CN118456397A - Surplus material corrugated paper roll material taking manipulator - Google Patents

Abstract

The invention discloses a residual corrugated paper roll material taking manipulator, which relates to the technical field of manipulators and comprises a manipulator mechanism, wherein the manipulator mechanism is provided with a glue applying mechanism, the glue applying mechanism comprises a liquid storage tank, a gear pump, two T-shaped blocks and an auxiliary frame, a glue head is movably sleeved at the position, close to the bottom, of the inside of a cylindrical hole, a gear body is arranged in a communication hole, a motor seat is arranged on the front surface of the rectangular block, and a motor body is arranged on the motor seat.

Description

Surplus material corrugated paper roll material taking manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a material taking manipulator for residual corrugated paper rolls.

Background

The automatic operation device can simulate certain action functions of a human hand and an arm, is used for grabbing and carrying objects or operation tools according to a fixed program, can rapidly and accurately finish the coiling action of the corrugated paper residue in the corrugated paper processing process without manual frequent intervention, can greatly improve the overall production efficiency, realize automatic production, and simultaneously can accurately execute the coiling action according to the set program and parameters, can not cause unstable operation quality due to factors such as manual fatigue and emotion, and ensures that better effect can be achieved for each coiling.

In the prior art, in the actual use process, the existing corrugated paper processing waste material rolling and taking manipulator can rapidly and accurately roll up the waste material generated during corrugated paper processing without manual frequent intervention, so that the production efficiency is greatly improved, but the manipulator does not have a gluing function, when the corrugated paper waste material on the manipulator is rolled into a roll with a certain size and needs to be taken down, the worker still needs to manually bond the tail end of the rolled corrugated paper waste material with the rolled corrugated paper waste material together, namely, the workload of the worker is increased, the production efficiency is reduced, the use effect of the waste corrugated paper roll taking manipulator is reduced, and meanwhile, the use efficiency of the waste corrugated paper roll taking manipulator is also reduced.

Therefore, we propose a new residual corrugated paper roll material taking manipulator so as to solve the problems in the prior art.

Disclosure of Invention

The invention aims to provide a residual corrugated paper roll material taking manipulator which solves the problems that the existing corrugated paper processing residual material roll material taking manipulator does not have a gluing function, when corrugated paper residual materials on the manipulator are coiled into rolls with a certain size and need to be taken down, a worker also needs to manually bond the tail end of the coiled corrugated paper residual materials with glue and the coiled corrugated paper residual materials together, so that the workload of the worker is increased, the production efficiency is reduced, the use effect of the residual corrugated paper roll material taking manipulator is reduced, and the use efficiency of the residual corrugated paper roll material taking manipulator is also reduced.

In order to achieve the above purpose, the present invention provides the following technical solutions: the residual corrugated paper roll material taking manipulator comprises a manipulator mechanism, wherein a gluing mechanism is arranged on the manipulator mechanism;

The utility model provides a glue mechanism, including liquid reserve tank, gear pump, two T shape pieces and auxiliary frame, the first connecting pipe is installed to the play liquid end of liquid reserve tank, two be fixed with the rectangle piece between one side of T shape piece, the spout has been seted up to one side of rectangle piece, the inside sliding connection of spout has the slider, one side screw thread of slider runs through has the hand to twist the bolt, the cylinder hole has been seted up at the top of slider, the inside that is close to the bottom position activity in cylinder hole has cup jointed the rubber head, the intercommunicating pore has been seted up to the opposite side of rectangle piece, the auxiliary seat is installed to the opposite side of rectangle piece, the inside of intercommunicating pore is provided with the gear body, the motor cabinet is installed on the positive surface of rectangle piece, the motor body is installed to the output of motor body, a plurality of tooth grooves have been seted up to one side equidistance distribution that the slider is close to the gear body, the second connecting pipe is installed to the play liquid end of gear pump.

Preferably, one end of the hand-screwed bolt abuts against the surface of the rubber head, the inside of the communication hole is communicated with the inside of the sliding groove, one end of the rotating shaft, which is far away from the motor body, is rotationally connected inside the auxiliary seat through the bearing, the distance between two adjacent tooth grooves is the same as the distance between two teeth of the gear body, and each tooth groove is matched with the teeth on the gear body.

Preferably, one of the teeth of the gear body is located in one of the tooth grooves, the liquid inlet end of the gear pump is connected with the liquid outlet end of the first connecting pipe, the liquid outlet end of the second connecting pipe is located in the cylindrical hole, the liquid outlet end of the second connecting pipe is connected with the liquid inlet end of the rubber head, and the second connecting pipe is movably sleeved in the auxiliary frame.

Preferably, the manipulator mechanism comprises a base and a controller, a rotary table is fixed at the top of the base, a mounting seat is mounted at the top rotary end of the rotary table, a first motor is mounted on the surface of the mounting seat, the output end of the first motor movably penetrates through the surface of the mounting seat, and a rear arm is mounted at the output end of the first motor.

Preferably, the surface of the rotating end of the rear arm is contacted with the surface of the mounting seat, the front end surface of the rear arm is provided with a connecting seat, the surface of the connecting seat is provided with a second motor, the output end of the second motor movably penetrates through the surface of the connecting seat, the output end of the second motor is mounted with the surface of the rear arm, and one side of the connecting seat is provided with a gear motor.

Preferably, the output end of the gear motor is provided with a middle arm, the front end surface of the middle arm is provided with a third motor, the output end of the third motor movably penetrates through the surface of the middle arm, the front end surface of the middle arm is provided with a front arm, and the output end of the third motor is installed with the surface of the front arm.

Preferably, the gear pump is electrically connected with the controller, the motor body is electrically connected with the controller, the rotary table, the first motor, the second motor, the gear motor and the third motor are electrically connected with the controller, the liquid storage tank is arranged on the surface of the middle arm, the gear pump is arranged on the surface of the middle arm, and the auxiliary frame is arranged on the surface of the middle arm.

Preferably, the mechanical arm mechanism is provided with a coiling mechanism, the coiling mechanism comprises a connecting block, the top of the connecting block and the bottom of a forearm are installed mutually, two T-shaped blocks are all installed on the connecting block, a rectangular hole is formed in the positive surface of the connecting block, a driving motor is installed on the inner wall of the rectangular hole, the driving motor is electrically connected with a controller, a rotating rod is installed at the output end of the driving motor, the bottom of the rotating rod movably penetrates through the bottom of the inner wall of the rectangular hole, a connector is arranged at the bottom of the connecting block, and the top of the connector is contacted with the bottom of the connecting block.

Preferably, the bottom of bull stick and the top of connector are fixed mutually, the positive surface of connector is provided with the stopper, and the surface of stopper contacts with the positive surface of connector, the bottom of connector is fixed with two round bars, the back surface activity of connector is run through there is the gag lever post, the one end of gag lever post is fixed mutually with the surface of stopper.

Preferably, the back surface activity of connector has two T shape poles that run through, two the one end of T shape pole is all fixed with the surface of stopper mutually, two the one end of T shape pole is all movably sleeved with the spring, two the one end of spring is all installed with the back surface of connector mutually, two the other end of spring is installed with the surface of two T shape poles respectively, the back surface bottom position of connector is fixed with the baffle.

Compared with the prior art, the invention has the beneficial effects that:

1. According to the invention, the glue strips can be coated on the whole surface of the rolled corrugated paper residual material by arranging the gluing mechanism, namely, the tail end of the rolled corrugated paper residual material can be integrally adhered with the rolled corrugated paper residual material by using glue under the action of the glue strips, so that the workload of workers is reduced, the production efficiency is improved, the use effect of the residual material corrugated paper roll material taking manipulator is effectively improved, the use efficiency of the residual material corrugated paper roll material taking manipulator is also reduced, when the glue strips are required to be coated on the whole surface of the rolled corrugated paper residual material, the gear body can be stably rotated by directly using the cooperation of the controller, the motor base, the rotating shaft and the auxiliary base, and then, the moving slide block can be driven to move by using the cooperation of the cylindrical holes and the hand screw bolts, and then the moving slide block can be driven to move by using the cooperation of the cylindrical holes and the hand screw bolts.

2. When the glue head moves to a proper position, the glue in the liquid storage tank can be pumped out by directly utilizing the cooperation of the controller, the gear pump and the first connecting pipe, then the pumped glue can be conveyed into the glue head by utilizing the cooperation of the second connecting pipe and the auxiliary frame, and then the glue strip can be coated on the whole surface of the coiled corrugated paper residual material by utilizing the cooperation of the controller, the motor body, the previous linkage part and the glue head which continuously outputs the glue.

3. According to the invention, through arranging the mechanical arm mechanism, the connecting block can be moved, when the connecting block needs to be moved, the mounting seat can be rotated to a proper angle by utilizing the cooperation of the controller and the rotary table, then the rear arm can be rotated to a proper angle by utilizing the cooperation of the mounting seat, the controller and the first motor, then the gear motor can be rotated to a proper angle by utilizing the cooperation of the controller, the second motor, the rear arm and the connecting seat, then the middle arm can be rotated to a proper angle by utilizing the cooperation of the controller and the gear motor, then the front arm can be rotated to a proper angle by utilizing the cooperation of the middle arm, the third motor and the controller, and the connecting block connected with the front arm can be driven to move by the rotating front arm.

4. According to the invention, by arranging the coiling mechanism, coiling and coiling operations can be performed on the residual materials generated after corrugated paper processing, when the coiling and coiling operations are required to be performed on the residual materials generated after corrugated paper processing, the two round bars can be moved to a proper position by utilizing the cooperation of the mechanical arm mechanism, the connecting block, the rectangular hole, the driving motor, the rotating rod and the connector, when the residual materials of corrugated paper reach the position between the outer surfaces of the two round bars, the stable rotation operation of the rotating rod connected with the two round bars can be realized by utilizing the cooperation of the controller, the driving motor, the connecting block and the rectangular hole, and then the situation that the residual materials of corrugated paper which are continuously coiled do not loosen during coiling can be realized by utilizing the cooperation of the two T-shaped bars, the limiting rods, the connecting head, the two springs and the limiting blocks.

Drawings

FIG. 1 is a perspective view of a residual corrugated paper roll reclaiming robot in accordance with the present invention;

FIG. 2 is a partial perspective view of a manipulator mechanism of the residual corrugated paper roll reclaiming manipulator of the present invention;

fig. 3 is a schematic structural view of a residual corrugated paper roll material taking manipulator according to the present invention;

FIG. 4 is a top view partially in perspective of a residual corrugated paper roll reclaiming robot of the present invention;

FIG. 5 is a bottom perspective view of a portion of a residual corrugated paper roll reclaiming robot according to the present invention;

FIG. 6 is a partial perspective view of a residual corrugated paper roll reclaiming robot in accordance with the present invention;

FIG. 7 is a partial perspective view of the sizing mechanism of the residual corrugated paper roll reclaiming manipulator of the present invention;

fig. 8 is a partially cut-away perspective view of the gluing mechanism of the residual corrugated paper roll reclaiming manipulator of the present invention.

In the figure: 1. a manipulator mechanism; 101. a base; 102. a rotary table; 103. a mounting base; 104. a first motor; 105. a rear arm; 106. a connecting seat; 107. a second motor; 108. a speed reducing motor; 109. a middle arm; 110. a third motor; 111. a forearm; 112. a controller; 2. a coiling mechanism; 201. a connecting block; 202. a rectangular hole; 203. a driving motor; 204. a rotating rod; 205. a connector; 206. a limiting block; 207. a round bar; 208. a T-bar; 209. a spring; 210. a limit rod; 211. a baffle; 3. a sizing mechanism; 301. a liquid storage tank; 302. a gear pump; 303. a first connection pipe; 304. a T-shaped block; 305. rectangular blocks; 306. a chute; 307. a slide block; 308. screwing the bolt by hand; 309. a cylindrical hole; 310. a rubber head; 311. a communication hole; 312. an auxiliary seat; 313. a gear body; 314. a motor base; 315. a motor body; 316. a rotating shaft; 317. tooth slots; 318. a second connection pipe; 319. an auxiliary frame.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

Referring to fig. 1-8, the invention provides a residual corrugated paper roll material taking manipulator, which comprises a manipulator mechanism 1, wherein a gluing mechanism 3 is arranged on the manipulator mechanism 1;

The rubberizing mechanism 3 comprises a liquid storage tank 301, a gear pump 302, two T-shaped blocks 304 and an auxiliary frame 319, a first connecting pipe 303 is arranged at the liquid outlet end of the liquid storage tank 301, a rectangular block 305 is fixed between one sides of the two T-shaped blocks 304, a chute 306 is arranged at one side of the rectangular block 305, a slide block 307 is connected in a sliding manner in the chute 306, a hand screw 308 penetrates through one side screw thread of the slide block 307, a cylindrical hole 309 is arranged at the top of the slide block 307, a rubber head 310 is movably sleeved at the position close to the bottom in the cylindrical hole 309, a communication hole 311 is arranged at the other side of the rectangular block 305, an auxiliary seat 312 is arranged at the other side of the rectangular block 305, a gear body 313 is arranged in the communication hole 311, a motor seat 314 is arranged on the front surface of the rectangular block 305, a motor body 315 is arranged on the motor seat 314, a rotating shaft 316 is arranged at the output end of the motor body 315, a plurality of tooth sockets 317 are distributed and arranged at one side close to the gear body 313, the liquid outlet end of the gear pump 302 is provided with a second connecting pipe 318, one end of the hand-screwed bolt 308 is propped against the surface of the rubber head 310, the inside of the communication hole 311 is communicated with the inside of the chute 306, one end of the rotating shaft 316, which is far away from the motor body 315, is rotationally connected in the inside of the auxiliary seat 312 through a bearing, the distance between two adjacent tooth grooves 317 is the same as the distance between two tooth teeth of the gear body 313, each tooth groove 317 is matched with the tooth teeth on the gear body 313, one tooth of the gear body 313 is positioned in one tooth groove 317, the liquid inlet end of the gear pump 302 is connected with the liquid outlet end of the first connecting pipe 303, the liquid outlet end of the second connecting pipe 318 is positioned in the cylindrical hole 309, the liquid outlet end of the second connecting pipe 318 is connected with the liquid inlet end of the rubber head 310, the second connecting pipe 318 is movably sleeved in the inside of the auxiliary frame 319, the mechanical arm mechanism 1 comprises a base 101 and a controller 112, the gear pump 302 is electrically connected with the controller 112, the motor body 315 is electrically connected with the controller 112, the mechanical arm mechanism 1 is provided with a coiling mechanism 2, and the coiling mechanism 2 comprises a connecting block 201.

In this embodiment, when the surplus material generated in the corrugated paper processing is rolled into a roll with a certain size by the rolling mechanism 2 and needs to be removed, the controller 112 is directly utilized to start the motor body 315, the motor body 315 started at this time drives the rotating shaft 316 connected with the motor body to rotate under the cooperation of the motor base 314, the rotating shaft 316 drives the gear body 313 to stably rotate under the cooperation of the auxiliary base 312, when the gear body 313 rotates, the rotating gear body 313 drives the sliding block 307 to move under the cooperation of the communicating hole 311, the plurality of tooth sockets 317, the rectangular block 305 and the sliding groove 306, the sliding block 307 which moves subsequently drives the rubber head 310 to move under the cooperation of the cylindrical hole 309 and the hand-screwed bolt 308, and the moving rubber head 310 also drives the liquid outlet end of the second connecting pipe 318 connected with the rubber head 310 to move, when the glue head 310 moves to a proper position, the controller 112 pauses the motor body 315, then the controller 112 starts the gear pump 302, the started gear pump 302 directly pumps out the liquid glue (acrylic ester glue) stored in the liquid storage tank 301 under the cooperation of the first connecting pipe 303 connected with the gear pump 302, then the liquid glue is conveyed into the second connecting pipe 318, then the liquid glue is conveyed into the glue head 310, when the glue flows out from the outlet of the glue head 310, the controller 112 starts the motor body 315, and the output end of the motor body 315 is opposite to the previous rotating direction, the started motor body 315 drives the glue head 310 to perform reset movement under the cooperation of the previous linkage component, when the glue head 310 starts to perform reset movement, the glue is continuously flowed out from the outlet of the glue head 310 which performs reset movement, when the glue head 310 resets to an initial position, at this time, a glue strip appears on the whole surface of the rolled corrugated paper residue, meanwhile, the gear pump 302 is also directly closed by the controller 112, at this time, the tail end of the rolled corrugated paper residue is butted with the whole surface of the rolled corrugated paper residue by the coiling mechanism 2, when the tail end of the rolled corrugated paper residue contacts with the whole surface of the rolled corrugated paper residue for a period of time, the rolled corrugated paper residue is put down by directly utilizing the cooperation of the mechanical arm mechanism 1 and the coiling mechanism 2, namely, the problem that the traditional mechanical arm for coiling and taking the corrugated paper residue for corrugated paper processing has no gluing function is effectively solved, and when the corrugated paper residue on the mechanical arm is coiled into a roll with a certain size and needs to be taken down, at this time, staff still needs to manually bond the tail end of the rolled corrugated paper residue with the whole rolled corrugated paper residue together, namely, the workload of staff is increased, and the production efficiency is reduced is solved.

Example two

As shown in fig. 1-5, the manipulator mechanism 1 comprises a base 101 and a controller 112, a rotary table 102 is fixed at the top of the base 101, a mounting seat 103 is mounted at the top rotating end of the rotary table 102, a first motor 104 is mounted on one side of the mounting seat 103, the output end of the first motor 104 movably penetrates through the surface of the mounting seat 103, a rear arm 105 is mounted at the output end of the first motor 104, the rotating end surface of the rear arm 105 is contacted with the surface of the mounting seat 103, a connecting seat 106 is arranged at the front end surface of the rear arm 105, a second motor 107 is mounted on the surface of the connecting seat 106, the output end of the second motor 107 movably penetrates through the surface of the connecting seat 106, a middle arm 109 is mounted at the output end of the second motor 107 and the surface of the rear arm 105, a third motor 110 is mounted on one side of the connecting seat 106, the output end of the third motor 110 movably penetrates through the surface of the middle arm 109, a front arm 111 is arranged on the front end surface of the middle arm 109, the output end of the third motor 110 is contacted with the surface of the front arm 111, a gear pump 102, the first motor 108 is mounted on the surface of the front arm 111, the gear pump 102 is mounted on the front end of the second motor 107 and the surface of the second motor 107, the gear pump 201 is mounted on the top of the auxiliary winding mechanism 2, the top of the auxiliary winding mechanism 201 is mounted on the top of the rotating mechanism 2, the top of the auxiliary winding mechanism 201 and the auxiliary winding mechanism 201 is mounted on the top of the rotating arm 109, and the top of the carrier 2 is electrically connected with the rotating mechanism 201.

In this embodiment, when the manipulator mechanism 1 is required to drive the connection block 201 on the coiling mechanism 2to move to a proper position, the controller 112 and the rotary table 102 are firstly utilized to cooperate to drive the mounting seat 103 to rotate, when the mounting seat 103 rotates to a proper angle, the controller 112 pauses the rotary table 102, then the controller 112 starts the first motor 104, the started first motor 104 drives the rear arm 105 to rotate under the cooperation of the mounting seat 103, when the rear arm 105 rotates to a proper angle, the controller 112 directly pauses the first motor 104, then the controller 112 starts the second motor 107, the started second motor 107 directly drives the gear motor 108 under the cooperation of the connection seat 106 and the rear arm 105, when the gear motor 108 rotates to a proper angle, the controller 112 directly pauses the second motor 107, then the controller 112 starts the gear motor 108, at this time, the started gear motor 108 directly drives the middle arm 109 to rotate, and when the middle arm 109 rotates to a proper angle, the controller 112 pauses the gear motor 108 directly, and then the third motor 110 is directly paused when the third motor 110 is directly started under the cooperation of the third arm 110, the third motor 110 is directly started, and the connection block 201 is directly rotated to the proper angle, and the connection block 110 is simultaneously rotated.

Example III

As shown in fig. 1 and fig. 3-7, a coiling mechanism 2 is arranged on the manipulator mechanism 1, the coiling mechanism 2 comprises a connecting block 201, the top of the connecting block 201 and the bottom of a front arm 111 are installed, two T-shaped blocks 304 are installed on the connecting block 201, a rectangular hole 202 is formed on the front surface of the connecting block 201, a driving motor 203 is installed on the inner wall of the rectangular hole 202, the driving motor 203 is electrically connected with a controller 112, a rotating rod 204 is installed at the output end of the driving motor 203, the bottom end of the rotating rod 204 movably penetrates through the bottom of the inner wall of the rectangular hole 202, a connector 205 is arranged at the bottom of the connecting block 201, the top of the connector 205 is contacted with the bottom of the connecting block 201, the bottom of the rotating rod 204 is fixed with the top of the connector 205, the front surface of connector 205 is provided with stopper 206, and the surface of stopper 206 contacts with the front surface of connector 205, the bottom of connector 205 is fixed with two round bars 207, the back surface activity of connector 205 runs through there is gag lever post 210, the one end of gag lever post 210 is fixed with the surface of stopper 206, the back surface activity of connector 205 runs through there are two T shape bars 208, the one end of two T shape bars 208 is fixed with the surface of stopper 206, the one end of two T shape bars 208 has all movably sleeved spring 209, the one end of two spring 209 all installs with the back surface of connector 205 mutually, the other end of two spring 209 installs with the surface of two T shape bars 208 respectively, the back surface bottom position of connector 205 is fixed with baffle 211.

In this embodiment, when the manipulator mechanism 1 drives the connecting block 201 on the coiling mechanism 2 to move, at this time, the connecting block 201 drives the two T-shaped blocks 304 connected with the connecting block 201 to move, and at the same time, the moving connecting block 201 also drives the driving motor 203 to move under the cooperation of the rectangular hole 202, and the moving driving motor 203 also drives the connecting head 205 connected with the rotating rod 204 to move under the cooperation of the rotating rod 204, when the connecting head 205 moves, the moving connecting head 205 directly drives the baffle 211 and the two round rods 207 connected with the connecting head 205 to move, and at the same time, the moving connecting head 205 also drives the two T-shaped rods 208, the two springs 209, the limit rod 210 and the limit block 206 to move, when the manipulator mechanism 1 drives the two round rods 207 on the coiling mechanism 2 to move to a proper position, at this time, the corrugated paper can be processed, at this time, one end of the corrugated paper produced during the corrugated paper processing operation can move to the space between the outer surfaces of the two round rods 207, when one end of the corrugated paper moves to the outer surfaces of the two round rods 207, when the connecting head 205 moves, the rectangular motor 205 can directly drive the baffle 211 and the two round rods 205, the two round rods 205 can directly rotate under the cooperation of the two round rods 207, and then directly drive the two round rods 208, and the two round rods 204 can directly rotate under the two round rods 211 and the two round rods 204 when the two round rods 207 are directly connected with the two round rods 211 and the two round rods 204 are directly driven by the rotating and the two round rods 204, and the two round rods 204 are directly connected by the two round rods, and the two round rods 204 are simultaneously and simultaneously rotated by the rotation of the two connection rods and the two connection rods 211 and the rotation levers and the rotation of the two and the two connection rods and the connection rod 208 and can respectively when the rotation of the connection rod and can be directly rotated, the winding operation of stable coiling material is carried out on the residual materials generated during corrugated paper processing, when the generated corrugated paper residual materials are continuously coiled, the limiting block 206 can continuously move along with the coiled corrugated paper residual materials under the cooperation of the two T-shaped rods 208 and the limiting rod 210, the moving limiting block 206 can also drive the two T-shaped rods 208 and the limiting rod 210 connected with the corrugated paper residual materials to move, when the two T-shaped rods 208 simultaneously move, each T-shaped rod 208 moving at the moment can be under the cooperation of the connector 205, so that the spring 209 connected with the connector is compressed, namely, the situation that the corrugated paper residual materials are not loosened during coiling can be ensured by utilizing the cooperation of the connector 205, the limiting block 206, the two T-shaped rods 208 and the limiting rod 210.

The whole mechanism achieves the following effects and working principles: when the residual materials generated during corrugated paper processing are required to be coiled, the whole manipulator is firstly arranged at the discharge end position of the residual materials during corrugated paper processing by using the base 101, then the controller 112 is connected with an external power supply, then the controller 112 is opened, a good-use program is set, then a proper amount of liquid glue (acrylic ester glue) is injected into the liquid storage tank 301, when all materials are ready, the mounting seat 103 is driven to rotate by using the cooperation of the controller 112 and the rotary table 102 at the moment, and when the mounting seat 103 rotates to a proper angle, At this time, the controller 112 will suspend the rotary table 102, then the controller 112 will start the first motor 104, at this time, the started first motor 104 will drive the rear arm 105 to rotate under the cooperation of the mounting base 103, when the rear arm 105 rotates to a proper angle, at this time, the controller 112 will directly suspend the first motor 104, then the controller 112 will start the second motor 107, at this time, the started second motor 107 will directly drive the gear motor 108 to rotate under the cooperation of the connecting base 106 and the rear arm 105, when the gear motor 108 rotates to a proper angle, at this time, the controller 112 will directly suspend the second motor 107, The controller 112 then starts the gear motor 108, the gear motor 108 started at this time directly drives the middle arm 109 to rotate, and when the middle arm 109 rotates to a proper angle, the controller 112 directly pauses the gear motor 108, then starts the third motor 110, the third motor 110 started at this time drives the front arm 111 to rotate under the cooperation of the middle arm 109, the rotating front arm 111 also drives the connecting block 201 connected with the front arm 111 to rotate, when the connecting block 201 moves, the moving connecting block 201 drives the two T-shaped blocks 304 connected with the connecting block to move, Meanwhile, the moving connecting block 201 drives the driving motor 203 to move under the cooperation of the rectangular hole 202, the moving driving motor 203 drives the connecting head 205 connected with the rotating rod 204 to move under the cooperation of the rotating rod 204 connected with the driving motor 203, when the connecting head 205 moves, the moving connecting head 205 directly drives the baffle 211 and the two round rods 207 connected with the connecting head 205 to move, and simultaneously, the moving connecting head 205 also drives the two T-shaped rods 208, the two springs 209, the limiting rods 210 and the limiting blocks 206 to move, when the mechanical arm mechanism 1 drives the two round rods 207 on the coiling mechanism 2 to move to the proper positions, At this time, the corrugated paper can be processed, at this time, one end of the excess material generated during the corrugated paper processing operation moves between the outer surfaces of the two round bars 207, when one end of the excess material corrugated paper moves between the outer surfaces of the two round bars 207, the controller 112 directly starts the driving motor 203, at this time, the started driving motor 203 drives the rotating rod 204 connected with the driving motor 203 to perform stable rotation operation under the cooperation of the connecting block 201 and the rectangular hole 202, the rotating rod 204 directly drives the connecting head 205 connected with the rotating rod 204 to rotate, and the rotating connecting head 205 directly drives the two round bars 207, the rotating connecting head 205 directly drives the two round bars 207, The baffle 211, the two T-shaped rods 208, the two springs 209, the limit rods 210 and the limit blocks 206 rotate simultaneously, when the two round rods 207 rotate simultaneously, the two round rods 207 rotating at the moment can directly carry out stable coiling operation on the residual materials generated during corrugated paper processing under the cooperation of the baffle 211, when the generated residual materials of corrugated paper are continuously coiled, the limit blocks 206 can also continuously and stably move along with the coiling size of the residual materials of corrugated paper under the cooperation of the two T-shaped rods 208 and the limit rods 210, and meanwhile, the moving limit blocks 206 can also drive the two T-shaped rods 208 and the limit rods 210 connected with the same to move, when two T-shaped rods 208 move simultaneously, each T-shaped rod 208 moving at the moment is matched with the connector 205, so that the spring 209 connected with the T-shaped rods is compressed, namely, the connector 205, the limiting block 206, the two T-shaped rods 208 and the limiting rod 210 are matched, the situation that the corrugated paper surplus materials are not loosened during coiling can be ensured, when the surplus materials produced by corrugated paper processing are coiled into a coil with a certain size by the coiling mechanism 2 and need to be taken down, the motor body 315 is directly started by the controller 112, the started motor body 315 drives the rotating shaft 316 connected with the motor body to rotate under the matching of the motor seat 314, The rotating shaft 316 drives the gear body 313 to rotate stably under the cooperation of the auxiliary seat 312, when the gear body 313 rotates, the rotating gear body 313 drives the sliding block 307 to move under the cooperation of the communication hole 311, the plurality of tooth sockets 317, the rectangular block 305 and the sliding groove 306, the moving sliding block 307 drives the rubber head 310 to move under the cooperation of the cylindrical hole 309 and the hand screw 308, the moving rubber head 310 also drives the liquid outlet end of the second connecting pipe 318 connected with the rubber head 310 to move, when the rubber head 310 moves to a proper position, At this time, the controller 112 pauses the motor body 315, then the controller 112 starts the gear pump 302, at this time, the started gear pump 302 directly pumps out the liquid glue (acrylate glue) stored in the liquid storage tank 301 under the cooperation of the first connecting pipe 303 connected with the gear pump, then the liquid glue is conveyed into the second connecting pipe 318 and then into the glue head 310, when the glue flows out from the outlet of the glue head 310, at this time, the controller 112 starts the motor body 315, and the output end of the motor body 315 rotates in the opposite direction to the previous rotation, at this time, the started motor body 315 is matched with the previous linkage component, When the glue head 310 starts to reset, glue continuously flows out from the outlet of the glue head 310, when the glue head 310 resets to the initial position, a glue strip appears on the whole surface of the coiled corrugated paper residue, meanwhile, the controller 112 also directly closes the gear pump 302, the tail end of the coiled corrugated paper residue is butted with the whole surface of the coiled corrugated paper residue by the glue strip by the coiling mechanism 2, and when the tail end of the coiled corrugated paper residue and the glue strip are contacted for a period of time, the coiled corrugated paper residue is put down by the cooperation of the mechanical arm mechanism 1 and the coiling mechanism 2.

The manipulator mechanism 1 is generally composed of the following main components:

a driving system: providing power for the actuator.

The executing mechanism comprises: the components for completing the actions comprise a motor, a speed reducer, a joint and the like, and can generate proper force and speed to realize the movement and posture adjustment of the manipulator.

And (3) a control system: and commanding and controlling the action of the manipulator.

The simple principle is as follows: the driving system drives the executing mechanism to make corresponding actions according to the instruction of the control system.

When the manipulator is used with the controller 112, the controller 112 serves as a core control unit, receives instructions from an upper computer or other control sources, and then sends specific control signals to a driving system according to a program and an algorithm, and the driving system pushes an executing mechanism to act as required.

The rotary table 102, the first motor 104, the second motor 107, the gear motor 108, the third motor 110, the controller 112 (PLC controller), the driving motor 203, the gear pump 302, and the motor body 315 are all in the prior art, and the working principle thereof is a public technology, and the model thereof can be selected according to the actual situation, and no excessive explanation is made here.

Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.

Claims (10)

1. The utility model provides a clout corrugated paper scroll material taking manipulator, includes manipulator mechanism (1), its characterized in that: the mechanical arm mechanism (1) is provided with a gluing mechanism (3);

The gluing mechanism (3) comprises a liquid storage tank (301), a gear pump (302), two T-shaped blocks (304) and an auxiliary frame (319), a first connecting pipe (303) is installed at the liquid outlet end of the liquid storage tank (301), two rectangular blocks (305) are fixed between one sides of the T-shaped blocks (304), a chute (306) is formed in one side of each rectangular block (305), a sliding block (307) is connected to the inside of each chute (306) in a sliding manner, one side thread of each sliding block (307) penetrates through a hand screwing bolt (308), a cylindrical hole (309) is formed in the top of each sliding block (307), a rubber head (310) is movably sleeved at the position close to the bottom of each cylindrical hole (309), a communication hole (311) is formed in the other side of each rectangular block (305), an auxiliary seat (312) is installed at the other side of each rectangular block (305), a gear body (313) is arranged in the inside of each communication hole (311), a motor seat (314) is installed on the front surface of each rectangular block (305), a motor body (315) is installed on the seat (314), a motor body (315) is installed on the front surface of each side, a plurality of gear bodies (313) are distributed on the other, the output ends (315) close to the output ends (315), the liquid outlet end of the gear pump (302) is provided with a second connecting pipe (318).

2. The remainder corrugated paper roll reclaiming manipulator as set forth in claim 1, wherein: one end of the hand-screwed bolt (308) is propped against the surface of the rubber head (310), the inside of the communication hole (311) is communicated with the inside of the sliding groove (306), one end of the rotating shaft (316) away from the motor body (315) is rotationally connected inside the auxiliary seat (312) through a bearing, the distance between two adjacent tooth grooves (317) is the same as the distance between two teeth of the gear body (313), and each tooth groove (317) is matched with the teeth on the gear body (313).

3. The remainder corrugated paper roll reclaiming manipulator as set forth in claim 1, wherein: one of the teeth of the gear body (313) is positioned in one of the tooth grooves (317), the liquid inlet end of the gear pump (302) is connected with the liquid outlet end of the first connecting pipe (303), the liquid outlet end of the second connecting pipe (318) is positioned in the cylindrical hole (309), the liquid outlet end of the second connecting pipe (318) is connected with the liquid inlet end of the rubber head (310), and the second connecting pipe (318) is movably sleeved in the auxiliary frame (319).

4. The remainder corrugated paper roll reclaiming manipulator as set forth in claim 1, wherein: the manipulator mechanism (1) comprises a base (101) and a controller (112), a rotary table (102) is fixed at the top of the base (101), a mounting seat (103) is mounted at the top rotating end of the rotary table (102), a first motor (104) is mounted on the surface of the mounting seat (103), the output end of the first motor (104) movably penetrates through the surface of the mounting seat (103), and a rear arm (105) is mounted at the output end of the first motor (104).

5. The excess corrugated paper roll take-up robot of claim 4, wherein: the surface of the rotating end of the rear arm (105) is contacted with the surface of the mounting seat (103), the front end surface of the rear arm (105) is provided with a connecting seat (106), a second motor (107) is mounted on the surface of the connecting seat (106), the output end of the second motor (107) movably penetrates through the surface of the connecting seat (106), the output end of the second motor (107) is mounted on the surface of the rear arm (105), and a speed reducing motor (108) is mounted on one side of the connecting seat (106).

6. The excess corrugated paper roll take-up robot of claim 5, wherein: the output end of the gear motor (108) is provided with a middle arm (109), the front end surface of the middle arm (109) is provided with a third motor (110), the output end of the third motor (110) movably penetrates through the surface of the middle arm (109), the front end surface of the middle arm (109) is provided with a front arm (111), and the output end of the third motor (110) is installed with the surface of the front arm (111).

7. The excess corrugated paper roll take-up robot of claim 6, wherein: the gear pump (302) is electrically connected with the controller (112), the motor body (315) is electrically connected with the controller (112), the rotary table (102), the first motor (104), the second motor (107), the gear motor (108) and the third motor (110) are electrically connected with the controller (112), the liquid storage tank (301) is arranged on the surface of the middle arm (109), the gear pump (302) is arranged on the surface of the middle arm (109), and the auxiliary frame (319) is arranged on the surface of the middle arm (109).

8. The excess corrugated paper roll take-up robot of claim 6, wherein: be provided with on manipulator mechanism (1) and take up material mechanism (2), it includes connecting block (201) to take up material mechanism (2), the top of connecting block (201) and the bottom of forearm (111) are installed mutually, two T shape piece (304) are all installed on connecting block (201), rectangular hole (202) have been seted up on the positive surface of connecting block (201), driving motor (203) are installed to the inner wall in rectangular hole (202), driving motor (203) and controller (112) electric connection, bull stick (204) are installed to the output of driving motor (203), the bottom activity of bull stick (204) runs through the inner wall bottom in rectangular hole (202), the bottom of connecting block (201) is provided with connector (205), the top of connector (205) contacts with the bottom of connecting block (201).

9. The excess corrugated paper roll take-up robot of claim 8, wherein: the bottom of bull stick (204) is fixed mutually with the top of connector (205), the positive surface of connector (205) is provided with stopper (206), and the surface of stopper (206) contacts with the positive surface of connector (205), the bottom of connector (205) is fixed with two round bars (207), the back surface activity of connector (205) is run through has gag lever post (210), the one end of gag lever post (210) is fixed mutually with the surface of stopper (206).

10. The excess corrugated paper roll take-up robot of claim 8, wherein: the utility model discloses a connector, including connector (205) and connector, the back surface activity of connector (205) has two T shape poles (208) throughout, two the one end of T shape pole (208) is all fixed with the surface of stopper (206), two the one end of T shape pole (208) is all movably sleeved spring (209), two the one end of spring (209) all installs with the back surface of connector (205), two the other end of spring (209) respectively with the surface mounting of two T shape poles (208), the back surface bottom position of connector (205) is fixed with baffle (211).