Mechanical gripper mechanism and cigarette sampling and inspection composite robot

Abstract

The present application relates to cigarette detection equipment technical field, specifically, a kind of mechanical gripper mechanism and cigarette sampling composite robot.The mechanical gripper mechanism is used to carry out cigarette online sampling, including fixed support, vision camera, claw and chain net;Vision camera and claw are both arranged on fixed support;Claw includes connecting end and groove plate, one end of connecting end is connected with fixed support, the other end of connecting end is connected with the side wall of groove plate;Groove is formed on groove plate by bending;One end of chain net is connected with fixed support, the other end of chain net is covered behind groove plate and falls downward.The present application can solve the problem of cigarette confusion in online sampling process by covering chain net on claw, greatly improve the efficiency of cigarette online sampling, reduce the damage to cigarette in the process of digging, docking, transmission.

Description

Technical Field

[0001] This invention relates to the field of cigarette testing equipment technology, and more specifically, to a mechanical gripper mechanism and a composite robot for cigarette sampling inspection. Background Technology

[0002] Currently, the industry primarily uses manual handling for cigarette sampling and testing. The physical indicators of cigarettes are tested entirely manually, involving manual sampling, delivery, and placement before testing. This simple grabbing method, performed on a high-speed production line, carries the risk of some cigarettes being tilted, resulting in misalignment and damage during subsequent connection to the integrated monitoring station. This simple grabbing method also presents problems such as cigarette misalignment during use and the risk of damage during connection. Summary of the Invention

[0003] The purpose of this invention is to provide a mechanical gripper mechanism and a combined robot for cigarette sampling inspection, which can avoid damage to cigarettes during the digging, docking, and transmission process.

[0004] The embodiments of the present invention are implemented as follows:

[0005] In a first aspect, the present invention provides a mechanical gripper mechanism for online cigarette sampling, including a fixed bracket, a vision camera, a gripper, and a chain mesh;

[0006] Both the vision camera and the excavator are mounted on the fixed bracket;

[0007] The digging claw includes a connecting end and a digging plate. One end of the connecting end is connected to the fixed bracket, and the other end of the connecting end is connected to the side wall of the digging plate.

[0008] The slotted plate is formed by bending;

[0009] One end of the chain net is connected to the fixed bracket, and the other end of the chain net covers the grooved plate and falls downwards.

[0010] In an optional embodiment, a distance sensor is provided on the fixed bracket to monitor the height or horizontal dimension of the digging claw.

[0011] In an optional embodiment, the thickness of the end of the slotted plate away from the fixed support is less than the thickness of the end closer to the fixed support.

[0012] In an optional embodiment, a coaxial optical structure is provided on the fixed bracket;

[0013] The coaxial light structure is coaxially arranged with the vision camera and is used to provide supplemental lighting for the vision camera.

[0014] In an optional embodiment, the mechanical gripper mechanism further includes an adjustment structure;

[0015] The adjustment structure connects the fixed bracket and the chain mesh, and is used to adjust the position of the chain mesh.

[0016] In an optional embodiment, the adjustment structure includes a drive mechanism and a fixing plate;

[0017] The drive mechanism is mounted on the fixed bracket, and the output end of the drive mechanism is connected to the fixed plate to drive the fixed plate to rotate.

[0018] The fixing plate is used to connect the chain mesh.

[0019] In an optional embodiment, the adjustment structure further includes an adjustment plate and adjustment bolts;

[0020] One end of the adjusting plate is connected to the fixed plate, and the other end of the adjusting plate is connected to the chain mesh;

[0021] The adjusting plate is provided with an adjusting groove, and the fixed bracket is provided with a positioning hole. The adjusting bolt passes through the adjusting groove and is set in the positioning hole.

[0022] In an optional embodiment, an electromagnet is provided on the fixed bracket, and the electromagnet is used to move the funnel-shaped tool.

[0023] In an optional embodiment, the fixed bracket is provided with a positioning pin, which is used to position the funnel fixture.

[0024] Secondly, the present invention provides a composite robot for cigarette sampling inspection, including the mechanical gripper mechanism described in any of the foregoing embodiments.

[0025] The beneficial effects of the embodiments of the present invention are:

[0026] By covering the excavator with a chain mesh, the problem of cigarette disorder during online sampling can be solved, greatly improving the efficiency of online cigarette sampling and reducing damage to cigarettes during excavation, docking, and transmission. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1This is a front view of the mechanical gripper mechanism provided in an embodiment of the present invention;

[0029] Figure 2 A top view of the mechanical gripper mechanism provided in an embodiment of the present invention;

[0030] Figure 3 Right view of the mechanical gripper mechanism provided in an embodiment of the present invention;

[0031] Figure 4 This is a perspective view of the mechanical gripper mechanism provided in an embodiment of the present invention.

[0032] Icons: 1-Fixed bracket; 2-Dual-axis rotary motor; 3-Fixed plate; 4-Adjusting plate; 5-Pressure plate; 6-Chain mesh; 7-Grooving plate; 8-Coaxial optical structure; 9-Electromagnet; 10-Positioning pin; 11-Vision camera; 12-Grooving slot; 13-Distance sensor; 14-Adjusting slot. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] The following is in conjunction with the appendix Figure 1 To be continued Figure 4 The following describes some embodiments of the present invention in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0040] In a first aspect, the present invention provides a mechanical gripper mechanism for online cigarette sampling, comprising a fixed bracket 1, a vision camera 11, a digging claw, and a chain mesh 6; the vision camera 11 and the digging claw are both mounted on the fixed bracket 1; the digging claw includes a connecting end and a slotting plate 7, one end of the connecting end is connected to the fixed bracket 1, and the other end of the connecting end is connected to the side wall of the slotting plate 7; a digging groove 12 is formed on the slotting plate 7 by bending; one end of the chain mesh 6 is connected to the fixed bracket 1, and the other end of the chain mesh 6 covers the slotting plate 7 and falls downward.

[0041] Specifically, in this embodiment, the fixed bracket 1 is used to connect with the robotic arm to fix the connection between the mechanical claw mechanism and the robotic arm, so that the mechanical claw mechanism can be driven to perform corresponding digging operations under the action of the robotic arm.

[0042] In this embodiment, a vision camera 11 is installed on the fixed bracket 1. The vision camera 11 is used to locate the cigarette sticks online, so that the excavator can find the location of the cigarette sticks and carry out the excavation operation.

[0043] In this embodiment, one end of the digging claw is a connecting end, which is used to fix it to the fixed bracket 1, and the other end is a grooving plate 7. After bending the grooving plate 7 to a certain extent, a digging groove 12 is formed for digging out cigarettes.

[0044] In this embodiment, the cigarettes may become disordered during the extraction process. This means that the cigarettes may not be taken out in the predetermined order due to the vibration of the robotic arm or the collision between the cigarettes during the extraction process, resulting in a disordered state such as cigarette tilting, which is not conducive to the subsequent processing of the cigarettes.

[0045] To solve this problem, in this embodiment, a chain net 6 is provided above the grooving plate 7. The chain net 6 is a flexible structure. One end of the chain net 6 is fixed above one end of the grooving 12 or above one end of the grooving 12, and the other end covers the grooving 12 and falls downward under the action of gravity.

[0046] When retrieving cigarettes, the flexible chain mesh 6 extends downwards from the digging claw, with its end lower than the claw's height. This allows the chain mesh 6 to contact the cigarettes first. Under the action of the flexible chain mesh 6, the cigarettes are first organized before the digging claw flips to retrieve them. During the retrieval process, the chain mesh 6 directly covers the cigarettes, preventing collisions and chaos during retrieval and preventing the cigarettes from falling out of the retrieval slot 12 during the lifting of the robotic arm.

[0047] In this embodiment, the material of the chain mesh 6 is iron, that is, the chain mesh 6 is a flexible iron mesh.

[0048] It should be noted that the material of the chain mesh 6 can be iron, but it is not limited to iron. It can also be other materials, as long as it can locate the cigarette sticks during the digging process and prevent the cigarette sticks from getting mixed up.

[0049] In an optional embodiment, a distance sensor 13 is provided on the fixed bracket 1 to monitor the height or horizontal dimension of the digging claw.

[0050] In this embodiment, by setting a distance sensor 13 on the fixed bracket 1, the distance between the fixed bracket 1 and other devices can be monitored, which facilitates the positioning of the height or horizontal dimension of the digging claw on the fixed bracket 1.

[0051] In an optional embodiment, the thickness of the end of the slotted plate 7 away from the fixed bracket 1 is less than the thickness of the end closer to the fixed bracket 1.

[0052] Sampling inspections of cigarettes on high-speed online tracks are conducted using a trenching method that is thinner at the front and thicker at the back, coupled with a flexible iron chain mesh 6. This allows the weight of the flexible iron mesh to support the moving cigarettes during the digging process, without damaging them. During digging, the extra-long flexible iron mesh rotates at a certain angle and unfolds along with the movement of the cigarettes without affecting the digging action. After digging, the cigarettes are kept in place by the weight of the flexible iron mesh and flow along the trench wall to the center of the trench. At the same time, the flexible iron mesh can be smoothly retracted by the rotation of the motor, completing the digging process and ensuring that the cigarettes do not become disordered during the digging process and can flow smoothly to the center of the trench.

[0053] In an optional embodiment, a coaxial light structure 8 is provided on the fixed bracket 1; the coaxial light structure 8 is coaxially arranged with the vision camera 11 and is used to provide supplementary lighting for the vision camera 11.

[0054] In this embodiment, the coaxial light structure 8 is a ring lamp, which is coaxially set at the lens of the vision camera 11 to provide supplementary lighting for the vision camera 11, thereby improving the clarity of the vision camera 11.

[0055] In an optional embodiment, the mechanical gripper mechanism further includes an adjustment structure; the adjustment structure connects the fixed bracket 1 and the chain mesh 6, and is used to adjust the height of one end of the chain mesh 6 connected to the fixed bracket 1.

[0056] In this embodiment, the position of the chain mesh 6 can be adjusted by adjusting the structure settings, thereby avoiding the chain mesh 6 from affecting the digging.

[0057] There are many ways to set up the adjustment structure. In an optional embodiment, the adjustment structure includes a drive mechanism and a fixed plate 3. The drive mechanism is set on the fixed bracket 1, and the output end of the drive mechanism is connected to the fixed plate 3 to drive the fixed plate 3 to rotate. The fixed plate 3 is used to connect the chain mesh 6.

[0058] In this embodiment, the driving mechanism is a dual-axis rotary motor 2, which has two output shafts. There are two fixing plates 3, which are respectively set on the two output shafts of the dual-axis rotary motor 2. The fixing plates 3 are connected to the chain mesh 6 through the ends of the fixing plates 3, thereby achieving the purpose of driving the chain mesh 6 to rotate.

[0059] It should be noted that in this embodiment, the driving mechanism can be a dual-axis rotary motor 2, but it is not limited to a dual-axis rotary motor 2. It can also be other driving mechanisms, as long as they can drive the chain mesh 6 to rotate, thereby avoiding the chain mesh 6 from affecting the digging of cigarette sticks.

[0060] It should also be noted that the fixing plate 3 can be directly connected to the chain net 6, or it can be indirectly connected to the chain net 6 through other structures, as long as the fixing plate 3 can drive the chain net 6 to rotate.

[0061] In an optional embodiment, the adjustment structure further includes an adjustment plate 4 and an adjustment bolt; one end of the adjustment plate 4 is connected to the fixed plate 3, and the other end of the adjustment plate 4 is connected to the chain mesh 6; the adjustment plate 4 is provided with an adjustment groove 14, the fixed bracket 1 is provided with a positioning hole, and the adjustment bolt passes through the adjustment groove 14 and is positioned in the positioning hole.

[0062] Specifically, in this embodiment, the adjusting plate 4 and the fixed bracket 1 are fixedly connected by adjusting bolts, and the adjusting plate 4 has an adjusting groove 14. The adjusting groove 14 is set as a strip groove, and the length direction of the strip groove is set vertically, so that the adjusting bolts can be connected to the positioning holes on the fixed bracket 1 through the adjusting groove 14 to realize the adjustment of the height of the adjusting plate 4.

[0063] This setup allows for both rotational adjustment of the chain mesh 6 and adjustment of its height or rotation radius, thus avoiding any impact on the extraction of cigarette sticks.

[0064] It should be noted that in this embodiment, the chain mesh 6 is connected to the adjustment plate 4 by a strip-shaped adjustment groove 14 so as to adjust the position of the chain mesh 6 on the adjustment plate 4.

[0065] In an optional embodiment, the adjustment mechanism further includes a pressure plate 5; the pressure plate 5 is provided with a plurality of first through holes, the adjustment plate 4 is provided with corresponding second through holes, one end of the chain mesh 6 is provided between the pressure plate 5 and the adjustment plate 4, and the fixing bolt passes through the first through holes and the second through holes to set the chain mesh 6 on the adjustment plate 4.

[0066] In this embodiment, the lower end of the adjusting plate 4 is provided with multiple second through holes, the pressure plate 5 is provided with multiple first through holes, and the chain mesh 6 is provided between the pressure plate 5 and the adjusting plate 4. After the first through holes and the second through holes are set in correspondence, the fixing bolt passes through the first through hole, the chain hole on the chain mesh 6 and the second through hole and is fixedly connected with the nut, or the second through hole is set as a threaded hole, thereby realizing the fixed connection between the pressure plate 5 and the adjusting plate 4, and finally realizing the purpose of fixing and positioning the chain mesh 6.

[0067] It should be noted that the chain mesh 6 can be set in the manner described above, but it is not limited to this one method. Other fixed connection methods can also be used, such as riveting. In other words, as long as the chain mesh 6 can be fixedly set on the adjustment plate 4, it is acceptable.

[0068] In an optional embodiment, an electromagnet 9 is provided on the fixed bracket 1, and the electromagnet 9 is used to move the funnel tool.

[0069] In this embodiment, the electromagnet 9 is disposed on the side of the fixed bracket 1 opposite to the digging claw.

[0070] In this embodiment, by setting up the electromagnet 9, the magnetism of the electromagnet 9 can be changed by charging and discharging, thereby realizing the adsorption and separation of the funnel mold. Thus, after the funnel mold is full of cigarettes, the funnel mold can be transported to the next process by the mechanical claw structure.

[0071] In an optional embodiment, a positioning pin 10 is provided on the fixed bracket 1, which is used to position the funnel fixture.

[0072] In this embodiment, to facilitate the positioning of the funnel fixture, positioning pins 10 are provided on the fixed bracket 1, and the positioning pins 10 are located on both sides of the electromagnet 9.

[0073] Secondly, the present invention provides a composite robot for cigarette sampling inspection, including the mechanical gripper mechanism of any of the aforementioned embodiments.

[0074] The beneficial effects of the embodiments of the present invention are:

[0075] By covering the excavator with a chain mesh 6, the problem of cigarette disorder during online sampling can be solved, greatly improving the efficiency of online cigarette sampling and reducing damage to cigarettes during excavation, docking, and transmission.

[0076] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mechanical gripper mechanism for online cigarette sampling, characterized in that, Includes a fixed support, vision camera, excavator claw, and chain mesh; Both the vision camera and the excavator are mounted on the fixed bracket; The digging claw includes a connecting end and a digging plate. One end of the connecting end is connected to the fixed bracket, and the other end of the connecting end is connected to the side wall of the digging plate. The slotted plate is formed by bending; The chain mesh is a flexible iron mesh; One end of the chain net is connected to the fixed bracket, and the other end of the chain net covers the grooved plate and falls downwards; When extracting cigarettes, the lower end of the chain mesh extends downwards towards the digging claw, with its end lower than the height of the digging claw. This allows the chain mesh to contact the cigarette first. Under the action of the flexible chain mesh, the cigarette is first sorted out before the digging claw flips over to extract it. During the extraction process, the chain mesh directly covers the cigarette.

2. The mechanical gripper mechanism according to claim 1, characterized in that, The fixed bracket is equipped with a distance sensor to monitor the height or horizontal dimension of the excavator claw.

3. The mechanical gripper mechanism according to claim 1, characterized in that, The thickness of the end of the grooved plate away from the fixed support is less than the thickness of the end closer to the fixed support.

4. The mechanical gripper mechanism according to claim 1, characterized in that, The fixed bracket is equipped with a coaxial optical structure; The coaxial light structure is coaxially arranged with the vision camera and is used to provide supplemental lighting for the vision camera.

5. The mechanical gripper mechanism according to claim 1, characterized in that, It also includes adjusting the structure; The adjustment structure connects the fixed bracket and the chain mesh, and is used to adjust the position of the chain mesh.

6. The mechanical gripper mechanism according to claim 5, characterized in that, The adjustment structure includes a drive mechanism and a fixed plate; The drive mechanism is mounted on the fixed bracket, and the output end of the drive mechanism is connected to the fixed plate to drive the fixed plate to rotate. The fixing plate is used to connect the chain mesh.

7. The mechanical gripper mechanism according to claim 6, characterized in that, The adjustment structure also includes an adjustment plate and adjustment bolts; One end of the adjusting plate is connected to the fixed plate, and the other end of the adjusting plate is connected to the chain mesh; The adjusting plate is provided with an adjusting groove, and the fixed bracket is provided with a positioning hole. The adjusting bolt passes through the adjusting groove and is set in the positioning hole.

8. The mechanical gripper mechanism according to claim 1, characterized in that, An electromagnet is installed on the fixed bracket, and the electromagnet is used to move the funnel-shaped tool.

9. The mechanical gripper mechanism according to claim 1, characterized in that, The fixed bracket is provided with a positioning pin, which is used to position the funnel fixture.

10. A composite robot for cigarette sampling inspection, characterized in that, Includes the mechanical gripper mechanism as described in any one of claims 1-9.

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