Cigarette bundle gripping device

Abstract

The present invention provides a strip cigarette grasping device, in which the stepping motor screw-nut mechanism is independently arranged relative to the suction cup assembly, and the height of the suction cups in the suction cup assembly and the distance between the suction cup assemblies are controlled by steel wires, so that in all the suction cup assemblies for grasping cigarettes in the grasping device, most of the weight is concentrated on light components such as cylinders, suction cups, connecting plates and supports, thereby greatly reducing the weight of the suction cup assembly. Since the vertical cylinder and the horizontal cylinder are inflated to maintain a certain pressure in the cylinder body, the screw rod is rotated by a certain angle by the stepping motor, so that the traction nut connected to the steel wire stays at a certain position to traction the suction cups in the suction cup assembly or the suction cup assembly itself, realizing precise adjustment of the height of the suction cups or the distance between the suction cup assemblies.

Description

Technical Field

[0001] The present invention relates to a transportation or storage device, and particularly to a device combined with a pneumatic system for picking up or putting down objects or materials. Background Art

[0002] In the prior art, the published text with the patent number ZL 201821167795.5 provides a grasping suction cup for a special-shaped cigarette packaging system. More than one set of grasping components are slidably connected to the transverse movement guide rail of the base frame, and the grasping components are connected to the transverse movement lead screw stepping motor fixed on the base frame; it includes an upper support plate. Both ends of the upper support plate are slidably connected to the transverse movement guide rail through guide seats. The upper support plate is also connected to the lower support plate through four columns. A vertical movement guide sleeve is provided on the lower support plate, and the vertical movement guide sleeve is slidably connected to the vertical movement guide rail. The top end of the vertical movement guide rail is connected to a linkage plate, and the bottom end of the vertical movement guide rail is connected to a suction cup assembly. The linkage plate is also threadedly connected to the lead screw of the vertical movement lead screw stepping motor fixed on the upper support plate; the upper support plate is also threadedly connected to the lead screw of the transverse movement lead screw stepping motor through a stepping transverse movement traction nut; through this structure, the suction cup assembly can adjust the vertical position of the suction cup assembly according to the cigarette height of the to-be-grasped special-shaped strip cigarettes, so that the grasping components can simultaneously grasp special-shaped strip cigarettes with a large cigarette height difference without being crushed, effectively improving the grasping efficiency. The grasping components can simultaneously grasp special-shaped strip cigarettes with a cigarette height difference exceeding 10 mm, and its application range is wider.

[0003] However, in the above prior art, since the stepping motor needs to be installed above the suction cup assembly to adjust the height of the single-row suction cup assembly and the distance between the two rows of suction cup assemblies, the entire grasping suction cup is too heavy, resulting in an excessive load on the robotic arm carrying the grasping suction cup during the process of grasping and transferring the strip cigarettes. In addition, this grasping suction cup only solves the problem of loose stacking during cigarette grasping. When transferring to other areas for film wrapping or palletizing after cigarette grasping, due to the excessive weight of the grasping suction cup causing greater inertia, the grasping suction cup will experience severe jitter at the moment when the robotic arm brakes. Summary of the Invention

[0004] The purpose of the present invention is to provide a strip cigarette grasping device, aiming to accurately adjust the height of the suction cups and the distance between the two suction cups to simultaneously grasp multiple different specifications of special-shaped cigarettes and significantly reduce the weight of the grasping device.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A strip cigarette grasping device, characterized in that it includes at least two sets of suction cup assemblies with suction cups provided at the bottom, and a lead screw nut mechanism independently arranged relative to the suction cup assemblies; the lead screw nut mechanism includes a lead screw, a traction nut, and a guide rail.

[0007] It further includes a stepper motor for controlling the rotation of the lead screw. The traction nut translates or locks according to whether the lead screw rotates or not.

[0008] It further includes a steel wire with one end connected to a suction cup assembly and the other end connected to the traction nut in the lead screw nut mechanism and being pulled by it. The distance between one suction cup assembly and the other suction cup assembly pulled apart, as well as the lifting height of the suction cup, are both defined by the traction nut pulling the steel wire.

[0009] Based on the above technical solution, the following improvements can be made:

[0010] As an improvement, the suction cup assembly includes a vertical cylinder for controlling the vertical lifting of the suction cup.

[0011] As a further improvement, it further includes a horizontal cylinder for controlling the translation of one set of suction cup assemblies relative to another set of suction cup assemblies.

[0012] As an improvement, the suction cup assembly further includes a connecting plate for fixing the suction cup and a cylinder support for fixing the vertical cylinder. The number of the suction cup assemblies is an odd number, and the number of suction cups on each set of suction cup assemblies is at least two. The suction cup assembly located at the very center is used as the central suction cup assembly. Except for the central suction cup assembly, there are two steel wires connected to each of the other suction cup assemblies. Among them,

[0013] one of the steel wires is vertically fixed on the connecting plate of the suction cup assembly, and the other steel wire is horizontally fixed on the cylinder support of the suction cup assembly.

[0014] As an improvement, the cylinders of the horizontal cylinder and the vertical cylinder are both inflated and maintained at a specific pressure.

[0015] As a further improvement, the cigarette strip grabbing device further includes a wire conduit. The cylinder support is provided with a wire hole for the steel wire to pass through. The cylinder support on the central suction cup assembly serves as the central support. One end of the wire conduit is inserted into the central support and corresponds to its wire hole, and the other end extends out from the side of the central support and bends upward. The steel wire passes through the wire hole and penetrates into the wire conduit from one end of the wire conduit and extends out from the other end of the wire conduit.

[0016] As an improvement, the horizontal cylinders are arranged in pairs, and their cylinders are both arranged on the cylinder supports of a set of suction cup assemblies sandwiched between two sets of suction cup assemblies. The end of the telescopic rod of one of the horizontal cylinders is connected to the cylinder support of the left suction cup assembly, and the end of the telescopic rod of the other horizontal cylinder is connected to the cylinder support of the right suction cup assembly.

[0017] As a further improvement, the number of the sucker assemblies is five groups, the number of suckers in each group of sucker assemblies is two, the number of the transverse cylinders is two pairs, and the number of the vertical cylinders corresponding to each group of sucker assemblies is one pair. The cylinder bodies of each pair of transverse cylinders are installed on the upper end surface of the cylinder support of a group of sucker assemblies sandwiched between two groups of sucker assemblies. For each pair of transverse cylinders, the telescopic rod of one of the transverse cylinders is connected to the cylinder support of the outermost sucker assembly, and the telescopic rod of the other transverse cylinder is connected to the central support.

[0018] As an improvement, it further includes a guiding hole penetrating through the cylinder support from the side, and a guiding rod passing through the guiding hole, and the cylinder support can slide horizontally along the guiding rod.

[0019] The present invention has the following beneficial effects compared with the prior art:

[0020] (1) The connection with the stepping motor lead screw nut mechanism is independently arranged relative to the sucker assemblies, and the height of the suckers in the sucker assemblies and the distance between the sucker assemblies are controlled by steel wires, so that in all the sucker assemblies for grabbing cigarettes in the grabbing device, most of the weight is concentrated on light components such as cylinders, suckers, connecting plates and supports, thereby greatly reducing the weight of the sucker assemblies;

[0021] (2) Since the vertical cylinders and the transverse cylinders are inflated to maintain a certain pressure in the cylinder bodies, the lead screw is rotated by a certain angle through the stepping motor, so that the traction nut connecting the steel wire stays at a certain position to traction the suckers in the sucker assemblies or the sucker assemblies themselves, realizing precise adjustment of the height of the suckers or the distance between the sucker assemblies;

[0022] (3) By independently controlling the rotation angle of each stepping motor, it is possible to independently adjust the height of the suckers on each sucker assembly of the entire grabbing device and the distance between every two adjacent sucker assemblies, realize the simultaneous grabbing of multiple different specifications of special-shaped cigarettes, and also realize the simultaneous grabbing when multiple regular cigarettes and a small amount of special-shaped cigarettes are mixed. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for use in the embodiments will be briefly introduced below.

[0024] Figure 1 It is a schematic diagram of the overall structure of the cigarette grabbing device;

[0025] Figure 2 It is a schematic diagram of the connection structure of a group of sucker assemblies and a lead screw nut mechanism;

[0026] Figure 3 It is a schematic diagram of the structure of the cylinder support;

[0027] Figure 4 Structural schematic diagram of the sucker spacing adjustment mechanism;

[0028] Figure 5 Structural schematic diagram of the cigarette grabbing device after hiding the lead screw nut traction device;

[0029] Figure 6 Structural schematic diagram of the central support;

[0030] Figure 7 Schematic diagram of the decomposition of some components of the lead screw nut traction device;

[0031] Figure 8 Explosion schematic diagram of the components of the steel 6 wire fixing structure on the fixed seat;

[0032] Figure 9 Overall structural schematic diagram of the lead screw nut traction device;

[0033] Figure 10 Partial structural schematic diagram of the cigarette grabbing device;

[0034] To help understand the present invention, the corresponding numbers of the components and / or parts found in the attached drawings are provided as follows:

[0035] 10. Cigarette grabbing device; 100. Steel wire; 101. Wire loop; 102. Wire hole; 103. Wire tube; 11. Sucker assembly; 111. Sucker; 112. Connecting plate; 113. Cylinder support; 114. Vertical cylinder; 110. Central sucker assembly; 116. Central support; 117. Clamping hole; 121. Guide rod; 122. Horizontal cylinder; 123. Guide hole; 13. Lead screw nut traction device; 130. Bracket; 131. Vertical plate; 132. Top horizontal plate; 133. Bottom horizontal plate; 134. Wire passing hole; 135. Round hole; 14. Lead screw nut mechanism; 141. Lead screw; 142. Traction nut; 143. Guide rail; 144. Stepper motor; 145. Fixed seat; 146. Wire groove; 147. Internal thread hole; 148. Fixed piece; 149. Through hole;

[0036] It should be understood that the attached drawings are not necessarily drawn to scale. Obviously, the above-mentioned attached drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other attached drawings can also be obtained with reference to these attached drawings. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the attached drawings.

[0038] It should be noted that if there are directional indications involved in the embodiments of the present invention (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial...), then these directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a certain specific posture (as shown in the attached drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0039] As Figure 1 shown, in order to make the attached drawings more concise, the steel wire 100 and the wire tube 103 connecting the lead screw nut mechanism 14 and the suction cup assembly 11 are not drawn in the figures. For the specific connection schematic of the steel wire 100 and the wire tube 103, reference can be made to Figure 2 , Figure 4 and Figure 9 .

[0040] As Figure 1 shown, the cigarette strip grabbing device 10 includes a suction cup assembly 11 for grabbing cigarette strips, a suction cup spacing adjusting mechanism, and a lead screw nut traction device 13 for the cigarette strip grabbing device 10.

[0041] As Figure 2 shown, the suction cup assembly 11 for grabbing cigarette strips is controlled by an independently arranged lead screw nut mechanism 14 through a steel wire 100. The suction cup assembly 11 includes suction cups 111, a connecting plate 112, a cylinder support 113, and a vertical cylinder 114. The connecting plate 112 is used to fix the suction cups 111. The cylinder support 113 is used to fix the cylinder body of the vertical cylinder 114. The end of the telescopic rod of the vertical cylinder 114 is fixed to the connecting plate 112. The number of suction cups 111 is a pair, and the two suction cups 111 are respectively located at both ends of the connecting plate 112. The number of vertical cylinders 114 is a pair, and the cylinder bodies of the two vertical cylinders 114 are respectively fixed at both ends of the cylinder support 113 and correspond to the two suction cups 111 respectively.

[0042] As Figure 3 shown, vertical wire holes 102 are provided on the cylinder support 113. The steel wire 100 passes through the wire holes 102 and is vertically fixed to the connecting plate 112. Among them, the number of wire holes 102 is two, and the corresponding two steel wires 100 are symmetrically distributed at both ends of the connecting plate 112.

[0043] As Figure 4 shown, in this suction cup spacing adjusting mechanism, the suction cups 111 are respectively fixed on both sides of the lower end face of the connecting plate 112. The end of the telescopic rod of the vertical cylinder 114 is fixed to the connecting plate 112. The cylinder support 113 for fixing the vertical cylinder 114 has a guide hole 123 penetrating through it from the side, and a guide rod 121 passing through the guide hole 123. The cylinder support 113 can slide horizontally along the guide rod 121.

[0044] Specifically, the sucker spacing adjustment mechanism further includes a transverse cylinder 122 for controlling the translation of a set of sucker assemblies 11 relative to another set of sucker assemblies 11. The transverse cylinders 122 are arranged in pairs, and their cylinder bodies are both arranged on the cylinder support 113 of a set of sucker assemblies 11 sandwiched between the two sets of sucker assemblies 11. The end of the telescopic rod of one of the transverse cylinders 122 is connected to the cylinder support 113 of the left sucker assembly 11, and the end of the telescopic rod of the other transverse cylinder 122 is connected to the cylinder support 113 of the right sucker assembly 11.

[0045] Specifically, each pair of transverse cylinders 122 is a small cylinder. After the cylinder bodies of the two transverse cylinders 122 are spliced together, they are fixed to the top of the cylinder support 113.

[0046] Specifically, the sucker spacing adjustment mechanism further includes a steel wire 100 horizontally fixed to the cylinder support 113 at one end. The steel wire 100 is controlled by a lead screw nut mechanism 14. The steel wire 100 is connected to the traction nut 142 in the lead screw nut mechanism 14, so that the spacing pulled by one sucker assembly 11 relative to another sucker assembly 11 is limited by the nut of the traction steel wire 100.

[0047] As Figure 5 shown, the number of sucker assemblies 11 of the cigarette strip gripping device 10 is five groups, the number of suckers 111 in each group of sucker assemblies 11 is two, the number of transverse cylinders 122 is two pairs, the corresponding vertical cylinder 114 for each group of sucker assemblies 11 is one pair, and the cylinder bodies of each pair of transverse cylinders 122 are all installed on the upper end surface of the cylinder support 113 of a set of sucker assemblies 11 sandwiched between the two sets of sucker assemblies 11. The sucker assembly 11 at the most central position is used as the central sucker assembly 110. Except for the central sucker assembly 110, there are two steel wires 100 connected to each of the other sucker assemblies 11. For each pair of transverse cylinders 122, the telescopic rod of one of the transverse cylinders 122 is connected to the cylinder support 113 of the outermost sucker assembly 11, and the telescopic rod of the other transverse cylinder 122 is connected to the central support 116.

[0048] Specifically, as Figure 6As shown in the figure, the cigarette bundle gripping device 10 further includes a wire conduit 103. A wire hole 102 for the steel wire 100 to pass through is provided on the cylinder support 113. The cylinder support 113 on the central suction cup assembly 110 serves as the central support 116. One end of the wire conduit 103 is inserted into the central support 116 and corresponds to its wire hole 102, and the other end extends from the side of the central support 116 and bends upward. The steel wire 100 passes through the wire hole 102 and enters the wire conduit 103 from one end of the wire conduit 103, and extends from the other end of the wire conduit 103. A clamping hole 117 is provided at the top of the central support 116, and this clamping hole 117 is used to fix and secure devices such as a robotic arm or a ladder with a rod.

[0049] As Figure 7 shown, the lead screw-nut traction device 13 is used for precisely controlling the telescopic amount of the cylinder in the cigarette bundle gripping device 10. It includes a bracket 130 and a lead screw-nut mechanism 14 provided on the frame 1. The lead screw-nut mechanism 14 includes a lead screw 141 and a traction nut 142 screwed onto the lead screw 141. It further includes a stepper motor 144 for controlling the rotation of the lead screw 141, a fixed seat 145 sleeved on the traction nut 142 and fixed, and penetrated by the lead screw 141, and guide rails 143 respectively connecting the inner side surface of the fixed seat 145 and the frame 1 and used for restricting the rotation of the fixed seat 145.

[0050] As Figure 8 shown, the lead screw-nut traction device 13 further includes a fixing piece 148. A partial line segment of the steel wire 100 connecting the end where the fixed seat 145 is located is bent to form a wire loop 101. A wire groove 146 for placing the wire loop 101 is provided on the outer side surface of the fixed seat 145, and internal threaded holes 147 are arranged in a shape of a Chinese character "pin" at the center and on both sides of the wire groove 146. Through holes 149 corresponding to the internal threaded holes 147 are provided on the fixing piece 148. The fixing piece 148 is pressed on the wire loop 101 and fixed to the wire loop 101 by screwing bolts.

[0051] Specifically, the bracket 130 includes a vertical plate 131, and a top cross plate 132 and a bottom cross plate 133 respectively provided at the top and bottom of the vertical plate 131. The lead screw-nut mechanism 14 is located between the top cross plate 132 and the bottom cross plate 133. The guide rails 143 are installed on the vertical plate 131. A wire passing hole 134 for the steel wire 100 to pass through is provided on the top cross plate 132. The stepper motor 144 is fixed below the bottom cross plate 133, and a round hole 135 for the rotating shaft of the stepper motor 144 to pass through is provided on the bottom cross plate 133. After the rotating shaft of the stepper motor 144 passes through the round hole 135, it is connected to the lead screw 141.

[0052] Specifically, a fixing bracket for fixing the wire conduit 103 is provided on the upper end surface of the top cross plate 132, beside the wire passing hole 134.

[0053] Specifically, the wire grooves 146 and the internal threaded holes 147 on the fixed seat 145 are both set in two groups.

[0054] As Figure 9 shown, the number of the lead screw nut mechanisms 14 is ten groups, and five groups are arranged on each side of the vertical plate 131. Each group of lead screw nut mechanisms 14 corresponds to a group of stepping motors 144.

[0055] The following is Figure 10 used to illustrate the spacing and height of each suction cup assembly 11 of the cigarette strip grasping device 10.

[0056] The method for adjusting the spacing and height of each suction cup assembly 11 of the cigarette strip grasping device 10 in the embodiment of the present application specifically includes the following steps:

[0057] Step 1, set the stepping motor 144 and the lead screw nut mechanism 14, and the rotation of its lead screw 141 is controlled by the stepping motor 144.

[0058] Step 2, connect one end of each steel wire 100 to the suction cup assembly 11, and connect the other end to the nut in the lead screw nut mechanism 14 and be pulled by it.

[0059] Specifically, the lead screw nut mechanism 14 is divided into a first lead screw nut mechanism 152 and a second lead screw nut mechanism 162. The lifting of the suction cup 111 is controlled by the first lead screw nut mechanism 152 and the first stepping motor 151, and the spacing between the suction cup assemblies 11 is controlled by the second lead screw nut mechanism 162 and the second stepping motor 161.

[0060] Step 3, inflate the vertical cylinder 114 and the horizontal cylinder 122 so that a specific pressure is maintained in the cylinder body.

[0061] Step 4, the first stepping motor 151 controls the rotation of the lead screw 141 of the first lead screw nut mechanism 152 so that the traction nut 142 travels to a first specific position. After the suction cup 111 at the bottom of the suction cup assembly 11 descends until the steel wire 100 is taut, the suction cup 111 descends to the height corresponding to the first specific position.

[0062] Step 5, the second stepping motor 161 controls the rotation of the lead screw 141 of the second lead screw nut mechanism 162 so that the traction nut 142 travels to a second specific position. After one suction cup assembly 11 is pulled away from another suction cup assembly 11 until the steel wire 100 is taut, the two suction cup assemblies 11 are adjusted to the spacing corresponding to the second specific position.

[0063] Step 6, the first stepping motor 151 controls the rotation of the lead screw 141 of the first lead screw nut mechanism 152 so that the nut travels to a third specific position, driving the steel wire 100 to pull the suction cup 111 up to the height corresponding to the third specific position.

[0064] Step 7: The second stepping motor 161 controls the rotation of the lead screw 141 of the second lead screw nut mechanism 162 to move the nut to the fourth specific position, driving the steel wire 100 to pull a suction cup assembly 11 close to another suction cup assembly 11, so that the two suction cup assemblies 11 are adjusted to a spacing corresponding to the fourth specific position.

[0065] The present invention has been introduced in detail above. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present application. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A cigarette strip grasping device, characterized in that, It includes at least two groups of sucker components with suckers provided at the bottom, and a lead screw nut mechanism independently provided relative to the sucker components; the lead screw nut mechanism includes a lead screw, a traction nut, and a guide rail; It further includes a stepper motor for controlling the rotation of the lead screw, and the traction nut translates or locks according to the rotation of the lead screw; It further includes a steel wire with one end connected to a sucker component and the other end connected to and pulled by the traction nut in the lead screw nut mechanism; the distance between one sucker component and the other sucker component, as well as the lifting height of the sucker, are both defined by the traction nut pulling the steel wire.

2. The cigarette strip gripping device according to claim 1, wherein The sucker component further includes a vertical cylinder for controlling the vertical lifting of the sucker.

3. The cigarette bundle gripping device according to claim 2, wherein, It further includes a horizontal cylinder for controlling the translation of one group of sucker components relative to another group of sucker components.

4. The cigarette strip grasping device according to claim 3, wherein, The sucker component further includes a connecting plate for fixing the sucker, and a cylinder support for fixing the vertical cylinder; the number of sucker components is an odd number, and the number of suckers on each group of sucker components is at least two; the sucker component located at the most central position serves as the central sucker component, and except for the central sucker component, each of the other sucker components is connected to two steel wires; among them, one of the steel wires is vertically fixed to the connecting plate of the sucker component, and the other steel wire is horizontally fixed to the cylinder support of the sucker component.

5. The cigarette strip grasping device according to claim 4, wherein, The cylinders of the horizontal cylinder and the vertical cylinder are both inflated and maintained at a specific pressure.

6. The cigarette strip gripping device according to claim 5, characterized in that, The cigarette bundle gripping device further includes a wire tube. A wire hole for the steel wire to pass through is provided on the cylinder support. The cylinder support on the central sucker component serves as the central support. One end of the wire tube is inserted into the central support and corresponds to its wire hole, and the other end extends out from the side of the central support and bends upward. The steel wire passes through the wire hole and penetrates into the wire tube from one end of the wire tube, and extends out from the other end of the wire tube.

7. The cigarette bundle gripping device according to claim 6, wherein The horizontal cylinders are arranged in pairs, and their cylinders are both arranged on the cylinder support of a group of sucker components sandwiched between two groups of sucker components. The end of the telescopic rod of one of the horizontal cylinders is connected to the cylinder support of the left sucker component, and the end of the telescopic rod of the other horizontal cylinder is connected to the cylinder support of the right sucker component.

8. The cigarette strip grasping device according to claim 7, characterized in that, The number of sucker components is five groups, the number of suckers on each group of sucker components is two, the number of horizontal cylinders is two pairs, and the vertical cylinders corresponding to each group of sucker components are one pair. The cylinders of each pair of horizontal cylinders are both installed on the upper end surface of the cylinder support of a group of sucker components sandwiched between two groups of sucker components. For each pair of horizontal cylinders, the telescopic rod of one of the horizontal cylinders is connected to the cylinder support of the outermost sucker component, and the telescopic rod of the other horizontal cylinder is connected to the central support.

9. The cigarette bundle grasping device according to any one of claims 4-8, characterized in that, It further includes a guide hole penetrating through the cylinder support from the side, and a guide rod passing through the guide hole. The cylinder support can slide horizontally along the guide rod.

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