Mechanical hand transfer device for toothpaste tube processing

Abstract

The application discloses a mechanical hand transfer device for toothpaste tube processing, and relates to the field of mechanical hands for toothpaste tube processing.The three-axis gantry mechanical hand is provided with a vacuum chuck for adsorbing toothpaste tubes at the end effector.The surface of the vacuum chuck is symmetrically provided with a plurality of limiting rings for limiting the toothpaste tubes on one side.The limiting rings are provided with a plurality of anti-falling plates at the ends away from the vacuum chuck for preventing the toothpaste tubes from falling during the adsorption process of the vacuum chuck.After the toothpaste tubes are adsorbed by the vacuum chuck, the driving mechanism can drive the symmetrically arranged limiting rings and anti-falling plates to move oppositely.The limiting rings realize the "radial centering" of the toothpaste tubes, avoiding the position deviation of the toothpaste tubes due to the deviation of the gravity center.Meanwhile, the anti-falling plates form axial support for the ends of the toothpaste tubes away from the vacuum chuck, greatly reducing the risk of damage of the toothpaste tubes due to falling during the transfer process and improving the stability of the toothpaste tubes during the transfer process.

Description

Technical Field

[0001] This application relates to the field of robotic arms for toothpaste tube processing, and in particular to a robotic arm transfer device for toothpaste tube processing. Background Technology

[0002] As a daily necessity, toothpaste has seen a steady increase in market demand. Toothpaste tubes are containers for storing toothpaste and preventing the active ingredients in the toothpaste from oxidizing due to contact with the external environment. Toothpaste tube processing involves a complete production line with multiple processes, including substrate cutting, molding, printing, and pre-treatment before filling. During these processes, toothpaste tubes need to be transferred via a transfer device.

[0003] Most transfer devices use a three-axis gantry robot in conjunction with a vacuum suction cup to transfer toothpaste tubes. However, during the transfer process, if the vacuum suction cup suddenly experiences a negative pressure leak (such as aging of the sealing ring or blockage of the air passage), the suction cup may not be able to support the weight of the toothpaste tube, causing the toothpaste tube to fall off the suction cup and collide with the equipment surface or the ground. This can result in structural damage such as tube deformation and port cracking, reducing the stability of the toothpaste tube during the transfer process. Utility Model Content

[0004] In order to improve the problem that the toothpaste tube may fall off and be damaged due to the sudden failure of the vacuum suction cup during transfer, which reduces the suction force of the suction cup. This application provides a robotic transfer device for toothpaste tube processing.

[0005] The robotic transfer device for toothpaste tube processing provided in this application adopts the following technical solution:

[0006] A robotic transfer device for toothpaste tube processing includes a three-axis truss robotic arm. The end effector of the three-axis truss robotic arm is a vacuum suction cup for adsorbing toothpaste tubes. Multiple limiting rings for limiting the toothpaste tubes are symmetrically arranged on one side of the surface of the vacuum suction cup. Multiple anti-fall plates are arranged at the end of the limiting rings away from the vacuum suction cup to prevent the toothpaste tubes from falling during the adsorption process of the vacuum suction cup.

[0007] One side of the surface of the vacuum suction cup is provided with a driving mechanism for driving the limiting ring and the anti-fall plate to move in opposite directions. Before the vacuum suction cup adsorbs the toothpaste tube, every two limiting rings and the anti-fall plate are in a state of being far apart from each other. After the vacuum suction cup adsorbs the toothpaste tube, every two limiting rings and the anti-fall plate gradually move closer together through the driving mechanism to limit the toothpaste tube and prevent it from falling.

[0008] By adopting the above technical solution, after the vacuum suction cup adsorbs the toothpaste tube, the limiting ring and the anti-fall plate are driven to move closer to each other through the driving mechanism, so that the limiting ring limits the toothpaste tube and achieves "radial centering". This prevents the toothpaste tube from shifting due to the center of gravity after adsorption. At the same time, the anti-fall plate provides axial support to the end of the toothpaste tube away from the vacuum suction cup, preventing the toothpaste tube from falling due to its own weight or the failure of the vacuum suction cup, thus improving the stability of the toothpaste tube during the transportation process.

[0009] Preferably, the driving mechanism includes a driving box disposed on one side of the surface of the vacuum suction cup, a micro geared motor disposed inside the driving box, a bidirectional lead screw disposed inside the driving box at the output end of the micro geared motor, transmission blocks disposed inside the driving box symmetrically disposed on the surface of the bidirectional lead screw, and a driving rod disposed on the side of the transmission block near the limiting ring near the surface of the driving box.

[0010] By adopting the above technical solution, the micro geared motor provides power to the bidirectional lead screw, so that the output end of the micro geared motor drives the bidirectional lead screw to rotate, and the bidirectional lead screw drives two transmission blocks to move in opposite directions, so that the two transmission blocks drive two drive rods to move in opposite directions.

[0011] Preferably, the end of the drive rod near the limiting ring is provided with a connecting rod for connecting multiple limiting rings, and the two ends of the connecting rod are provided on the surface of two limiting rings.

[0012] By adopting the above technical solution, the two drive rods drive the two connecting rods to move in opposite directions, which in turn drive the two limiting rings to move in opposite directions, and the two limiting rings to move the two anti-fall plates in opposite directions. This allows the two limiting rings to limit the toothpaste tube while the anti-fall plates prevent the toothpaste tube from falling.

[0013] Preferably, a guide block disposed inside the drive box is provided on the side of the transmission block away from the limiting ring.

[0014] By adopting the above technical solution, the transmission block is guided by the guide block during the movement process, preventing the transmission block from deviating during the movement.

[0015] Preferably, microswitches are symmetrically arranged on one side of the drive rod surface on the side of the drive box near the limiting ring.

[0016] By adopting the above technical solution, when the drive rod slides on the side of the drive box near the limit ring, the micro switch controls the micro geared motor to shut down when the drive rod presses the micro switch contact, thus stopping the drive rod from moving and controlling the movement stroke of the drive rod.

[0017] Preferably, the end of the limiting ring away from the fall arrestor is provided with a limiting block disposed on one side of the surface of the vacuum suction cup, and the limiting block is used to limit the limiting ring.

[0018] By adopting the above technical solution, the limiting ring can be made to move stably on the surface of the vacuum chuck by the limiting block, thus preventing the limiting ring from falling off the surface of the vacuum chuck.

[0019] Preferably, a mounting bracket for installing a power module is provided on one side of the surface of the vacuum suction cup.

[0020] By adopting the above technical solution, the power module is installed through the mounting bracket, so that the power module provides a power source for the drive mechanism.

[0021] Preferably, the limiting ring and the fall arrestor are made of 6061-T6 aluminum alloy, and the inner surface of the limiting ring and the fall arrestor is provided with a food-grade soft silicone layer.

[0022] By adopting the above technical solution, a silicone layer is provided on the inner surface of the limiting ring and the anti-fall plate to prevent the material of the limiting ring and the anti-fall plate from scratching the toothpaste tube, so that the surface of the toothpaste tube will not be damaged during transportation.

[0023] In summary, this application includes at least one of the following beneficial technical effects:

[0024] 1. After the toothpaste tube is picked up by the vacuum suction cup, the drive mechanism can drive the symmetrically arranged limiting ring and anti-fall plate to move in opposite directions. The limiting ring achieves "radial centering" of the toothpaste tube, avoiding positional displacement of the toothpaste tube due to the shift of the center of gravity. At the same time, the anti-fall plate provides axial support to the end of the toothpaste tube away from the suction cup. Even if the vacuum suction cup has insufficient negative pressure or malfunctions, it can prevent the toothpaste tube from falling, greatly reducing the risk of toothpaste tube falling and being damaged during transportation, and improving the stability of the toothpaste tube during transportation.

[0025] 2. By setting a food-grade soft silicone layer on the inner surface of the limiting ring and the anti-fall plate, the structural strength of the limiting ring and the anti-fall plate can be guaranteed while avoiding scratches on the surface of the toothpaste tube, thus ensuring the quality of the toothpaste tube during transportation. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the present application;

[0027] Figure 2 For this application Figure 1 Enlarged view of point A in the middle;

[0028] Figure 3 This is a partial three-dimensional structural schematic diagram of this application;

[0029] Figure 4This is a schematic diagram of the exploded structure of the vacuum suction cup, limiting ring, and fall arrestor plate of this application;

[0030] Figure 5 For this application Figure 4 Enlarged view of point B in the middle;

[0031] Figure 6 This is a partial structural diagram of the limiting ring and fall arrestor plate of this application;

[0032] Figure 7 For this application Figure 6 Enlarged view of point C in the middle;

[0033] Figure 8 For this application Figure 7 Enlarged diagram of point D in the middle.

[0034] Reference numerals: 1. Three-axis gantry robot; 2. Vacuum suction cup; 21. Limiting groove;

[0035] 3. Limit ring; 31. Limit block;

[0036] 4. Fall arrestor plate; 5. Connecting rod;

[0037] 6. Drive mechanism; 61. Drive box; 611. Guide groove; 612. Sliding space;

[0038] 62. Miniature geared motor; 63. Double-acting lead screw;

[0039] 64. Transmission block; 641. Guide block; 65. Drive rod;

[0040] 7. Micro switch; 8. Mounting bracket. Detailed Implementation

[0041] The following is in conjunction with the appendix Figures 1-8 This application will be described in further detail.

[0042] This application discloses a robotic transfer device for toothpaste tube processing.

[0043] Reference Figure 1 A robotic transfer device for toothpaste tube processing includes a three-axis gantry robot 1. The three-axis gantry robot 1 includes a drive system, a transmission mechanism, a motion guide mechanism, a mechanical frame mechanism, and an end effector and control system. The control system includes a motion controller, a PLC, a human-machine interface (HMI, such as a touch screen), and sensors (such as position sensors, photoelectric sensors, and force sensors). The end effector of the three-axis gantry robot 1 is a vacuum suction cup 2 for adsorbing toothpaste tubes, and an SMCISE80 series negative pressure sensor is installed to monitor negative pressure fluctuations in real time.

[0044] It should be noted that:

[0045] The operation process of the three-axis gantry robot 1:

[0046] Operators set task parameters (such as grab point coordinates and placement point coordinates) through the HMI;

[0047] The motion controller plans the motion paths along the X, Y, and Z axes and sends control signals to the servo driver;

[0048] The servo motor drives the transmission mechanism (ball screw / synchronous belt) to move, and the linear guide rail constrains the slide to move along the set direction;

[0049] The end effector (i.e., vacuum suction cup 2) reaches the gripping point and completes the gripping of the toothpaste tube;

[0050] Multi-axis coordinated motion transports the toothpaste tube to the target position and releases the toothpaste tube;

[0051] The sensor provides real-time feedback on the status, and the control system determines whether the task has been completed or whether there is a fault (such as an alarm if the toothpaste tube is not picked up).

[0052] The above processes are all existing technologies, and the specific processes and principles of motion will not be described in detail.

[0053] Reference Figures 1-7 Multiple limiting rings 3 for limiting the toothpaste tube are symmetrically abutted on one side of the surface of the vacuum suction cup 2. A limiting block 31 is fixedly connected to the end of the limiting ring 3 near the vacuum suction cup 2. The surface of the limiting block 31 is cross-shaped. A limiting groove 21 adapted to the limiting block 31 is opened on the surface of the vacuum suction cup 2 near the limiting ring 3. The surface of the limiting block 31 abuts against the inner wall of the limiting groove 21, so that the limiting block 31 can slide stably inside the limiting groove 21, thereby ensuring that the limiting ring 3 slides stably on one side of the surface of the vacuum suction cup 2 and preventing the limiting ring 3 from falling off or shifting during the sliding process. Multiple anti-fall plates 4 for preventing the toothpaste tube from falling during the adsorption process of the vacuum suction cup 2 are fixedly connected to the end of the limiting ring 3 away from the vacuum suction cup 2. The anti-fall plates 4 are semi-circular. A driving mechanism 6 for driving the limiting ring 3 and the anti-fall plates 4 to move in opposite directions is provided on one side of the surface of the vacuum suction cup 2.

[0054] The drive mechanism 6 includes a drive box 61 fixedly connected to the side of the vacuum suction cup 2 near the surface of the limiting ring 3. A micro geared motor 62 is fixedly connected inside the drive box 61. A bidirectional lead screw 63 is fixedly connected to the output end of the micro geared motor 62. The end of the bidirectional lead screw 63 away from the micro geared motor 62 is rotatably connected to the side wall of the drive box 61 away from the micro geared motor 62 through a bearing. The bearing includes an inner ring, an outer ring, rolling elements, and a cage. The bearing is an existing and mature technology. The principle of the bearing will not be described in detail. The outer ring of the bearing at the end of the bidirectional lead screw 63 away from the micro geared motor 62 is fixedly connected to the side wall of the drive box 61 away from the micro geared motor 62.

[0055] A transmission block 64 is symmetrically threaded onto the surface of the bidirectional lead screw 63. A guide block 641 is fixedly connected to the side of the transmission block 64 away from the limiting ring 3. A guide groove 611 adapted to the guide block 641 is opened on the side wall of the drive box 61 away from the limiting ring 3. The surface of the guide block 641 abuts against the inner wall of the guide groove 611, so that the guide block 641 can slide stably inside the guide groove 611. A drive rod 65 is fixedly connected to the end of the transmission block 64 away from the guide block 641. A sliding space 612 is opened on the side of the drive box 61 near the limiting ring 3. The surface of the drive rod 65 abuts against the inner wall of the sliding space 612, so that the drive rod 65 can slide on the side of the drive box 61 near the limiting ring 3. A connecting rod 5 is fixedly connected to the end of the drive rod 65 away from the transmission block 64. The two ends of the connecting rod 5 are fixedly connected to the surface between the two limiting rings 3, and a connecting rod 5 is provided between every two limiting rings 3.

[0056] It should be noted that when the bidirectional lead screw 63 rotates clockwise, it causes the two guide blocks 641 to move closer to each other; when the bidirectional lead screw 63 rotates counterclockwise, it causes the two guide blocks 641 to move further apart.

[0057] The self-locking between the two-way lead screw 63 and the transmission block 64 depends on the relationship between the helix angle λ and the friction angle φ. The friction angle φ = arctan(f), where f is the friction coefficient of the threaded pair (dry friction between steel and steel threads). When f ≈ 0.1-0.15, the corresponding φ ≈ 5.7°-8.5°.

[0058] When the pitch is 1.5mm and the mean diameter is 10mm, λ=arctan(1.5 / 10π)=2.7°<φ=5.7°, the self-locking effectiveness is proven.

[0059] When λ≤φ, the bidirectional lead screw 63 and the transmission block 64 have self-locking properties, meaning that axial force cannot drive the threaded pair to rotate automatically.

[0060] The miniature geared motor 62 provides power to the bidirectional lead screw 63, causing the output end of the miniature geared motor 62 to drive the bidirectional lead screw 63 to rotate. The bidirectional lead screw 63 drives two transmission blocks 64 to move in opposite directions. The two transmission blocks 64 drive two drive rods 65 to move. The two drive rods 65 drive two connecting rods 5 to move in opposite directions. The two connecting rods 5 drive two limiting rings 3 to move in opposite directions. The two limiting rings 3 drive two anti-fall plates 4 to move in opposite directions. Thus, while using the limiting rings 3 to limit the toothpaste tube, the anti-fall plates 4 prevent the end of the toothpaste tube away from the vacuum suction cup 2 from falling, ensuring the stability of the toothpaste tube during transportation.

[0061] Reference Figures 7-8 A micro switch 7 is fixedly connected to the side wall of the sliding space 612 away from the drive rod 65, and the contacts of the micro switch 7 face the surface of the drive rod 65.

[0062] It should be noted that the user needs to install the driver and the Advantech EKI-1361 series industrial WiFi communication module inside the driver box 61, connect the driver to the micro geared motor 62, and connect the driver and the Advantech EKI-1361 series industrial WiFi communication module through RS485 or Ethernet to receive the instructions issued by the main controller, so that the main controller can wirelessly control the start of the micro geared motor 62 through the driver.

[0063] The driver is connected to the micro switch 7. When the drive rod 65 moves inside the sliding space 612 to press the contact of the micro switch 7, the micro switch 7 controls the micro geared motor 62 to turn off, so that the drive rod 65 stops moving.

[0064] An industrial WiFi gateway is deployed at the main controller. The industrial WiFi gateway is connected to the main controller via an Ethernet port and acts as the "central node" for wireless communication, managing all slave devices (sensors, drivers).

[0065] The SMCISE80 series negative pressure sensor has a built-in WiFi module and connects to the gateway through the workshop's independent WiFi network (which needs to be deployed separately to avoid conflict with civilian WiFi). It periodically uploads negative pressure values ​​(e.g., every 100ms).

[0066] The control connection between the main controller and the vacuum suction cup 2 is existing technology, and the specific connection process and principle will not be described in detail.

[0067] The three-axis gantry robot 1 drives the Z-axis downward. After the vacuum suction cup 2 contacts the top surface of the toothpaste tube, the vacuum pump starts and establishes negative pressure in the vacuum suction cup 2. The industrial-grade negative pressure sensor (SMCISE80 series, with built-in WiFi module) installed in the air path of the vacuum suction cup 2 collects the negative pressure value in real time. When the pressure stabilizes at the "adsorption success threshold" (e.g., -0.3 to -0.5 MPa, adjusted according to the toothpaste tube material: -0.3 MPa for soft toothpaste tubes to avoid collapsing, and -0.5 MPa for hard toothpaste tubes to ensure firmness) and lasts for 200ms (excluding instantaneous fluctuations to avoid misjudgment), the sensor determines that "adsorption is effective".

[0068] The negative pressure sensor encapsulates the "adsorption success" signal (including negative pressure value, sensor ID, and timestamp) into a Modbus-TCP protocol data frame (including CRC-16 check bits to prevent data errors) via a built-in industrial WiFi module (supporting 5G bands and anti-interference). This frame is then transmitted to the main controller's WiFi gateway via the workshop's independent WiFi network (SSID exclusive, such as "Toothpaste-WiFi"). After receiving the data, the WiFi gateway parses and forwards it to the main controller. The main controller confirms the adsorption status is valid by making dual judgments: "whether the negative pressure value is within the threshold range" and "whether the check bits match" (if the verification fails, the negative pressure sensor is triggered to retransmit, with the number of retransmissions ≤ 3 to ensure timeliness).

[0069] After the main controller confirms successful adsorption, it immediately generates a start command for the micro geared motor 62. The main controller encapsulates the command into a ProfinetIOIRT real-time protocol data frame (delay ≤ 5ms) and sends it to the driver of the micro geared motor 62 through the WiFi gateway, so that the driver controls the micro geared motor 62 to start. When the drive rod 65 moves to press the contact of the micro switch 7, the micro switch 7 controls the micro geared motor 62 to turn off, thus completing the limit and anti-fall treatment of the toothpaste tube.

[0070] Reference Figure 2 A mounting bracket 8 for installing a power module is fixedly connected to one side of the surface of the vacuum suction cup 2. The mounting bracket 8 has an installation space inside for installing the power module. The power module is a 24V DC power supply with an output power of 50W. It is directly connected to the micro geared motor 62 so that the power module provides power to the micro geared motor 62.

[0071] It should be added that the limiting ring 3 and the anti-fall plate 4 are made of 6061-T6 aluminum alloy. The inner surface of the limiting ring 3 and the anti-fall plate 4 is provided with a food-grade soft silicone layer to prevent the limiting ring 3 and the anti-fall plate 4 from damaging the surface of the toothpaste tube when handling it.

[0072] The moving distance of the two limiting rings 3 and the two anti-fall plates 4 is consistent with the radius of the cylindrical toothpaste tube, ensuring that the limiting rings 3 and the anti-fall plates 4 form effective contact on the surface of the toothpaste tube.

[0073] Before the vacuum suction cup 2 picks up the toothpaste tube, each pair of limiting rings 3 and the anti-fall plate 4 are far apart from each other. After the vacuum suction cup 2 picks up the toothpaste tube, each pair of limiting rings 3 and the anti-fall plate 4 gradually move closer together through the drive mechanism 6 to limit the toothpaste tube and prevent it from falling.

[0074] The implementation principle of the robotic transfer device for toothpaste tube processing in this application embodiment is as follows: During use, the three-axis truss robotic arm 1 drives the vacuum suction cup 2 to approach the toothpaste tube and activates the vacuum suction cup 2 to adsorb the toothpaste tube. After confirming that the adsorption state of the vacuum suction cup 2 is effective, the main controller of the three-axis truss robotic arm 1 controls the micro reduction motor 62 to start, so that the output end of the micro reduction motor 62 rotates clockwise, causing the two limiting rings 3 to move closer to each other and limit the adsorbed toothpaste tube. At the same time, the two limiting rings 3 drive the two anti-fall plates 4 to move closer to each other, so that the two limiting rings 3 achieve "radial centering" of the toothpaste tube. At the same time, the surface of the two anti-fall plates 4 near the vacuum suction cup 2 abuts against the end of the toothpaste tube away from the vacuum suction cup 2, thereby preventing the toothpaste tube from falling and ensuring the stability of the toothpaste tube during the transfer process.

[0075] When the drive rod 65 moves to press the contact of the micro switch 7, the micro switch 7 controls the micro geared motor 62 to close, thereby controlling the distance between the two limit rings 3 and preventing excessive squeezing of the toothpaste tube.

[0076] When the toothpaste tube is transferred to the desired position, the main controller of the three-axis gantry robot 1 first controls the micro geared motor 62 to start. At this time, the output end of the micro geared motor 62 rotates counterclockwise, causing the two limit rings 3 to move away from each other and release the limit on the toothpaste tube. Then, the vacuum suction cup 2 is turned off, releasing the suction state of the vacuum suction cup 2 on the toothpaste tube, thereby causing the toothpaste tube to detach from one side of the surface of the vacuum suction cup 2.

[0077] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robotic transfer device for toothpaste tube processing, characterized in that: The device includes a three-axis truss manipulator (1), the end effector of which is a vacuum suction cup (2) for adsorbing toothpaste tubes. Multiple limiting rings (3) for limiting the toothpaste tubes are symmetrically arranged on one side of the surface of the vacuum suction cup (2). Multiple anti-fall plates (4) for preventing the toothpaste tubes from falling during the adsorption process of the vacuum suction cup (2) are arranged at the end of the limiting rings (3) away from the vacuum suction cup (2). The vacuum suction cup (2) is provided with a driving mechanism (6) on one side of its surface for driving the limiting ring (3) and the anti-fall plate (4) to move in opposite directions; Before the vacuum suction cup (2) adsorbs the toothpaste tube, each pair of the limiting rings (3) and the anti-fall plate (4) are far apart from each other. After the vacuum suction cup (2) adsorbs the toothpaste tube, each pair of the limiting rings (3) and the anti-fall plate (4) gradually move closer together through the driving mechanism (6) to limit the toothpaste tube and prevent it from falling.

2. The robotic transfer device for toothpaste tube processing according to claim 1, characterized in that: The drive mechanism (6) includes a drive box (61) disposed on one side of the surface of the vacuum suction cup (2). A micro geared motor (62) is disposed inside the drive box (61). A bidirectional lead screw (63) disposed inside the drive box (61) is disposed at the output end of the micro geared motor (62). A transmission block (64) disposed inside the drive box (61) is symmetrically disposed on the surface of the bidirectional lead screw (63). A drive rod (65) disposed on the side of the transmission block (64) near the limit ring (3) is disposed on the side of the drive box (61) near the limit ring (3).

3. The robotic transfer device for toothpaste tube processing according to claim 2, characterized in that: The drive rod (65) is provided with a connecting rod (5) for connecting multiple limiting rings (3) at one end near the limiting ring (3), and the two ends of the connecting rod (5) are provided on the surface of two limiting rings (3).

4. The robotic transfer device for toothpaste tube processing according to claim 2, characterized in that: A guide block (641) is provided on the side of the transmission block (64) away from the limiting ring (3) and is located inside the drive box (61).

5. The robotic transfer device for toothpaste tube processing according to claim 2, characterized in that: The drive box (61) has micro switches (7) symmetrically arranged on one side of the surface of the drive rod (65) near the limiting ring (3).

6. The robotic transfer device for toothpaste tube processing according to claim 1, characterized in that: The limiting ring (3) is provided with a limiting block (31) on one side of the surface of the vacuum suction cup (2) at the end away from the fall arrestor (4). The limiting block (31) is used to limit the limiting ring (3).

7. The robotic transfer device for toothpaste tube processing according to claim 1, characterized in that: The vacuum chuck (2) has a mounting bracket (8) for installing a power module on one side of its surface.

8. The robotic transfer device for toothpaste tube processing according to claim 1, characterized in that: The limiting ring (3) and the fall arrestor (4) are made of 6061-T6 aluminum alloy, and the inner surface of the limiting ring (3) and the fall arrestor (4) is provided with a food-grade soft silicone layer.

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