A multifunctional manipulator for moisturizing cigarettes

Abstract

The present invention relates to a multifunctional manipulator for moisturizing cigarettes, and belongs to the technical field of cigarette packaging equipment. The vertical lifting module is installed on the horizontal moving module through the vertical sliding of the horizontal moving electric cylinder provided on the horizontal moving module, the connecting support plate is installed on the bottom end of the vertical lifting module through the vertical lifting electric cylinder provided on the vertical lifting module, the package combining mechanism is installed on the bottom of the connecting support plate through sliding, the inner frame transfer connecting rod mechanism is installed on the bottom of the connecting support plate and connected to the package combining mechanism, the inner frame folding mechanism is installed on the rear side of the connecting support plate and corresponds to the inner frame transfer connecting rod mechanism, and the package pushing mechanism is installed on the front side of the bottom of the connecting support plate through the driving electric cylinder at the bottom of the connecting support plate. The present invention ensures that the package pushing linear module and the horizontal moving module have the same speed through the combined action of the horizontal moving module and the package pushing linear module, so that the cigarette package is in a stationary state during the cigarette package pushing process, and the cigarette package quality is guaranteed to the greatest extent.

Description

Technical Field

[0001] The invention belongs to the technical field of cigarette packaging equipment, and in particular relates to a multifunctional manipulator for moisturizing cigarettes. Background Art

[0002] The existing manipulators for cigarette product packaging have the following two defects: first, the manipulators for cigarette product packaging have a single action, which makes it difficult to complete the packaging function of complex packaging actions, and also difficult to complete flexible packaging actions of various specifications. Second, most of the manipulators for cigarette product packaging are multi-joint manipulators, which move slowly and have low packaging efficiency.

[0003] Therefore, it is necessary to provide a high-efficiency, high-speed multifunctional manipulator for moisturizing cigarettes to improve packaging efficiency. Summary of the invention

[0004] In order to overcome the problems existing in the background technology, the present invention provides a multifunctional manipulator for moisturizing cigarettes. Through the combined action of a horizontal moving module and a pack pushing linear module, the speed of the pack pushing linear module and the horizontal moving module is ensured to be the same, so that the cigarette packs can be kept in a stationary state during the pack pushing process, thereby maximizing the quality of the cigarette packs.

[0005] To achieve the above object, the present invention is implemented through the following technical solutions:

[0006] The present invention provides a multifunctional manipulator for moisturizing cigarettes, comprising a horizontal moving module 1, a vertical lifting module 2, a packing mechanism 3, an inner frame transfer connecting rod mechanism 4, an inner frame folding mechanism 5, a packing pushing mechanism 6, and a connecting support plate 7; the vertical lifting module 2 is vertically slidably installed on the horizontal moving module 1 through a horizontal moving electric cylinder 11 arranged on the horizontal moving module 1, the connecting support plate 7 is installed at the bottom end of the vertical lifting module 2 through a vertical lifting electric cylinder 21 arranged on the vertical lifting module 2, the packing mechanism 3 is slidably installed on the bottom of the connecting support plate 7, the inner frame transfer connecting rod mechanism 4 is installed at the bottom of the connecting support plate 7 and is connected to the packing mechanism 3, the inner frame folding mechanism 5 is installed on the rear side of the connecting support plate 7 and corresponds to the inner frame transfer connecting rod mechanism 4, and the packing pushing mechanism 6 is slidably installed on the front side of the bottom of the connecting support plate 7 through a driving electric cylinder at the bottom of the connecting support plate 7.

[0007] Preferably, the wrapping mechanism 3 is provided with two groups, and the wrapping mechanism 3 includes a wrapping electric cylinder 31, a wrapping connecting rod 32, a grabbing cylinder 33 and a conical clamp 34. The wrapping electric cylinder 31 is a double-slider bidirectional electric cylinder, which is installed at the bottom of the connecting support plate 7. The wrapping connecting rod 32 is slidably installed on the double sliders of the wrapping electric cylinder 31, and the wrapping connecting rods 32 of the two groups of wrapping mechanisms 3 are arranged in parallel along the left and right directions. The grabbing cylinder 33 is a parallel opening and closing cylinder, which is installed at both ends of the wrapping connecting rod 32, and the grabbing cylinder 33 is installed on the clamping claw of the grabbing cylinder 33.

[0008] Preferably, the inner frame transfer link mechanism 4 includes a transfer link 41, a micro cylinder 42, an inner frame negative pressure suction block 43, a link suspension guide rail 44, and a fixed connection block 45. The fixed connection block 45 is installed at the bottom of the connecting support plate 7. The link suspension guide rail 44 is slidably connected to the fixed connection block 45 and is arranged in the front-to-back direction. The transfer link 41 is hinged on both sides of one end of the link suspension guide rail 44. The transfer link 41 is connected to the bag grabbing cylinder 33 through a hinge block. The bag grabbing cylinder 33 drives the transfer link 41 to open and close, and causes relative sliding between the link suspension guide rail 44 and the fixed connection block 45. A micro cylinder 42 is installed at the other end of the link suspension guide rail 44, and an inner frame negative pressure suction block 43 is installed on the micro cylinder 42.

[0009] Preferably, the inner frame folding mechanism 5 includes a folding cylinder 51, parallel air claws 52, and an inner frame folding connecting rod mechanism 53. The folding cylinder 51 is installed on the rear side of the connecting support plate 7. The lower end of the folding cylinder 51 is connected to the parallel air claws 52. The parallel air claws 52 mainly perform the folding function of the inner frame paper. The inner frame folding connecting rod mechanism 53 is installed at its lower end. The inner frame folding connecting rod mechanism 53 mainly performs the protection function of the inner package.

[0010] Preferably, the bag pushing mechanism 6 includes a bag pushing cylinder 61, a bag pushing rod hanging guide rail 62, and a bag pushing rod 63. The bag pushing cylinder 61 is installed at the bottom of the connecting support plate 7, and the bag pushing rod 63 is connected to the bag pushing cylinder 61. The bag pushing rod 63 is located at the front side of the bottom of the connecting support plate 7. The bag pushing rod hanging guide rail 62 is arranged in the front-to-back direction and installed at the bottom of the connecting support plate 7. The bag pushing rod 63 is slidably connected to the bag pushing rod hanging guide rail 62.

[0011] Beneficial effects of the present invention:

[0012] (1) The present invention builds an efficient and high-speed manipulator through the combined application of multiple linear modules;

[0013] (2) The robot of the present invention is provided with a packaging mechanism, a connecting rod mechanism for picking up inner frame paper, etc., which can well meet the packaging requirements of double inner package cigarette products;

[0014] (3) The robot of the present invention is provided with a linear module pack pushing mechanism. By combining the horizontal moving module and the pack pushing linear module to ensure that the speed of the linear module and the horizontal moving module is the same, the cigarette pack can be kept in a stationary state during the pack pushing process, thereby ensuring the quality of the cigarette pack to the greatest extent;

[0015] (4) The robot arm of the present invention is provided with an inner frame folding mechanism, and the folding of inner frame papers of different sizes can be realized through the concept of flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0017] Figure 2 It is a three-dimensional structural schematic diagram of the present invention from another angle;

[0018] Figure 3 It is a structural schematic diagram of the packaging mechanism of the present invention;

[0019] Figure 4 It is a structural schematic diagram of the inner frame transfer linkage mechanism of the present invention;

[0020] Figure 5 It is a structural schematic diagram of the inner frame folding mechanism of the present invention;

[0021] Figure 6 It is a structural schematic diagram of the package pushing mechanism of the present invention.

[0022] In the figure, 1-horizontal moving module, 2-vertical lifting module, 3-packing mechanism, 4-inner frame transfer connecting rod mechanism, 5-inner frame folding mechanism, 6-pack pushing mechanism, 7-connecting support plate, 11-horizontal moving electric cylinder, 21-vertical lifting electric cylinder, 31-packing electric cylinder, 32-packing connecting rod, 33-pack grabbing cylinder, 34-conical clamp, 41-transfer connecting rod, 42-micro cylinder, 43-inner frame negative pressure suction block, 44-connecting rod hanging guide rail, 45-fixed connecting block, 51-folding cylinder, 52-parallel air claw, 53-inner frame folding connecting rod mechanism, 61-push package cylinder, 62-push package rod hanging guide rail, 63-push package rod. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and beneficial effects of the present invention more clear, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to facilitate understanding by technicians.

[0024] like Figure 1-2As shown, the multifunctional manipulator for moisturizing cigarettes comprises a horizontal moving module 1, a vertical lifting module 2, a packing mechanism 3, an inner frame transfer connecting rod mechanism 4, an inner frame folding mechanism 5, a packing pushing mechanism 6, and a connecting support plate 7; the vertical lifting module 2 is vertically slidably installed on the horizontal moving module 1 through the horizontal moving electric cylinder 11 arranged on the horizontal moving module 1, the connecting support plate 7 is installed at the bottom end of the vertical lifting module 2 through the vertical lifting electric cylinder 21 arranged on the vertical lifting module 2, the packing mechanism 3 is slidably installed on the bottom of the connecting support plate 7, the inner frame transfer connecting rod mechanism 4 is installed at the bottom of the connecting support plate 7 and is connected to the packing mechanism 3, the inner frame folding mechanism 5 is installed on the rear side of the connecting support plate 7 and corresponds to the inner frame transfer connecting rod mechanism 4, and the packing pushing mechanism 6 is slidably installed on the front side of the bottom of the connecting support plate 7 through the driving electric cylinder at the bottom of the connecting support plate 7.

[0025] like Figure 3 As shown, the wrapping mechanism 3 is provided with two groups, and the wrapping mechanism 3 includes a wrapping electric cylinder 31, a wrapping connecting rod 32, a bag grabbing cylinder 33 and a conical clamp 34. The wrapping electric cylinder 31 is a double-slider bidirectional electric cylinder, which is installed at the bottom of the connecting support plate 7. The wrapping connecting rod 32 is slidably installed on the double sliders of the wrapping electric cylinder 31, and the wrapping connecting rods 32 of the two groups of wrapping mechanisms 3 are arranged in parallel along the left and right directions. The bag grabbing cylinder 33 is a parallel opening and closing cylinder, which is installed at both ends of the wrapping connecting rod 32, and the conical clamp 34 is installed on the clamping claw of the bag grabbing cylinder 33; first, the manipulator places the empty mold box of the cigarette pack through the vertical lifting module 2, and the cone clamp 34 is used to grasp the mold box with the cigarette pack. While grasping the mold box with the cigarette pack, the inner frame paper is sucked by negative pressure, and then the vertical lifting module is lifted upward, and the double inner packs are merged through the wrapping electric cylinder 31 and the wrapping connecting rod 32.

[0026] like Figure 4 As shown, the inner frame transfer link mechanism 4 includes a transfer link 41, a micro cylinder 42, an inner frame negative pressure suction block 43, a link suspension guide rail 44, and a fixed connection block 45. The fixed connection block 45 is installed at the bottom of the connecting support plate 7. The link suspension guide rail 44 is slidably connected to the fixed connection block 45 and is arranged in the front-to-back direction. Transfer links 41 are hinged on both sides of one end of the link suspension guide rail 44. The transfer link 41 is connected to the bag grabbing cylinder 33 through a hinge block. The bag grabbing cylinder 33 drives the transfer link 41 to open and close, and causes relative sliding between the link suspension guide rail 44 and the fixed connection block 45. A micro cylinder 42 is installed at the other end of the link suspension guide rail 44, and an inner frame negative pressure suction block 43 is installed on the micro cylinder 42. While the wrapping electric cylinder 31 and the wrapping link 32 realize the merging of the double inner bags, the inner frame paper is transferred to the top of the mold box through the transmission of the inner frame transfer link mechanism 4.

[0027] like Figure 5As shown, the inner frame folding mechanism 5 includes a folding cylinder 51, parallel air claws 52, and an inner frame folding connecting rod mechanism 53. The folding cylinder 51 is installed on the rear side of the connecting support plate 7. The lower end of the folding cylinder 51 is connected with the parallel air claws 52. The parallel air claws 52 mainly complete the folding function of the inner frame paper. The lower end of the parallel air claws 52 is installed with the inner frame folding connecting rod mechanism 53. The inner frame folding connecting rod mechanism 53 mainly completes the protection function of the inner package, and the folding of inner frame papers of different sizes can be realized through the concept of flexibility.

[0028] like Figure 6 As shown, the package pushing mechanism 6 includes a package pushing cylinder 61, a package pushing rod hanging guide rail 62, and a package pushing rod 63. The package pushing cylinder 61 is installed at the bottom of the connecting support plate 7, and the package pushing rod 63 is connected to the package pushing cylinder 61. The package pushing rod 63 is located at the front side of the bottom of the connecting support plate 7. The package pushing rod hanging guide rail 62 is arranged in the front-to-back direction and installed at the bottom of the connecting support plate 7. The package pushing rod 63 is slidably connected to the package pushing rod hanging guide rail 62. The mold box with the cigarette package is transferred to the trademark folding station through the horizontal moving module 1, and the cigarette package is pushed out by the package pushing mechanism 6 and the horizontal moving module 1 at the same speed. Through the combined action of the horizontal moving module 1 and the package pushing mechanism 6, it is ensured that the package pushing mechanism 6 and the horizontal moving module 1 have the same speed, so that the cigarette package is in a stationary state during the cigarette package pushing process, thereby maximally ensuring the quality of the cigarette package.

[0029] Working process of the present invention:

[0030] When the device is working, the robot first places the empty mold box of cigarette packs through the vertical lifting module 2, grabs the mold box with cigarette packs through the conical clamp 34, and uses negative pressure to absorb the inner frame paper while grabbing the mold box with cigarette packs; then the vertical lifting module 2 is lifted upward, and the double inner packs are merged through the packing electric cylinder 31 and the packing connecting rod 32. While merging the packs, the inner frame paper is transferred to the top of the mold box through the transmission of the inner frame transfer connecting rod mechanism 4, and then the inner frame paper is folded through the inner frame folding mechanism 5. After completing the above actions, the mold box with cigarette packs is transferred to the trademark folding station through the horizontal moving module 1, and the cigarette packs are pushed out by the pack pushing mechanism 6 and the horizontal moving module 1 at the same speed. Through the combined application of multiple linear modules, an efficient and high-speed robot is built.

[0031] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A multifunctional manipulator for moisturizing cigarettes, characterized in that: The multifunctional manipulator for moisturizing cigarettes comprises a horizontal moving module (1), a vertical lifting module (2), a packing mechanism (3), an inner frame transfer connecting rod mechanism (4), an inner frame folding mechanism (5), a packing pushing mechanism (6), and a connecting support plate (7); the vertical lifting module (2) is vertically slidably mounted on the horizontal moving module (1) via a horizontal moving electric cylinder (11) arranged on the horizontal moving module (1); the connecting support plate (7) is mounted on the bottom end of the vertical lifting module (2) via a vertical lifting electric cylinder (21) arranged on the vertical lifting module (2); the packing mechanism (3) is slidably mounted on the bottom of the connecting support plate (7); the inner frame transfer connecting rod mechanism (4) is mounted on the bottom of the connecting support plate (7) and connected to the packing mechanism (3); the inner frame folding mechanism (5) is mounted on the rear side of the connecting support plate (7) and corresponds to the inner frame transfer connecting rod mechanism (4); and the packing pushing mechanism (6) is slidably mounted on the front side of the bottom of the connecting support plate (7) via a driving electric cylinder at the bottom of the connecting support plate (7); The inner frame transfer link mechanism (4) comprises a transfer link (41), a micro cylinder (42), an inner frame negative pressure suction block (43), a link suspension guide rail (44), and a fixed connection block (45). The fixed connection block (45) is mounted on the bottom of the connecting support plate (7). The link suspension guide rail (44) is slidably connected to the fixed connection block (45) and arranged in the front-back direction. Transfer links (41) are hingedly connected to both sides of one end of the link suspension guide rail (44). The transfer link (41) is connected to the bag grabbing cylinder (33) through a hinge block. The bag grabbing cylinder (33) drives the transfer link (41) to perform an opening and closing movement, and causes relative sliding between the link suspension guide rail (44) and the fixed connection block (45). The other end of the link suspension guide rail (44) is mounted with a micro cylinder (42), and the inner frame negative pressure suction block (43) is mounted on the micro cylinder (42).

2. The multifunctional manipulator for moisturizing cigarettes according to claim 1, characterized in that: The wrapping mechanism (3) is provided with two groups, and the wrapping mechanism (3) comprises an wrapping electric cylinder (31), a wrapping connecting rod (32), a bag grabbing cylinder (33) and a conical clamp (34). The wrapping electric cylinder (31) is a double-slider bidirectional electric cylinder, which is installed at the bottom of the connecting support plate (7). The wrapping connecting rod (32) is slidably installed on the double slides of the wrapping electric cylinder (31), and the wrapping connecting rods (32) of the two groups of wrapping mechanisms (3) are arranged in parallel in the left and right directions. The bag grabbing cylinder (33) is a parallel opening and closing cylinder, which is installed at both ends of the wrapping connecting rod (32). The conical clamp (34) is installed on the clamping claw of the bag grabbing cylinder (33).

3. A multifunctional manipulator for moisturizing cigarettes according to claim 1 or 2, characterized in that: The inner frame folding mechanism (5) comprises a folding cylinder (51), a parallel air claw (52), and an inner frame folding connecting rod mechanism (53). The folding cylinder (51) is mounted on the rear side of the connecting support plate (7). The lower end of the folding cylinder (51) is connected to the parallel air claw (52). The parallel air claw (52) folds the inner frame paper. The lower end of the parallel air claw (52) is mounted with the inner frame folding connecting rod mechanism (53). The inner frame folding connecting rod mechanism (53) protects the inner package.

4. The multifunctional manipulator for moisturizing cigarettes according to claim 3, characterized in that: The bag pushing mechanism (6) comprises a bag pushing cylinder (61), a bag pushing rod hanging guide rail (62), and a bag pushing rod (63). The bag pushing cylinder (61) is mounted on the bottom of the connecting support plate (7). The bag pushing rod (63) is connected to the bag pushing cylinder (61). The bag pushing rod (63) is located at the front side of the bottom of the connecting support plate (7). The bag pushing rod hanging guide rail (62) is arranged in a front-to-back direction and is mounted on the bottom of the connecting support plate (7). The bag pushing rod (63) is slidably connected to the bag pushing rod hanging guide rail (62).

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