Automatic material grabbing device based on tobacco material frame limiting fit of stacking robot

Abstract

The invention provides an automatic material grabbing device based on tobacco material frame limiting cooperation of a stacking robot, and relates to the technical field of stacking robots, the automatic material grabbing device comprises a mechanical arm and further comprises a supporting assembly, the supporting assembly comprises a mounting column fixedly connected to the mechanical arm, and the bottom end of the mounting column is fixedly connected with a foundation bottom plate; transverse supporting rods are slidably connected to the two sides of the bottom end of the foundation bottom plate, first sliding blocks are slidably connected into the transverse supporting rods, and extension arms are fixedly connected to the outer sides of the first sliding blocks. By means of the design, the transverse distance and the longitudinal distance of the material grabbing device can be accurately adjusted according to the size of materials, the device can adapt to the grabbing requirements of materials such as cigarette boxes and cigarette material frames of different specifications, and the defect that tools need to be manually replaced due to the fact that the distance of existing equipment cannot be flexibly adjusted is overcome. The problem that the continuous production efficiency is low due to frequent shutdown and tool replacement is solved, and continuous grabbing operation of multi-form materials is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing robots, and in particular to an automatic material grabbing device based on the limiting cooperation of a cigarette material frame of the palletizing robot. Background Art

[0002] As a core industrial automation equipment, palletizing robots are widely used in many fields, including the tobacco industry. They are used to automatically, efficiently and accurately stack goods, boxes, bags, boxes and other cigarette cases onto pallets or shelves according to preset rules.

[0003] However, existing gripping mechanisms are mostly designed with fixed modes, such as pure claw type, fork type or suction cup type. Such designs can usually only be optimized for specific cigarette box shapes. When encountering standard cigarette boxes, bagged materials, tobacco leaf bales or tobacco leaf turnover frames, the cigarette box shapes often vary significantly. The front end may need to grasp metal or plastic tobacco material frames loaded with loose tobacco leaves, while the back end needs to stack formed hard boxes or soft pack cigarette boxes. When the cigarette box type changes from tobacco material frames to soft packs or special-shaped parts, the existing equipment often has to be shut down and the corresponding gripping end tool must be manually replaced. This frequent shutdown and replacement operation seriously interrupts the continuous production process and significantly reduces the overall operation efficiency.

[0004] Therefore, in order to solve the above problems, an automatic material grabbing device based on the limiting cooperation of the cigarette material frame of the stacking robot is proposed. Summary of the Invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and provide an automatic material grabbing device based on the limiting cooperation of the cigarette material frame of the stacking robot.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: an automatic material grabbing device based on the limiting cooperation of the cigarette material frame of a palletizing robot, comprising a robotic arm and a support assembly, wherein the support assembly comprises a mounting column fixedly connected to the robotic arm, the bottom end of the mounting column is fixedly connected to a base bottom plate, both sides of the bottom end of the base bottom plate are slidably connected to a transverse support rod, the interior of the transverse support rod is slidably connected to a first sliding block, the outer side of the first sliding block is fixedly connected to an extension arm, and the outer side of the extension arm is fixedly connected to a vertical support column;

[0007] A rotary clamping assembly, the rotary clamping assembly comprising a first limiting ring rotatably connected to the interior of the extension arm, a second limiting ring fixedly connected to the outer side of the vertical support column, a driving transmission gear fixedly connected to the outer side of the vertical support column, a mounting shaft rotatably connected to the outer side of the second limiting ring, a drive motor mounted on the outer side of the mounting shaft, and a drive end of the drive motor fixedly connected to a drive gear;

[0008] A lateral spacing adjustment assembly, the lateral spacing adjustment assembly includes a movable slider fixedly connected to the top of a first sliding block, the top of the movable slider is fixedly connected to a vertical guide rod, the top of the vertical guide rod is fixedly connected to a second sliding block, a first pneumatic cylinder is mounted on one of the second sliding blocks, a driving end of the first pneumatic cylinder is fixedly connected to the other second sliding block, the top of the second sliding block is fixedly connected to a rotating shaft, and the outer side of the rotating shaft is rotatably connected to a bending rod;

[0009] A longitudinal spacing adjustment assembly, the longitudinal spacing adjustment assembly comprising a mounting rotating rod fixedly connected to the bending rod, a mounting base mounted on the top of the base plate, and a second pneumatic cylinder fixedly connected to the top of the mounting base;

[0010] The arc-shaped clamping assembly comprises a cylindrical main body fixedly connected to the interior of the arc-shaped clamping plate, and a telescopic column is slidably connected to the interior of the cylindrical main body.

[0011] Preferably, the bottom end of the driving gear is fixedly connected to a vertical support plate.

[0012] Preferably, an anti-skid pad is fixedly connected to the outer side of the vertical support plate, and an arc-shaped clamping plate is fixedly connected to one end of the vertical support plate away from the anti-skid pad.

[0013] Preferably, the active transmission gear is meshed with the driving gear, and the top end of the driving motor is fixedly connected to the outer side of the first limiting ring.

[0014] Preferably, the bottom end of the second sliding block is slidably connected to a top plate, the bottom end of the top plate is slidably connected to the top end of the transverse support rod, and the sliding groove of the movable slider is slidably connected to the inside of the transverse support rod.

[0015] Preferably, one end of the base plate away from the second pneumatic cylinder is fixedly connected to a third pneumatic cylinder, and the outer side of the third pneumatic cylinder is fixedly connected to a connecting block.

[0016] Preferably, a connecting plate is fixedly connected to the outer side of the connecting block, a top support plate is fixedly connected to the bottom end of the connecting plate, and a sliding groove is provided inside the top support plate.

[0017] Preferably, a sliding column is slidably connected to the sliding groove, a driving end of the second pneumatic cylinder is fixedly connected to the mounting rotating rod, and a bottom end of the sliding column is fixedly connected to the moving slider.

[0018] Preferably, one end of the telescopic column is fixedly connected to a third limiting ring, and an elastic return spring is sleeved on the outer side of the third limiting ring.

[0019] Preferably, one end of the elastic return spring is fixedly connected to the third limiting ring, and the other end of the elastic return spring is fixedly connected to the cylindrical body.

[0020] Compared with the prior art, the advantages and positive effects of the present invention are:

[0021] 1. When adjusting the horizontal spacing, the movable slider slides in the horizontal support rod, and the first pneumatic cylinder pushes the second sliding block to move on the vertical guide rod. The horizontal position adjustment is achieved through the linkage of the bending rod and the top plate. When adjusting the vertical spacing, the third pneumatic cylinder drives the top support plate to move through the connecting block and the connecting plate, and the sliding column slides in the sliding groove to drive the movable slider to move, and the second pneumatic cylinder assists in adjusting the position of the components. With this design, the horizontal and vertical spacing of the grabbing device can be accurately adjusted according to the material size, so that the device can adapt to the grabbing needs of materials such as cigarette boxes and cigarette frames of different specifications, which solves the disadvantages of existing equipment that cannot flexibly adjust the spacing and requires manual tool replacement, solves the problem of low continuous production efficiency caused by frequent shutdowns for tool replacement, and realizes continuous grabbing of multi-form materials.

[0022] 2. The robotic arm drives the installation column to move, and the base plate is positioned accordingly. The first sliding block slides in the horizontal support rod to adjust the horizontal position of the extension arm and the vertical support column; after the drive motor is started, the driving gear and the active transmission gear are engaged to drive the installation shaft to rotate, so that the anti-slip pad and the arc-shaped clamping plate on the vertical support plate rotate synchronously and clamp the material. The first limit ring and the second limit ring ensure rotation stability. With this design, the working position can be flexibly adjusted in the horizontal and vertical directions through the grabbing device. The rotating clamping assembly can stably grab materials of different forms through the cooperation of the arc-shaped clamping plate and the anti-slip pad, effectively expanding the operating range of the device and ensuring the accuracy of the grabbing action.

[0023] 3. When grabbing materials, the telescopic column expands and contracts and slides within the cylindrical body according to the shape of the material. The third limit ring limits its displacement range, and the elastic return spring provides a buffering force during the expansion and contraction process, so that the arc-shaped clamping assembly fits tightly to the surface of the material. With this design, the elastic return spring can not only buffer the impact force during grabbing, preventing soft materials such as tobacco bales from being squeezed and damaged, but also ensure that the arc-shaped clamping plate fits tightly to materials with different contours through the adaptive adjustment of the telescopic column, thereby improving the stability of the grabbing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A three-dimensional diagram of an automatic material grabbing device based on the position-limiting cooperation of a cigarette material frame of a palletizing robot provided by the present invention;

[0025] Figure 2A schematic structural diagram of the second sliding block of an automated material grabbing device based on the position-limiting cooperation of a cigarette material frame of a palletizing robot provided by the present invention;

[0026] Figure 3 A schematic diagram of the longitudinal spacing adjustment component structure of an automated material grabbing device based on the position-limiting cooperation of a stacking robot cigarette frame provided by the present invention;

[0027] Figure 4 A schematic diagram of the structure of a rotary clamping assembly of an automated material grabbing device based on the position-limiting cooperation of a cigarette material frame of a palletizing robot provided by the present invention;

[0028] Figure 5 A schematic diagram of the structure of a lateral spacing adjustment component of an automated material grabbing device based on the position-limiting cooperation of a stacking robot cigarette frame provided by the present invention;

[0029] Figure 6 This is a schematic structural diagram of an arc-shaped clamping component of an automated material grabbing device based on the limiting cooperation of a stacking robot cigarette frame provided by the present invention.

[0030] Legend:

[0031] 1. Robotic Arm

[0032] 2. Support assembly; 21. Mounting column; 22. Base plate; 23. Horizontal support rod; 24. First sliding block; 25. Extension arm; 26. Vertical support column;

[0033] 3. Rotating clamping assembly; 31. First limiting ring; 32. Second limiting ring; 33. Active transmission gear; 34. Mounting shaft; 35. Drive motor; 36. Drive gear; 37. Vertical support plate; 38. Anti-slip pad; 39. Arc clamping plate;

[0034] 4. Horizontal spacing adjustment assembly; 41. Moving slider; 42. Vertical guide rod; 43. Second sliding block; 44. First pneumatic cylinder; 45. Rotating shaft; 46. Bending rod; 47. Top plate;

[0035] 5. Longitudinal spacing adjustment assembly; 51. Mounting rotation rod; 52. Second pneumatic cylinder; 53. Mounting base; 54. Third pneumatic cylinder; 55. Connecting block; 56. Connecting plate; 57. Top support plate; 58. Sliding groove; 59. Sliding column;

[0036] 6. Arc-shaped clamping assembly; 61. Cylindrical main body; 62. Telescopic column; 63. Third limiting ring; 64. Elastic return spring. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] like Figure 1 、 Figure 2 、 Figure 4 and Figure 5 As shown, this embodiment provides a technical solution: an automated material grabbing device based on the position-limiting cooperation of the cigarette material frame of the palletizing robot, comprising a robotic arm 1, and also comprising a support assembly 2, the support assembly 2 comprising a mounting column 21 fixedly connected to the robotic arm 1, the bottom end of the mounting column 21 is fixedly connected to a base bottom plate 22, both sides of the bottom end of the base bottom plate 22 are slidably connected to a transverse support rod 23, the interior of the transverse support rod 23 is slidably connected to a first sliding block 24, the outer side of the first sliding block 24 is fixedly connected to an extension arm 25, and the outer side of the extension arm 25 is fixedly connected to a vertical support column 26;

[0039] The mounting column 21 is a key component connecting the support assembly 2 and the robotic arm 1, and plays the role of fixing and supporting the entire support assembly 2. The base plate 22 serves as the basic platform at the bottom of the support assembly 2. On the one hand, it provides an installation position for other components such as the transverse support rod 23. On the other hand, it transfers the weight and force of the entire device to the bottom to ensure the stability of the device. The transverse support rod 23 provides support for the device in the horizontal direction, and can cooperate with the first sliding block 24 to realize the horizontal position adjustment of the extension arm 25. Through the sliding connection, it can be adaptively moved laterally according to the size and position of the cigarette frame. The first sliding block 24 slides in the transverse support rod 23, driving the extension arm 25 to move, so that the extension part of the entire grabbing device can be flexibly adjusted in the horizontal direction. , to adapt to tobacco material frames in different positions, the extension arm 25 extends outward from the basic bottom plate 22, increasing the operating range of the device and providing an installation position for the vertical support column 26, so that the grabbing device can be further developed in the vertical direction to contact the cigarette box in the tobacco material frame. The vertical support column 26 provides support in the vertical direction and connects the rotating clamping assembly 3 and other components, so that the grabbing device can grab the cigarette box in the vertical direction and can withstand the vertical force generated when grabbing the cigarette box. The support assembly 2 provides a stable support foundation for the entire automated grabbing device, and through the cooperation of the horizontal support rod 23 and the first sliding block 24, the position of the grabbing device in the horizontal direction can be adjusted, which increases the adaptability of the device and enables it to better cooperate with tobacco material frames of different positions and sizes;

[0040] like Figure 4 and Figure 6 As shown, the rotary clamping assembly 3 includes a first limiting ring 31 rotatably connected to the inside of the extension arm 25, a second limiting ring 32 is fixedly connected to the outer side of the vertical support column 26, and a driving transmission gear 33 is fixedly connected to the outer side of the vertical support column 26. The outer side of the second limiting ring 32 is rotatably connected to the mounting shaft 34, and a driving motor 35 is installed on the outer side of the mounting shaft 34. The driving end of the driving motor 35 is fixedly connected to the driving gear 36, and the bottom end of the driving gear 36 is fixedly connected to the vertical support plate 37, and the outer side of the vertical support plate 37 is fixedly connected to the anti-slip pad 38. The end of the vertical support plate 37 away from the anti-slip pad 38 is fixedly connected to the arc-shaped clamping plate 39, the driving transmission gear 33 is meshed with the driving gear 36, and the top of the driving motor 35 is fixedly connected to the outer side of the first limiting ring 31;

[0041] The first limiting ring 31 limits and installs the components in the rotating clamping assembly 3, and serves as a rotation center, so that the rotating clamping assembly 3 can rotate stably around it. The vertical support column 26 not only provides vertical support in the rotating clamping assembly 3, but also provides a mounting position for the second limiting ring 32, the active transmission gear 33 and other components on its outer side, so that the rotating clamping assembly 3 can be stably installed and operated on the vertical support column 26. The second limiting ring 32 limits the position of the mounting shaft 34 to ensure that the mounting shaft 34 and the components connected thereto are fixed. During the rotation process, no axial movement occurs, ensuring the stability and accuracy of the rotation action. The active transmission gear 33 is engaged with the driving gear 36 to transmit power from the driving motor 35 to realize the rotation action of the rotating clamping assembly 3. The speed and angle of rotation can be accurately controlled through gear transmission. The shaft 34 is installed to connect the driving motor 35 and the vertical support plate 37 and other components, and the power of the motor is transmitted to the vertical support plate 37 and the clamping part, and its own rotation drives the entire clamping part to rotate. The driving motor 35 serves as the rotating clamping assembly 3. The power source provides power for the rotation of the clamping part. By controlling the forward and reverse rotation and speed of the motor, different rotation angles and speeds of the clamping part can be achieved. The driving gear 36 is engaged with the active transmission gear 33 to transmit the power of the driving motor 35 to the active transmission gear 33, thereby driving the entire rotating clamping assembly 3 to rotate. The vertical support plate 37 provides an installation position for the anti-slip pad 38 and the arc-shaped clamping plate 39, and provides support for the clamping part in the vertical direction to ensure the stability of the clamping action. The anti-slip pad 38 contacts the cigarette box when grabbing the cigarette box. The anti-slip texture on the surface can increase the friction between the cigarette box and the cigarette box, preventing the cigarette box from slipping during the grasping process. The shape of the arc-shaped clamping plate 39 is adapted to the shape of the cigarette box, and can clamp the cigarette box from the side. In conjunction with the anti-slip pad 38, stable grasping of the cigarette box is achieved. The rotating clamping assembly 3 is driven by gears and a motor to realize the rotary grasping function of the grasping device. The design of the anti-slip pad 38 and the arc-shaped clamping plate 39 can effectively grasp and fix the cigarette box, improving the reliability and accuracy of grasping, and enabling the device to adapt to the grasping needs of cigarette boxes in different directions and positions.

[0042] like Figure 3 and Figure 5As shown, the lateral spacing adjustment component 4 includes a movable slider 41 fixedly connected to the top of the first sliding block 24, the top of the movable slider 41 is fixedly connected to a vertical guide rod 42, the top of the vertical guide rod 42 is fixedly connected to a second sliding block 43, a first pneumatic cylinder 44 is installed on one of the second sliding blocks 43, the driving end of the first pneumatic cylinder 44 is fixedly connected to the other second sliding block 43, the top of the second sliding block 43 is fixedly connected to a rotating shaft 45, the outer side of the rotating shaft 45 is rotatably connected to a bending rod 46, the bottom end of the second sliding block 43 is slidably connected to a top plate 47, the bottom end of the top plate 47 is slidably connected to the top of the transverse support rod 23, and the slide groove of the movable slider 41 is slidably connected to the inside of the transverse support rod 23;

[0043] The movable slider 41 slides in the transverse support rod 23, driving the vertical guide rod 42 and the components connected thereto to move, thereby realizing horizontal position adjustment of the entire transverse spacing adjustment assembly 4, and the vertical guide rod 42 provides vertical guidance for the second sliding block 43, so that the second sliding block 43 can move stably in the vertical direction, and the structure at its top provides a connection position for components such as the first pneumatic cylinder 44, and the second sliding block 43 slides on the vertical guide rod 42, and is connected to the bending rod 46 through the rotating shaft 45, which can drive the bending rod 46 to move in the vertical direction, and provide an installation and connection position for the first pneumatic cylinder 44, and the first pneumatic cylinder 44 acts as a power source, and drives the second sliding block 43 to move through its telescopic action, thereby realizing vertical position adjustment of the bending rod 46, and then adjusting the vertical spacing of the relevant components in the grabbing device, and the rotating shaft 45 connects the second sliding block 43 and the bending rod 46. The bending rod 46 is capable of changing its angle and position as the second sliding block 43 moves, and the bending rod 46 is allowed to rotate within a certain range to adapt to different material grabbing actions. The shape design of the bending rod 46 can change the direction of force transmission, and the bending rod 46 is connected to the second sliding block 43 and the top plate 47 and other components. Through its own movement and rotation, it can drive the top plate 47 to slide on the transverse support rod 23 to achieve adjustment of the transverse spacing. The top plate 47 slides on the transverse support rod 23 and is slidably connected to the slide groove of the movable slider 41, playing the role of connecting and transmitting movement, and at the same time providing an installation position for other components. The transverse spacing adjustment component 4 can drive the components to move through the first pneumatic cylinder 44 to achieve adjustment of the transverse and vertical spacing of the material grabbing device, so that the device can adapt to the arrangement of tobacco frames and cigarette boxes of different sizes and shapes, thereby improving the versatility and flexibility of the device.

[0044] like Figure 1 and Figure 3As shown, the longitudinal spacing adjustment component 5 includes a mounting rotation rod 51 fixedly connected to the bending rod 46, a mounting base 53 is installed on the top of the basic bottom plate 22, the top of the mounting base 53 is fixedly connected to the second pneumatic cylinder 52, and the end of the basic bottom plate 22 away from the second pneumatic cylinder 52 is fixedly connected to the third pneumatic cylinder 54, the outer side of the third pneumatic cylinder 54 is fixedly connected to the connecting block 55, the outer side of the connecting block 55 is fixedly connected to the connecting plate 56, the bottom end of the connecting plate 56 is fixedly connected to the top support plate 57, the top support plate 57 has a sliding groove 58 provided inside, and a sliding column 59 is slidably connected to the sliding groove 58, the driving end of the second pneumatic cylinder 52 is fixedly connected to the mounting rotation rod 51, and the bottom end of the sliding column 59 is fixedly connected to the movable slider 41;

[0045] The rotating rod 51 is installed to connect the bending rod 46 and other components of the longitudinal spacing adjustment assembly 5 as a force transmission component, while allowing a certain degree of rotational freedom between the bending rod 46 and the connecting components. The installation base 53 is fixed on the basic bottom plate 22, providing an installation position for the second pneumatic cylinder 52, so that the second pneumatic cylinder 52 can exert its power on a stable basis. The second pneumatic cylinder 52 drives the installation rotating rod 51 to move through its telescopic action, thereby changing the position of the bending rod 46 and related connecting components to achieve adjustment of the longitudinal spacing of the grabbing device. The third pneumatic cylinder 54 is installed on the basic bottom plate 22. Its telescopic action drives the moving slider 41 to move through the connecting block 55, connecting plate 56, top support plate 57, sliding groove 58 and sliding column 59, further achieving fine adjustment of the longitudinal spacing. The connecting block 55 connects the third pneumatic cylinder 54 and the connecting plate 56, and transmits the power of the third pneumatic cylinder 54 to the connecting plate 56. The shape and structure of the sliding plate 59 can ensure the stability and reliability of the connection. The connecting plate 56 transmits power to the top support plate 57, so that the top support plate 57 can move in the vertical direction and provide support for the top support plate 57. The sliding groove 58 inside the top support plate 57 cooperates with the sliding column 59. The movement of the sliding column 59 drives the moving slider 41 to move, thereby adjusting the longitudinal spacing. The sliding groove 58 provides a sliding path for the sliding column 59, so that the sliding column 59 can move along a predetermined trajectory to ensure the smoothness and accuracy of the movement. The sliding column 59 connects the top support plate 57 and the moving slider 41, and drives the moving slider 41 to move through its own sliding, thereby adjusting the longitudinal spacing. The longitudinal spacing adjustment component 5 can accurately adjust the longitudinal spacing of the grabbing device through the cooperation of multiple pneumatic cylinders, so that the device can better adapt to tobacco material frames and tobacco boxes of different heights and depths, further enhancing the adaptability and flexibility of the device.

[0046] like Figure 4 and Figure 6As shown, the arc-shaped clamping assembly 6 includes a cylindrical body 61 fixedly connected to the inside of the arc-shaped clamping plate 39, a telescopic cylinder 62 is slidably connected to the inside of the cylindrical body 61, one end of the telescopic cylinder 62 is fixedly connected to a third limiting ring 63, an outer side of the third limiting ring 63 is sleeved with an elastic return spring 64, one end of the elastic return spring 64 is fixedly connected to the third limiting ring 63, and the other end of the elastic return spring 64 is fixedly connected to the cylindrical body 61;

[0047] The cylindrical body 61 provides an installation and support base for the arc-shaped clamping assembly 6. The internal structure can accommodate components such as the telescopic column 62 and is fixedly connected to the arc-shaped clamping plate 39, so that the entire arc-shaped clamping assembly 6 can be stably installed on the device. The telescopic column 62 slides in the cylindrical body 61 and can be telescoped according to the shape and position of the cigarette box, so that the arc-shaped clamping assembly 6 can better fit the cigarette box and achieve more stable gripping. The third limiting ring 63 limits the position of the telescopic column 62 to prevent it from falling out of the cylindrical body 61 during the sliding process, and is elastically reset. The spring 64 provides an installation position, and the elastic return spring 64 provides elastic force during the extension and retraction of the telescopic column 62. When the grasping force is removed, the telescopic column 62 can be restored to its original position to ensure the normal operation of the arc clamping assembly 6, and can buffer a certain impact force during the grasping process to protect the cigarette box and the device. The arc clamping assembly 6 can be adaptively extended and retracted according to the shape and position of the cigarette box. Through the action of the elastic return spring 64, the stability and reliability of the grasping are improved, the damage to the cigarette box is reduced, and the device can better adapt to cigarette boxes of different shapes and sizes.

[0048] Working principle;

[0049] like Figures 1-6 As shown;

[0050] During actual use, the robotic arm 1 first drives the mounting column 21 to move above the target cigarette material frame. The mounting column 21 serves as a key component connecting the support assembly 2 and the robotic arm 1, and plays the role of fixing and supporting the entire support assembly 2. As the mounting column 21 moves, the base bottom plate 22 fixedly connected to its bottom also moves accordingly. The base bottom plate 22 serves as the basic platform at the bottom of the support assembly 2. On the one hand, it provides a mounting position for other components such as the transverse support rod 23. On the other hand, it transfers the weight and force of the entire device to the bottom to ensure the stability of the device. When the material grabbing position needs to be adjusted, the first sliding block 24 slides in the transverse support rod 23, driving the extension arm 25 to move. The extension arm 25 extends outward from the base bottom plate 22 to increase the operating range of the device. The vertical support column 26 provides support in the vertical direction and connects the rotating clamping assembly 3 and other components, so that the grabbing device can grab the material in the vertical direction and can withstand the vertical force generated when grabbing the material. When grabbing the material, the vertical support column 26 provides vertical support and an installation position for the rotating clamping assembly 3. The drive motor 35 is started as the power source of the rotating clamping assembly 3, and the driving end drives the drive gear 36 to rotate. The drive gear 36 is engaged with the active transmission gear 33 to transmit power to the active transmission gear 33. The active transmission gear 33 is installed on the vertical support column 26 and drives the installation shaft 34 to rotate when rotating. The installation shaft 34 connects the drive motor 35 and the vertical support Components such as the plate 37 transmit the power of the motor to the vertical support plate 37 and the clamping part, and their own rotation drives the entire clamping part to rotate. The vertical support plate 37 provides an installation position for the anti-slip pad 38 and the arc-shaped clamping plate 39. When the vertical support plate 37 rotates, the anti-slip pad 38 and the arc-shaped clamping plate 39 rotate accordingly. The anti-slip texture on the surface of the anti-slip pad 38 can increase the friction between the material and the arc-shaped clamping plate 39 is adapted to the material in shape and can clamp the material from the side, and cooperate with the anti-slip pad 38 to achieve stable grasping of the material. The first limiting ring 31 limits and installs the components in the rotating clamping assembly 3, and at the same time serves as the rotation center, so that the rotating clamping assembly 3 can rotate stably around it, and the second limiting ring 32 limits the installation axis The position of the rod 34 ensures that the mounting shaft 34 and the components connected thereto will not move axially during the rotation process, thereby ensuring the stability and accuracy of the rotation action. When it is necessary to adjust the horizontal and vertical spacing of the grabbing device, first move the slider 41 to slide in the horizontal support rod 23, driving the vertical guide rod 42 and the components connected thereto to move. The vertical guide rod 42 provides vertical guidance for the second sliding block 43. The second sliding block 43 slides on the vertical guide rod 42 and is connected to the bending rod 46 through the rotating shaft 45. The first pneumatic cylinder 44 serves as a power source, and its telescopic action drives the second sliding block 43 to move, thereby realizing the vertical position adjustment of the bending rod 46. The bending rod 46 is connected to the top plate 47, and the top plate 47 slides on the horizontal support rod 23.The top plate 47 is slidably connected to the slide groove of the movable slider 41, which plays the role of connecting and transmitting movement. When the bending rod 46 moves in the vertical direction, it drives the top plate 47 to slide on the transverse support rod 23, and then drives the movable slider 41 to slide in the transverse support rod 23, so as to realize the horizontal position adjustment of the entire transverse spacing adjustment component 4. The rotating shaft 45 allows the bending rod 46 to rotate within a certain range to adapt to different grabbing actions. When it is necessary to accurately adjust the longitudinal spacing of the grabbing device, the telescopic action of the third pneumatic cylinder 54 is through the connecting block 55, the connecting plate 56, and the pulling of the top support plate 57, driving the movable slider 41 to move, and the movable slider 41 moves When the sliding column 59 is connected to the top support plate 57 and the movable slider 41, the sliding column 59 slides in the sliding groove 58, and the sliding groove 58 provides a sliding path for the sliding column 59, so that the sliding column 59 can move along a predetermined trajectory to ensure the smoothness and accuracy of the movement. The movement of the sliding column 59 drives the movable slider 41 to move, thereby adjusting the longitudinal spacing. At the same time, the second pneumatic cylinder 52 drives the installation rotating rod 51 to move through its telescopic action. The installation rotating rod 51 is connected to the bending rod 46 and other components of the longitudinal spacing adjustment assembly 5. The bending rod 46 then drives the relevant connecting components to change position, and the installation base 53 is fixed to the base bottom plate 2 2, providing an installation position for the second pneumatic cylinder 52, the connecting block 55 connects the third pneumatic cylinder 54 and the connecting plate 56, and transmits the power of the third pneumatic cylinder 54 to the connecting plate 56. The connecting plate 56 transmits the power to the top support plate 57, so that the top support plate 57 can move in the vertical direction. The sliding groove 58 inside the top support plate 57 cooperates with the sliding column 59. The movement of the sliding column 59 drives the moving slider 41 to move. When grabbing materials, the telescopic column 62 slides in the cylindrical body 61 and expands and contracts according to the shape and position of the material, so that the arc clamping assembly 6 can better fit the material. The cylindrical body 61 is an arc clamping Component 6 provides a mounting and support base. Its internal structure accommodates components such as the telescopic column 62 and is fixedly connected to the arc-shaped clamping plate 39. When grasping material, the telescopic column 62 expands and contracts. The third limiting ring 63 restricts the position of the telescopic column 62, preventing it from sliding out of the cylindrical body 61. It also provides a mounting position for an elastic return spring 64. The elastic return spring 64 provides elastic force during the expansion and contraction of the telescopic column 62. When the grasping force is removed, the elastic return spring 64 can restore the telescopic column 62 to its original position. The elastic return spring 64 can also buffer a certain amount of impact force during the grasping process, protecting the material and the device.

[0051] The above description is merely a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any person skilled in the art may utilize the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes for application in other fields. However, any simple modification, equivalent change, and modification of the above embodiments made in accordance with the technical essence of the present invention without departing from the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. An automatic material grabbing device based on the position-limiting cooperation of a stacking robot cigarette frame, comprising a robotic arm (1), characterized in that: The support assembly (2) further comprises a mounting column (21) fixedly connected to the mechanical arm (1), the bottom end of the mounting column (21) being fixedly connected to a base plate (22), both sides of the bottom end of the base plate (22) being slidably connected to transverse support rods (23), the interior of the transverse support rods (23) being slidably connected to a first sliding block (24), the outer side of the first sliding block (24) being fixedly connected to an extension arm (25), and the outer side of the extension arm (25) being fixedly connected to a vertical support column (26); A rotary clamping assembly (3), the rotary clamping assembly (3) comprising a first limiting ring (31) rotatably connected to the interior of the extension arm (25), a second limiting ring (32) fixedly connected to the outer side of the vertical support column (26), a driving transmission gear (33) fixedly connected to the outer side of the vertical support column (26), a mounting shaft (34) rotatably connected to the outer side of the second limiting ring (32), a driving motor (35) mounted on the outer side of the mounting shaft (34), and a driving end of the driving motor (35) fixedly connected to a driving gear (36); A transverse spacing adjustment component (4), the transverse spacing adjustment component (4) includes a movable slider (41) fixedly connected to the top of a first sliding block (24), the top of the movable slider (41) is fixedly connected to a vertical guide rod (42), the top of the vertical guide rod (42) is fixedly connected to a second sliding block (43), one of the second sliding blocks (43) is mounted with a first pneumatic cylinder (44), the driving end of the first pneumatic cylinder (44) is fixedly connected to the other second sliding block (43), the top of the second sliding block (43) is fixedly connected to a rotating shaft (45), and the outer side of the rotating shaft (45) is rotatably connected to a bending rod (46); A longitudinal spacing adjustment assembly (5), the longitudinal spacing adjustment assembly (5) comprising a mounting rotation rod (51) fixedly connected to the bending rod (46), a mounting base (53) mounted on the top end of the base plate (22), and a second pneumatic cylinder (52) fixedly connected to the top end of the mounting base (53); The arc-shaped clamping assembly (6) comprises a cylindrical main body (61) fixedly connected to the inside of the arc-shaped clamping plate (39), and a telescopic column (62) is slidably connected to the inside of the cylindrical main body (61).

2. The automatic material grabbing device based on the position-limiting cooperation of the cigarette material frame of the palletizing robot according to claim 1 is characterized in that: The bottom end of the driving gear (36) is fixedly connected to a vertical support plate (37).

3. The automatic material grabbing device based on the position-limiting cooperation of the cigarette material frame of the palletizing robot according to claim 2 is characterized in that: The outer side of the vertical support plate (37) is fixedly connected to an anti-skid pad (38), and one end of the vertical support plate (37) away from the anti-skid pad (38) is fixedly connected to an arc-shaped clamping plate (39).

4. The automatic material grabbing device based on the position-limiting cooperation of the cigarette material frame of the palletizing robot according to claim 1 is characterized in that: The active transmission gear (33) is meshedly connected to the driving gear (36), and the top end of the driving motor (35) is fixedly connected to the outer side of the first limiting ring (31).

5. The automatic material grabbing device based on the position-limiting cooperation of the cigarette material frame of the palletizing robot according to claim 1 is characterized in that: The bottom end of the second sliding block (43) is slidably connected to a top plate (47), the bottom end of the top plate (47) is slidably connected to the top end of the transverse support rod (23), and the sliding groove of the movable slider (41) is slidably connected to the inside of the transverse support rod (23).

6. The automatic material grabbing device based on the position-limiting cooperation of the cigarette material frame of the palletizing robot according to claim 1 is characterized in that: One end of the base plate (22) away from the second pneumatic cylinder (52) is fixedly connected to a third pneumatic cylinder (54), and the outer side of the third pneumatic cylinder (54) is fixedly connected to a connecting block (55).

7. The automatic material grabbing device based on the position-limiting cooperation of the cigarette material frame of the palletizing robot according to claim 6 is characterized in that: The outer side of the connecting block (55) is fixedly connected to a connecting plate (56), the bottom end of the connecting plate (56) is fixedly connected to a top supporting plate (57), and a sliding groove (58) is provided inside the top supporting plate (57).

8. The automatic material grabbing device based on the position-limiting cooperation of the cigarette material frame of the palletizing robot according to claim 7 is characterized in that: A sliding column (59) is slidably connected to the sliding groove (58), a driving end of the second pneumatic cylinder (52) is fixedly connected to the mounting rotating rod (51), and a bottom end of the sliding column (59) is fixedly connected to the moving slider (41).

9. The automatic material grabbing device based on the position-limiting cooperation of the cigarette material frame of the palletizing robot according to claim 1, characterized in that: One end of the telescopic column (62) is fixedly connected to a third limiting ring (63), and an elastic return spring (64) is sleeved on the outer side of the third limiting ring (63).

10. The automatic material grabbing device based on the position-limiting cooperation of the cigarette material frame of the palletizing robot according to claim 9, characterized in that: One end of the elastic return spring (64) is fixedly connected to the third limiting ring (63), and the other end of the elastic return spring (64) is fixedly connected to the cylindrical body (61).

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