A robotic arm gripper for unpacking tobacco products

Abstract

This invention discloses a tobacco unpacking robotic arm gripper in the field of tobacco primary processing technology, aiming to solve the problem in the prior art where plastic bags trap tobacco, leading to tobacco waste and spillage. It includes: a plastic bag unpacking arm with plastic bag unpacking claws positioned away from the clamping direction for gripping the plastic bag; during the first gripping, at least two plastic bag unpacking claws from at least two cardboard box unpacking clamps grasp the plastic bag; when the plastic bag is prevented from being pulled out of the tobacco stack, it retracts; at least two plastic bag unpacking claws then unfold the plastic bag, causing the tobacco to fall off; during the second gripping, the plastic bag unpacking claws that participated in the first gripping release, while the plastic bag unpacking claws that did not participate in the first gripping grasp the plastic bag, causing the remaining tobacco to fall off; a first telescopic device, in addition to driving the plastic bag unpacking arm to clamp with the force-bearing arm, can also drive the plastic bag unpacking arm to shake, shaking off the remaining tobacco from the plastic bag.

Description

Technical Field

[0001] This invention relates to a robotic arm gripper for unpacking tobacco, belonging to the field of tobacco primary processing technology. Background Technology

[0002] As a crucial step in modern tobacco processing, tobacco processing aims to further process raw materials such as tobacco, tobacco stems, and reconstituted tobacco into shredded tobacco that meets technological requirements for subsequent rolling and splicing processes. Robotic arms (or industrial robots) have played a vital role in enhancing the automation of tobacco processing, performing indispensable functions in steps such as tape cutting and box opening. Currently, the unpacking and box opening sections utilize advanced six-axis robotic arms equipped with specialized grippers, improving production efficiency and reducing labor intensity. However, the existing gripper design of these unpacking robotic arms sometimes grabs a portion of the tobacco while handling the plastic bags of sheet tobacco packaging, resulting in some tobacco loss. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a tobacco unpacking robotic arm gripper that reduces tobacco loss during the unpacking process.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0005] This invention provides a robotic arm gripper for unpacking tobacco products, comprising:

[0006] At least two carton disassembly clamps connected to a robotic arm, each carton disassembly clamp including: a telescopic frame and a force-bearing arm and a plastic bag disassembly arm respectively disposed at both ends of the telescopic frame, the plastic bag disassembly arm being movably connected to the telescopic frame along the clamping direction, the telescopic frame being provided with a first telescopic device along the clamping direction, the telescopic shaft of the first telescopic device being connected to the plastic bag disassembly arm;

[0007] The plastic bag disassembly arm has a plastic bag disassembly gripper on the side opposite to the clamping direction. The plastic bag disassembly gripper includes: a second telescopic device that drives the telescopic slide rod to extend and retract, and a grain frame that fits into the telescopic slide rod. The fixed end of the grain frame is connected to the second telescopic device. At least two gripping fingers are hinged to the joint end of the grain frame opposite to the second telescopic device. The rotation directions of the gripping fingers are either in contact with each other or opposite to each other. The telescopic slide rod extends out from the joint end of the grain frame and has a claw core frame at the exit end. The claw core frame is hinged to multiple traction links corresponding to the magnitude and position of the gripping fingers. The traction links are hinged to the middle of the gripping fingers. When the claw core frame is away from the grain frame, the gripping fingers are opposite to each other. When the claw core frame is close to the grain frame, the gripping fingers are in contact with each other.

[0008] At least one of the carton disassembly clamps is equipped with at least two of the plastic bag disassembly grippers.

[0009] In some embodiments of the present invention, the telescopic frame is provided with a slide rail along the clamping direction, the force-bearing arm and the plastic bag disassembly arm are both perpendicular to the telescopic frame, and the telescopic shaft drives the plastic bag disassembly arm to slide away from or near the force-bearing arm on the slide rail.

[0010] In some embodiments of the present invention, the liner paper disassembly assembly is provided away from the clamping direction of the force arm, including: a suction cup facing the liner paper, a blow-off nozzle, and a positioning detector.

[0011] In some embodiments of the present invention, the valley frame includes a groove into which a telescopic sliding rod is fitted, the groove being connected to the second telescopic device;

[0012] The joint end of the clasp forms at least two first hinge pins, which are perpendicular to the telescopic slide rod, and the grasping finger is hinged to the first hinge pin.

[0013] In some embodiments of the present invention, the claw core is provided with a second hinge axis parallel to the first hinge axis, the middle part of the gripper finger is provided with a third hinge axis parallel to the second hinge axis, and the two ends of the traction link are respectively hinged to the second hinge axis and the third hinge axis.

[0014] In some embodiments of the present invention, the middle portion of the gripping finger is bent in a direction away from the traction link.

[0015] In some embodiments of the present invention, the portion of the telescopic slide rod that extends through the claw frame is provided with an anti-detachment bolt to prevent the claw frame from detaching.

[0016] In some embodiments of the present invention, the claw tip of the grasping finger includes a flexible claw tip, the surface of which is planar, and the planar surfaces of the flexible claw tip fit tightly together when the grasping fingers come into contact with each other.

[0017] In some embodiments of the present invention, at least two of the carton disassembly clamps are connected to a connector, and the connector is connected to the robotic arm.

[0018] In some embodiments of the present invention, the chute comprises a tubular graphene chute.

[0019] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0020] The present invention provides a tobacco unpacking robotic arm gripper. The plastic bag unpacking arm has plastic bag unpacking claws positioned away from the clamping direction to grip the plastic bag. At least one carton unpacking clamp has at least two plastic bag unpacking claws. During the first gripping, at least two plastic bag unpacking claws of the at least two carton unpacking clamps grip the plastic bag. When the plastic bag is prevented from being pulled out of the tobacco stack, it retracts, and the at least two plastic bag unpacking claws unfold the plastic bag, causing the tobacco to fall off. Simultaneously, the carton unpacking clamp with at least two plastic bag unpacking claws retains one plastic bag unpacking claw that does not participate in the gripping. During the second gripping, the plastic bag unpacking claw that participated in the first gripping releases, and the plastic bag unpacking claw that did not participate in the first gripping grips the plastic bag, causing the remaining tobacco to fall off. The first telescopic device can not only drive the plastic bag unpacking arm to clamp with the force-bearing arm but also drive the plastic bag unpacking arm to shake, causing the remaining tobacco in the plastic bag to fall off. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the tobacco unpacking robotic arm gripper provided in Embodiment 1 of the present invention;

[0022] Figure 2 yes Figure 1 A diagram illustrating the initial data capture.

[0023] Figure 3 yes Figure 1 A schematic diagram showing the plastic bag disassembly gripper in the state of grasping the plastic bag;

[0024] Figure 4 yes Figure 1 A diagram showing the plastic bag disassembly gripper in the state of releasing the plastic bag.

[0025] Figure 5 yes Figure 1 Exploded view of the plastic bag disassembly gripper;

[0026] Figure 6 yes Figure 1 Schematic diagram of the disassembly assembly of the middle linerboard;

[0027] Figure 7 yes Figure 1 A diagram illustrating the second grabbing process;

[0028] In the diagram: 1-Carton disassembly clip; 101-First disassembly clip; 102-Second disassembly clip;

[0029] 1.1-Telescopic frame; 1.1.1-Slide rail; 1.2-Force-bearing arm; 1.3-Plastic bag disassembly arm; 1.301-First disassembly arm; 1.302-Second disassembly arm;

[0030] 2- Liner paper disassembly assembly; 2.1- Suction cup; 2.2- Blowout nozzle; 2.3- Position detector; 2.3.1- Strike pin

[0031] 3-Plastic bag disassembly gripper; 301-First gripper; 302-Second gripper; 303-Secondary gripper;

[0032] 3.3-Second telescopic device; 3.3.1-Telescopic cylinder; 3.4-Telescopic slide bar; 3.4.1-Anti-detachment bolt; 3.5-Groove frame; 3.5.1-Slide groove; 3.5.1.1-Graphene slide groove; 3.5.2-First hinge shaft; 3.6-Grip finger; 3.6.1-Third hinge shaft; 3.6.2-Flexible claw tip; 3.6.2.1-Rubber claw tip; 3.7-Claw core frame; 3.7.1-Second hinge shaft; 3.8-Traction link;

[0033] 4-Robotic arm;

[0034] 5-Connector; 5.1-Connector plate;

[0035] 6-First telescopic device; 6.1-Telescopic shaft; 6.2-Hydraulic cylinder;

[0036] 7.1- Linerboard; 7.2- Plastic bag; 7.3- Tobacco stack. Detailed Implementation

[0037] The technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of this application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other. Example 1

[0038] This embodiment provides a robotic arm gripper for unpacking tobacco products to solve the problem of residue inside plastic bags during unpacking in the prior art.

[0039] refer to Figure 1 and Figure 2The tobacco unpacking robotic arm gripper provided in this embodiment includes at least two carton disassembly clamps 1 connected to a robotic arm 4. The connection can be direct or indirect. The robotic arm 4 is preferably a six-axis robot. Each carton disassembly clamp 1 includes a telescopic frame 1.1 and a force-bearing arm 1.2 and a plastic bag disassembly arm 1.3 respectively located at both ends of the telescopic frame 1.1. The force-bearing arm 1.2 and the plastic bag disassembly arm 1.3 are the main components for clamping, lifting, and removing the cartons from the tobacco stack 7.3. The force-bearing arm 1.2 and the plastic bag disassembly arm 1.3 match the shapes of the two sides of the carton, preferably using equal-sized channel steel. The plastic bag disassembly arm 1.3 is movably connected to the telescopic frame 1.1 along the clamping direction. The clamping direction refers to the direction in which the plastic bag disassembly arm 1.3 and the force-bearing arm 1.2 approach and jointly clamp the carton. The movable connection can be a pivot connection or a sliding connection. The plastic bag disassembly arm 1.3 slides towards the force-bearing arm 1.2 to clamp the cardboard box, or the plastic bag disassembly arm 1.3 rotates towards the force-bearing arm 1.2 to clamp the cardboard box. The telescopic frame 1.1 is provided with a first telescopic device 6 along the clamping direction. The first telescopic device 6 can be a telescopic cylinder or a telescopic motor, but in this embodiment it is a hydraulic cylinder 6.2 with higher output power. The telescopic shaft 6.1 of the first telescopic device 6 is connected to the plastic bag disassembly arm 1.3. Depending on the form of the movable connection, when the first telescopic device 6 drives the telescopic shaft 6.1 to pull the plastic bag disassembly arm 1.3, it drives the plastic bag disassembly arm 1.3 to slide on the telescopic frame 1.1 or rotate towards the force-bearing arm 1.2, causing the side of the plastic bag disassembly arm 1.3 in contact with the cardboard box to clamp the cardboard box together with the force-bearing arm 1.2. Then, under the action of the weight of the tobacco stack 7.3 itself, the robotic arm 4 lifts and removes the cardboard box from the tobacco stack 7.3.

[0040] refer to Figure 5 The plastic bag disassembly arm 1.3 has a plastic bag disassembly gripper 3 on the side opposite to the clamping direction (the side opposite to the contact with the cardboard box). The plastic bag disassembly gripper 3 includes: a second telescopic device 3.3 that drives the telescopic slide rod 3.4 to extend and retract, and a frame 3.5 that fits into the telescopic slide rod 3.4. The function and position of the frame 3.5 in the plastic bag disassembly gripper 3 is similar to the hegu (also known as the tiger's mouth) of a human hand. In this embodiment, the frame 3.5 is a long pen-shaped structure along the telescopic slide rod 3.4. The fixed end of the frame 3.5 is connected to... The second telescopic device 3.3 is connected, and the grain-jointing frame 3.5 is hinged to at least two gripping fingers 3.6 away from the joint end of the second telescopic device 3.3. The rotation directions of the gripping fingers 3.6 are in contact with each other or opposite to each other, so as to grasp or release the plastic bag 7.2. The telescopic slide bar 3.4 passes through the joint end of the grain-jointing frame 3.5 and is provided with a claw core frame 3.7 at the end of the passage. The claw core frame 3.7 is hinged to multiple traction links 3.8 corresponding to the number and position of the gripping fingers 3.6. The traction links 3.8 are hinged to the middle of the gripping fingers 3.6. Figure 3The second telescopic device 3.3 drives the protruding end of the telescopic slide rod 3.4 to extend further out of the grain-closing frame 3.5, the claw frame 3.7 moves away from the grain-closing frame 3.5, and the traction link 3.8 gradually becomes parallel to the gripping / releasing direction of the plastic bag disassembly gripper 3. The length component of the plastic bag disassembly gripper 3 in the gripping / releasing direction becomes longer, driving the gripping fingers 3.6 to move away from each other, thereby releasing the plastic bag 7.2; Reference Figure 4 The second telescopic device 3.3 drives the protruding end of the telescopic slide bar 3.4 to retract into the grain rack 3.5, the claw frame 3.7 approaches the grain rack 3.5, the traction link 3.8 and the plastic bag disassembly claw 3 increase the angle of the gripping / releasing direction, the length component of the plastic bag disassembly claw 3 in the gripping / releasing direction becomes shorter, and under the traction of the traction link 3.8, the gripping fingers 3.6 are driven to approach each other until they make contact, thereby realizing the gripping of the plastic bag 7.2; the second telescopic device 3.3 can be a small hydraulic cylinder or a telescopic motor, but in this embodiment it is a responsive telescopic cylinder 3.3.1.

[0041] At least one carton disassembly clamp 1 is equipped with at least two plastic bag disassembly grippers 3. This example illustrates a scheme using two carton disassembly clamps 1. (See reference...) Figure 1 and Figure 2 The carton disassembly clamp 1 includes a first disassembly clamp 101 and a second disassembly clamp 102. The plastic bag disassembly gripper 3 on the side of the first disassembly clamp 101 facing away from the clamping direction is the first gripper 301. The plastic bag disassembly gripper 3 on the side of the second disassembly clamp 102 facing away from the clamping direction is the second gripper 302. The second disassembly clamp 102 also has a secondary gripper 303, preferably positioned between the first gripper 301 and the second gripper 302. After the carton on the tobacco stack 7.3 is removed, refer to... Figure 2 When the first gripper 301 and the second gripper 302 grasp the plastic bag 7.2 at a certain distance during the first gripping, the robotic arm 4 drives the first disassembly clamp 101 and the second disassembly clamp 102 to lift the plastic bag 7.2 above the tobacco stack 7.3. Since the plastic bag 7.2 is not airtight and is tightly attached to the tobacco stack 7.3 before being peeled off, it will collapse inward under atmospheric pressure during the peeling process, trapping some tobacco. Because there are two gripping points, the collapse of the plastic bag 7.2 is alleviated, and the amount of trapped tobacco is less than when a single gripper 3 grasps and lifts the plastic bag 7.2. In this embodiment, the gripping and lifting of the first gripper 301 and the second gripper 302 is more effective, causing the plastic bag 7.2 to collapse and some of the trapped tobacco to fall off. At this time, the first telescopic device 6 drives the plastic bag disassembly arm 1.3 to vibrate, further promoting the falling of the trapped tobacco. After completing the first gripping, a second gripping is performed. (Refer to...) Figure 7The secondary gripper 303 grips the plastic bag 7.2, and the first gripper 301 and the second gripper 302 release the gripping finger 3.6. At this time, the first telescopic device 6 drives the plastic bag dismantling arm 1.3 to shake, causing the plastic bag 7.2 to deform. The collapsed surface, without the gripping points of the first gripper 301 and the second gripper 302, forms a Christmas tree shape with the gripping point of the secondary gripper 303 as the apex. The remaining wrapped tobacco falls off. This part of the wrapped tobacco is mainly the tobacco that was mistakenly grabbed and clamped in the gripping finger 3.6 by the first gripper 301 and the second gripper 302 after the first gripping. Through two gripping and the plastic bag 7.2 combined with the shaking of the plastic bag dismantling arm 1.3, most of the wrapped tobacco in the plastic bag 7.2 can be shaken off to the surface of the tobacco stack 7.3, reducing tobacco loss. It can also drive the robotic arm 4 to shake the plastic bag dismantling arm 1.3 along with the first telescopic device 6.

[0042] This embodiment only shows a scheme with two carton disassembly clips 1, and in this embodiment, the first disassembly clip 101 and the second disassembly clip 102 are arranged side by side in parallel. In other embodiments, more than two carton disassembly clips 1 and different arrangements of carton disassembly clips 1 can be set.

[0043] Under the influence of gravity, the plastic bag 7.2 hangs down. The tobacco encased in the bag is subjected to its own weight and static friction with the plastic bag 7.2. The best way to shake the tobacco off the plastic bag 7.2 is to apply a vertical shaking motion only to the plastic bag disassembly arm 1.3. Under the influence of inertia, the tobacco overcomes friction and falls off. At the same time, the purely vertical shaking motion also helps air waves enter the interior of the plastic bag 7.2 in bursts, forming cavities in the collapsed compression surface and reducing the static friction on the tobacco. Therefore, referring to... Figure 1 and Figure 2 The telescopic frame 1.1 is provided with a slide rail 1.1.1 along the clamping direction. The force-bearing arm 1.2 and the plastic bag disassembly arm 1.3 are both perpendicular to the telescopic frame 1.1. After removing the cardboard box, the robotic arm 4 flips the tobacco unpacking robotic arm gripper 90°, and the plastic bag disassembly claw 3 grips the plastic bag 7.2 vertically downward. The telescopic shaft 6.1 drives the plastic bag disassembly arm 1.3 to slide away from or near the force-bearing arm 1.2 on the slide rail 1.1.1, generating a shaking wave. In this embodiment, the telescopic frame 1.1 is a long strip of equal width along the clamping direction. The telescopic frame 1.1 serves as the slide rail 1.1.1 (only in this embodiment is a separate slide rail not provided). The end of the plastic bag disassembly arm 1.3 that contacts the telescopic frame 1.1 is fitted into the telescopic frame 1.1.3 and slides bidirectionally along the telescopic frame 1.1 in the clamping direction under the telescopic drive of the telescopic shaft 6.1. In other embodiments, a separate slide rail 1.1.1 can be provided.

[0044] The grain rack 3.5 includes a groove 3.5.1 into which the telescopic sliding rod 3.4 is fitted. The groove 3.5.1 is preferably a tubular graphene groove 3.5.1.1. The groove 3.5.1 is connected to the second telescopic device 3.3. The telescopic sliding rod 3.4 of the second telescopic device 3.3 is fitted into the groove 3.5.1 and passes through the joint end of the grain rack 3.5 away from the second telescopic device 3.3. The part that passes through the grain rack 3.5 is the exit end. Driven by 3, the protruding end of the telescopic slide rod 3.4 further extends out of the rice-jointing frame 3.5 or retracts into the rice-jointing frame 3.5; the joint end of the rice-jointing frame 3.5 forms at least two first hinge pins 3.5.2, which are perpendicular to the telescopic slide rod 3.4, and the grasping finger 3.6 is hinged to the first hinge pins 3.5.2; this embodiment only describes the scheme with two grasping fingers 3.6, and those skilled in the art can expand the scheme to have more than two grasping fingers 3.6 based on this embodiment, for reference. Figure 5 The two sides of the frame 3.5 protrude to form two symmetrical wings. The wing surfaces of the two wings are parallel to the grasping fingers 3.6. The two wing surfaces of each wing protrude in the direction of the normal to form a first hinge axis 3.5.2. The two wings serve as reliable support points for the grasping fingers 3.6 hinged on their respective first hinge axes 3.5.2.

[0045] The claw frame 3.7 has a second hinge 3.7.1 parallel to the first hinge 3.5.2. The gripper finger 3.6 has a third hinge 3.6.1 parallel to the second hinge 3.7.1 in its middle. The two ends of the traction link 3.8 are hinged to the second hinge 3.7.1 and the third hinge 3.6.1 respectively. The first hinge 3.5.2, second hinge 3.7.1, and third hinge 3.6.1 of each gripper finger 3.6 correspond one-to-one. The parallel design of the first hinge 3.5.2, second hinge 3.7.1, and third hinge 3.6.1 helps ensure the smooth and continuous transmission of the telescopic slide bar 3.4 through the claw frame 3.7, traction link 3.8, gripper finger 3.6, and connecting frame 3.5, reducing friction and optimizing the motion transmission of the gripping plastic bag 7.2 based on the plane containing the first hinge 3.5.2, second hinge 3.7.1, and third hinge corresponding to each gripper finger 3.6. Furthermore, referring to… Figures 3 to 5 In this embodiment, when the plastic bag disassembly gripper is in the state of releasing the plastic bag 7.2, the traction link 3.8 is almost completely parallel to the gripping / releasing direction and perpendicular to the telescopic slide bar 3.4. When the plastic bag disassembly gripper is in the state of gripping the plastic bag 7.2, the traction link 3.8 is no longer parallel to the gripping / releasing direction.

[0046] The middle part of the gripping finger 3.6 bends away from the traction link 3.8. The fingertips and roots of the two gripping fingers 3.6 are close together while the middle parts are far apart. The length of the traction link 3.8 also increases with the change in the middle of the gripping finger 3.6, making it easier for the fingertips of the gripping finger 3.6 to grip the plastic bag 7.2.

[0047] In this embodiment, the claw core frame 3.7 is H-shaped, with a through hole in the middle for the telescopic slide rod 3.4 to pass through, and a chain plate forming to accommodate the second hinge shaft 3.7.1 towards the two gripping fingers 3.6. (Refer to...) Figure 5 The cross-sectional diameter of the telescopic slide rod 3.4 that does not penetrate the claw frame 3.7 is larger than the cross-sectional diameter that penetrates the claw frame 3.7. The part of the telescopic slide rod 3.4 that protrudes from the claw frame 3.7 is provided with an anti-detachment bolt 3.4.1 to prevent the claw frame 3.7 from detaching.

[0048] The claw tip of the gripper 3.6 includes a flexible claw tip 3.6.2. The surface of the flexible claw tip 3.6.2 is flat. When the grippers 3.6 come into contact with each other, the flat surfaces of the flexible claw tips 3.6.2 fit tightly together, which improves the vibration transmission capability and prevents the claw tips from tearing the plastic bag 7.2 when vibrating or from hooking the plastic bag 7.2 when it is released, thus preventing the plastic bag 7.2 from falling into the waste recycling bin. The flexible claw tip 3.6.2 is preferably a rubber claw tip 3.6.2.1.

[0049] refer to Figure 1 and Figure 3 At least two carton disassembly clips 1 are connected to the connector 5, and the connector 5 is connected to the robotic arm 4. In this embodiment, the first disassembly clip 101 and the second disassembly clip 102 are connected by a connecting plate 5.1. The other side of the connecting plate 5.1 opposite to the first disassembly clip 101 and the second disassembly clip 102 is connected to the robotic arm 4.

[0050] Considering the possibility of linerboard between the plastic bag (7.2) and the cardboard box (7.1), refer to... Figure 6 The linerboard dismantling assembly 2 is positioned away from the clamping direction, and includes a suction cup 2.1 facing the linerboard 7.1 and a blow-off nozzle 2.2. After the paper box is removed, the tobacco unpacking robotic arm gripper flips over, and the linerboard dismantling assembly 2 moves downward until the suction cup 2.1 picks up the linerboard 7.1. The robotic arm 4 moves the tobacco unpacking robotic arm gripper above the waste recycling bin, pressurizes or restores the chamber pressure inside the suction cup 2.1, and the blow-off nozzle 2.2 blows the linerboard 7.1 off the suction cup 2.1. The linerboard dismantling assembly 2 also includes a suction cup 2.1 facing away from the clamping direction and a blow-off nozzle 2.2 facing away from the clamping direction. The positioning detector 2.3 of the linerboard 7.1 is used to detect whether the suction cup 2.1 has attracted the linerboard 7.1. The positioning detector 2.3 includes a striking pin 2.3.1. When the suction cup 2.1 contacts and applies downward pressure to the linerboard 7.1, the suction cup 2.1 will attract the linerboard 7.1. At this time, the striking pin 2.3.1 is also subjected to the pressure of the linerboard 7.1. The suction cup 2.1 stops applying downward pressure to the linerboard 7.1 after the pressure of the striking pin 2.3.1 reaches the threshold, and the suction cup 2.1 completes the adsorption of the linerboard 7.1.

[0051] Instructions for use: The seal of the tobacco stack 7.3, packaged in a cardboard box, is cut open, and the plastic bag 7.2 inside is also cut open to create an opening large enough to peel off the tobacco stack 7.3. The tobacco stack 7.3, sealed downwards, is then transported to the station of the tobacco unpacking robotic arm gripper. The first disassembly clamp 101 and the second disassembly clamp 102 clamp the cardboard box and lift it. Under gravity, the tobacco stack 7.3, along with the plastic bag 7.2, detaches from the cardboard box seal. After being lifted by the tobacco unpacking robotic arm gripper, the robotic arm 4 rotates to place the cardboard box above the waste recycling bin and throw it away. The robotic arm 4 returns the tobacco unpacking robotic arm gripper to above the tobacco stack 7.3. The tobacco unpacking robotic arm gripper flips so that the plastic bag disassembly claw 3 faces downward. Accompanied by the vibration of the second telescopic device 3.3 and the robotic arm 4, after two gripping and lifting operations, the plastic bag disassembly claw 3 shakes almost all the tobacco wrapped in the plastic bag 7.2 off onto the tobacco stack 7.3. The plastic bag 7.2 is placed above the waste recycling bin by the tobacco unpacking robotic arm gripper and thrown down. The tobacco stack 7.3 is transported to the next process, and the tobacco unpacking robotic arm gripper moves to above the next tobacco stack 7.3.

[0052] The cardboard boxes that separately hold the cardboard boxes and plastic bags 7.2 can be distributed at 45° to the left and right sides of the rotation radius of the robotic arm 4, reducing the spillage of tobacco that still remains in the plastic bags 7.2 and improving the quality of on-site management.

[0053] This embodiment can also apply a CCD vision recognition system to monitor the entire unpacking process of cardboard box-linerboard 7.1-plastic bag 7.2 in real time, including assisting in judging whether the opening of plastic bag 7.2 has been completely cut, whether the plastic bag disassembly claw 3 has gripped in place, and whether linerboard 7.1 is present, etc., to ensure the stability of production.

[0054] The tobacco unpacking robotic arm gripper provided in this embodiment has plastic bag disassembly arms 1.3 with plastic bag disassembly claws 3 positioned away from the clamping direction to grip the plastic bags. At least one carton disassembly clamp 1 has at least two plastic bag disassembly claws 3. During the first gripping, at least two plastic bag disassembly claws 3 of at least two carton disassembly clamps 1 grip the plastic bag 7.2. To a certain extent, this prevents the plastic bag 7.2 from being pulled out of the tobacco stack 7.3. When the plastic bag 7.2 retracts, the at least two plastic bag disassembly claws 3 unfold the plastic bag 7.2. The tobacco is shaken off, and the carton disassembly clamp 1, which has at least two plastic bag disassembly claws 3, retains one plastic bag disassembly claw 3 that does not participate in the gripping. During the second gripping, the plastic bag disassembly claw 3 that participated in the first gripping is released, and the plastic bag disassembly claw 3 that did not participate in the first gripping grips the plastic bag 7.2, causing the remaining tobacco to shake off. In addition to driving the plastic bag disassembly arm 1.3 and the force arm 1.2 to clamp the carton, the first telescopic device 6 can also drive the plastic bag disassembly arm 1.3 to shake, shaking off the remaining tobacco in the plastic bag 7.2.

[0055] In the description of this invention, it should be understood that the terms "claw center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the 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 the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "at least two" means two or more.

[0056] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0057] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A tobacco unpacking robot gripper, characterized by, The utility model relates to a kind of paper box disassembling device, including: At least two paper box disassembling clamps (1) connected with mechanical arm (4), each paper box disassembling clamp (1) includes telescopic frame (1.1) and force arm (1.2) and plastic bag disassembling arm (1.3) respectively arranged at both ends of the telescopic frame (1.1), the plastic bag disassembling arm (1.3) is movably connected with the telescopic frame (1.1) along the direction of clamping, the telescopic frame (1.1) is provided with first telescopic device (6) along the direction of clamping, the telescopic shaft (6.1) of the first telescopic device (6) is connected with the plastic bag disassembling arm (1.3); The plastic bag disassembling arm (1.3) is provided with plastic bag disassembling gripper (3) away from the side of the direction of clamping, and the plastic bag disassembling gripper (3) includes second telescopic device (3.3) that drive telescopic slide rod (3.4) telescopes and the joint frame (3.5) that is sleeved into the telescopic slide rod (3.4), the fixed end of the joint frame (3.5) is connected with the second telescopic device (3.3), the joint end of the joint frame (3.5) away from the second telescopic device (3.3) is hinged at least two gripper fingers (3.6), the rotating direction of the gripper finger (3.6) is mutually contacted or away, the telescopic slide rod (3.4) is worn from the joint end of the joint frame (3.5) and is provided with claw core frame (3.7) at the end of wearing, the claw core frame (3.7) is hinged with a plurality of traction connecting rods (3.8) corresponding to the number and position of the gripper finger (3.6), the traction connecting rod (3.8) is hinged with the middle part of the gripper finger (3.6);When the claw core frame (3.7) is away from the joint frame (3.5), the gripper finger (3.6) is mutually away, when the claw core frame (3.7) is close to the joint frame (3.5), the gripper finger (3.6) is mutually contacted; At least one paper box disassembling clamp (1) is provided with at least two plastic bag disassembling grippers (3).

2. The tobacco unpacking robotic arm gripper of claim 1, wherein, The telescopic frame (1.1) is provided with slide rail (1.1.1) along the direction of clamping, The force arm (1.2) and the plastic bag disassembling arm (1.3) are perpendicular to the telescopic frame (1.1), and the telescopic shaft (6.1) drives the plastic bag disassembling arm (1.3) to slide on the slide rail (1.1.1) away from or close to the force arm (1.2).

3. The tobacco unpacking robotic arm gripper of claim 1, wherein, The force arm (1.2) is provided with linerboard disassembling assembly (2) away from the direction of clamping, including: suction cup (2.1) towards linerboard (7.1), blowing nozzle (2.2) and in-place detector (2.3).

4. The tobacco unpacking robotic arm gripper of claim 1, wherein, The joint frame (3.5) includes slide groove (3.5.1) for telescopic slide rod (3.4) to be sleeved, and the slide groove (3.5.1) is connected with the second telescopic device (3.3); The joint end of the joint frame (3.5) forms at least two first hinge shafts (3.5.2), and the first hinge shaft (3.5.2) is perpendicular to the telescopic slide rod (3.4), and the gripper finger (3.6) is hinged with the first hinge shaft (3.5.2).

5. The tobacco unbagging robot arm gripper of claim 4, wherein, The claw core frame (3.7) is provided with a second hinge shaft (3.7.1) parallel to the first hinge shaft (3.5.2), the middle part of the claw finger (3.6) is provided with a third hinge shaft (3.6.1) parallel to the second hinge shaft (3.7.1), and the two ends of the traction connecting rod (3.8) are respectively hinged to the second hinge shaft (3.7.1) and the third hinge shaft (3.6.1).

6. The tobacco unpacking robotic arm gripper of claim 5, wherein, The middle part of the claw finger (3.6) is bent away from the traction connecting rod (3.8).

7. The tobacco unbagging robot arm gripper of claim 1, wherein, The part of the telescopic slide rod (3.4) penetrating out of the claw core frame (3.7) is provided with an anti-extraction bolt (3.4.1) for preventing the claw core frame (3.7) from being extracted.

8. The tobacco unbagging robot arm gripper of claim 1, wherein, The claw tip of the claw finger (3.6) comprises a flexible claw tip (3.6.2), the surface of the flexible claw tip (3.6.2) is flat, and the flat surfaces of the flexible claw tips (3.6.2) are tightly fitted when the claw fingers (3.6) contact each other.

9. The tobacco unbagging robot arm gripper of claim 1, wherein, At least two paper box disassembling clamps (1) are connected with a connecting piece (5), and the connecting piece (5) is connected with the mechanical arm (4).

10. The tobacco unbagging robot arm gripper of claim 4, wherein, The sliding groove (3.5.1) comprises a tubular graphene sliding groove (3.5.1.1).

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