate 34 is located on the opposite side of the push alignment plate 35, and the first alignment plate 33 is located at the tail end of the second lower tube platform 32.

[0051] Furthermore:

[0052] In an optional embodiment, a stacking paper tube box 310 is provided on the other side of the base 1, and a brake wheel is installed on the bottom surface of the stacking paper tube box 310.

[0053] In this embodiment: a paper tube stacking box 310 is provided on the other side of the base 1 to store paper tubes 39 after stacking. The bottom surface of the paper tube stacking box 310 is equipped with brake wheels, which make the paper tube stacking box 310 easy to move and position. When it is necessary to move the stacked paper tubes 39, the paper tube stacking box 310 can be moved easily; when it reaches the designated position, the position is locked by the brake wheels to prevent it from moving at will.

[0054] It should be noted that the paper tube suction cup palletizing robot is equipped with a control system. This control system is equipped with an advanced programmable logic controller (PLC). The robot's movements are controlled by a preset program. The PLC precisely adjusts the robot's movement trajectory and the suction force of the suction cup based on information fed back from the sensors, such as the position of the paper tube box 310 and the suction pressure, thereby realizing the automation and precise control of the paper tube 39 palletizing process.

[0055] Through precise coordination of sensors and control system, after the sensor on the lower tube platform detects that the paper tube 39 has reached the set number, the suction cup descends and adsorbs the paper tube 39. When the adsorption pressure reaches the set value, the suction cup maintains the adsorption state. Then the suction cup rises. At the same time, the position of the palletizing paper tube box 310 is detected and the detection data is transmitted to the PLC. The PLC controls the cantilever 12 to move above the palletizing paper tube box 310 based on these detection data, in preparation for subsequent palletizing and placement.

[0056] After the cantilever 12 transports the paper tube 39 to the designated paper tube stacking box 310, the suction cup descends to the appropriate stacking height. At this point, the negative pressure is stopped, and the paper tube 39 is placed inside the paper tube stacking box 310, completing one stacking operation. By repeating the above steps, continuous stacking of the paper tube 39 can be achieved.

[0057] Working principle: The suction cup mechanism 2 is driven by a servo motor 21 installed at the end of the cantilever 12. The servo motor 21 can precisely control the movement, and its output end drives the mounting plate 22 to rotate. The mounting bracket 23 on the bottom surface of the mounting plate 22 is used to fix the flexible suction cup 24. The flexible suction cup 24 can better adapt to the surface shape of the paper tube 39 and achieve stable adsorption. The lower tube platform mechanism 3 is set on one side of the base 1, including a first lower tube platform 31 and a second lower tube platform 32. The paper tube 39 is placed on the surface of the first lower tube platform 31 and the second lower tube platform 32. These two lower tube platforms are used to temporarily store and transport the paper tube 39, providing a source of paper tube 39 for palletizing operations. The output end of the servo motor 21 is fixedly connected to a rotating shaft 221, which is rotatably connected to the surface of the mounting plate 22. This design further facilitates the angle adjustment of the flexible suction cup 24 to adapt to different palletizing requirements or the placement position of the paper tube 39. The flexible suction cup 24 is designed with a pressure sensor inside. This sensor can monitor the adsorption pressure in real time and feed the pressure data back to the control system so as to adjust the adsorption force in time. A support cylinder 38 is installed between the first and second lower tube platforms 31 and fixedly connected to the tail end of the first lower tube platform 31. The extension shaft of the support cylinder 38 is fixedly connected to a lifting frame 37. The support cylinder 38 can control the lifting and lowering of the lifting frame 37. Because the surfaces of the first and second lower tube platforms 31 and 32 are at an angle, the paper tubes 39 conveyed to the surface of the first lower tube platform 31 by the conveyor belt will automatically roll down to the tail end of the first lower tube platform 31. Then, the support cylinder 38 and the lifting frame 37 lift the rolling paper tubes 39 and roll them down to the second lower tube platform 32. The surface of the second lower tube platform 32 is equipped with a aligning cylinder 36 and an aligning plate 35, along with corresponding first alignment plates 33 and second alignment plates 34. The aligning cylinder 36 drives the aligning plate 35 to work in conjunction with the first and second alignment plates 33 and 34 to align the paper tubes 39 lifted onto the second lower tube platform 32. A stacking paper tube box 310 is located on the other side of the base 1 to store the paper tubes 39 after stacking. The bottom of the stacking paper tube box 310 is equipped with brake wheels, which facilitate movement and positioning. When it is necessary to move the stacked paper tubes 39, the stacking paper tube box 310 can be moved easily; once it reaches the designated position, the brake wheels lock the position to prevent unauthorized movement.

[0058] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A paper tube suction cup palletizing robot, comprising a base (1) and a lifting column (11) mounted on the surface of the base (1), wherein a cantilever (12) is mounted on the surface of the lifting column (11), characterized in that, Also includes: The suction cup mechanism (2) includes a servo motor (21) installed at the end of the cantilever (12). The output end of the servo motor (21) is provided with a mounting plate (22). The bottom surface of the mounting plate (22) is fixedly connected to a mounting bracket (23). The bottom surface of the mounting bracket (23) is fixedly connected to a flexible suction cup (24). The lower tube platform mechanism (3) includes a first lower tube platform (31) and a second lower tube platform (32) disposed on one side of the base (1) and a paper tube (39) placed on the surface of the first lower tube platform (31) and the second lower tube platform (32).

2. The paper tube suction cup palletizing robot according to claim 1, characterized in that: The output end of the servo motor (21) is fixedly connected to a rotating shaft (221), which is rotatably connected to the surface of the mounting plate (22).

3. The paper tube suction cup palletizing robot according to claim 1, characterized in that: The flexible suction cup (24) is equipped with a pressure sensor.

4. The paper tube suction cup palletizing robot according to claim 1, characterized in that: The platforms of the first lower tube platform (31) and the second lower tube platform (32) are both inclined, and a support cylinder (38) is provided between the first lower tube platform (31) and the second lower tube platform (32). The support cylinder (38) is fixedly connected to the tail end of the first lower tube platform (31), and the extension shaft of the support cylinder (38) is fixedly connected to a lifting frame (37).

5. The paper tube suction cup palletizing robot according to claim 1, characterized in that: A push-align cylinder (36) is fixedly connected to the surface of the second lower tube platform (32), and a push-align plate (35) is fixedly connected to the extension shaft of the push-align cylinder (36). A first alignment plate (33) and a second alignment plate (34) are fixedly connected to the surface of the second lower tube platform (32).

6. The paper tube suction cup palletizing robot according to claim 1, characterized in that: A stacking paper tube box (310) is provided on the other side of the base (1), and a brake wheel is installed on the bottom surface of the stacking paper tube box (310).

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