An automatic navigation multi-degree-of-freedom universal cigarette stick picking robot

Abstract

The present application relates to a kind of automatic navigation multi-degree-of-freedom general cigarette pick-up robot, belong to cigarette pick-up packing technical field.It includes navigation transport trolley, cigarette box fixing box, cigarette pick-up device;The navigation transport trolley is installed with SLAM navigation system, can be independently identified reference object and move to specified position automatically, navigation transport trolley is fixedly installed with the cigarette box fixing box for fixing the position of cigarette box, the top of cigarette box fixing box and one side are open, and the size of cigarette box fixing box is matched with the size of cigarette box, cigarette box fixing box is equipped with the cigarette pick-up device above can automatically pick up cigarette and put cigarette into cigarette box.The automatic navigation transport trolley of the present application is combined with cigarette pick-up device, can automatically navigate and move to corresponding machine and pick up cigarette packing action, after packing is completed, automatic homeward journey, save manpower, degree of automation is high, effectively reduce the labor intensity of staff.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cigarette strip picking and boxing, in particular to an automatic navigation multi-degree-of-freedom general-purpose cigarette strip picking robot. BACKGROUND

[0002] In the modern cigarette production field, many cigarette production enterprises have designated boxing and sealing equipment. When the boxing and sealing equipment fails, manual boxing action is inevitable. Non-standard boxing action can cause damage to cigarette strips, increase the labor intensity of operators, and make it difficult to avoid uncontrollable downtime during normal operation of the equipment, which requires manual handling. Manual picking increases the labor cost of cigarette production and increases the labor intensity of workers. SUMMARY

[0003] To solve the above problems, the present application provides an automatic navigation multi-degree-of-freedom general-purpose cigarette strip picking robot. It can automatically navigate and move to the corresponding machine for picking cigarette strips and boxing action, and automatically return after boxing is completed, saving manpower, having high automation, and effectively reducing the labor intensity of workers.

[0004] To achieve the above purpose, the present application is implemented according to the following technical scheme:

[0005] An automatic navigation multi-degree-of-freedom general-purpose cigarette strip picking robot, comprising a navigation transport trolley 1, a cigarette box fixing box 2, and a cigarette strip picking device 3. The navigation transport trolley 1 is provided with a SLAM navigation system, which can automatically navigate and move to a specified position by recognizing reference objects. The navigation transport trolley 1 is fixedly provided with a cigarette box fixing box 2 for fixing the position of the cigarette box. The top and one side of the cigarette box fixing box 2 are open, and the size of the cigarette box fixing box 2 matches the size of the cigarette box. The cigarette box fixing box 2 is provided with a cigarette strip picking device 3 above it, which can automatically pick up cigarette strips and put them into the cigarette box.

[0006] Preferably, the closed side of the cigarette box fixing box 2 is uniformly and intermittently provided with a cigarette box side suction cup 2-1 that can suck the side of the cigarette box. The top side of the cigarette box fixing box 2 is provided with a cigarette box top fixing suction cup 2-2 that can adsorb the open folding part of the cigarette box.

[0007] Preferably, the cigarette box fixing box 2 is forwardly inclined.

[0008] Further, the cigarette rod picking device 3 comprises a vertical moving linear module 3-1, a horizontal moving linear module 3-2, a rotating motor 3-3 and a cigarette rod gripper 3-4; the horizontal moving linear module 3-2 is horizontally installed on the navigation transport trolley 1 through a support rod and extends to the front of the navigation transport trolley 1, a support shaft 3-5 is rotatably installed on the slider of the horizontal moving linear module 3-2, the support shaft 3-5 is driven to rotate by the rotating motor 3-3 installed on the navigation transport trolley 1, and the vertical moving linear module 3-1 is fixedly installed on the support shaft 3-5; and the cigarette rod gripper 3-4 is arranged on the slider of the vertical moving linear module 3-1.

[0009] Preferably, the cigarette rod gripper 3-4 comprises a gripper frame 3-4-1 and a cigarette rod grabbing suction cup 3-4-2; the bottom of the gripper frame 3-4-1 is fixedly installed with the cigarette rod grabbing suction cup 3-4-2 and a sensor for detecting whether the cigarette rod grabbing suction cup 3-4-2 correctly grabs the cigarette rod.

[0010] Preferably, a clamping groove is arranged on the slider of the vertical moving linear module 3-1, a connecting rod 3-6 that can move up and down is slidably installed in the clamping groove, the connecting rod 3-6 is fixed by a screw, and the bottom end of the connecting rod 3-6 is fixedly connected with the gripper frame 3-4-1.

[0011] Preferably, the bottom end of the connecting rod 3-6 is provided with a square connecting plate 3-7, the connecting plate 3-7 is provided with square connecting holes in a square distribution, the gripper frame 3-4-1 is provided with screw holes corresponding to the connecting holes, and the connecting plate 3-7 is connected with the gripper frame 3-4-1 by screwing the screw through the connecting holes into the screw holes.

[0012] Further, the cigarette rod positioning device 4 for arranging the outflowing cigarette rods in the carton sealing machine in order is further provided, the cigarette rod positioning device 4 comprises a flow guide slide plate 4-1, cylindrical guide rails 4-2, a positioning baffle 4-3 and a positioning cylinder 4-4; the flow guide slide plate 4-1 is provided with two mutually parallel cylindrical guide rails 4-2, and the distance between the two cylindrical guide rails 4-2 matches the length of the cigarette rod; the discharge end of the flow guide slide plate 4-1 is provided with the positioning baffle 4-3 that can move up and down and is located between the two cylindrical guide rails 4-2, and the positioning baffle 4-3 is driven to move by the positioning cylinder 4-4 installed at the bottom of the flow guide slide plate 4-1.

[0013] The present application has the following beneficial effects:

[0014] The automatic navigation transport trolley is combined with the cigarette rod picking device in the present application, the automatic navigation transport trolley can automatically navigate and move to the corresponding machine to pick the cigarette rod and pack the cigarette rod, and the automatic navigation transport trolley can automatically return after the packing is completed, so that the manpower is saved, the automation degree is high, and the labor intensity of the workers is effectively reduced. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0016] Figure 1 is a schematic diagram of the three-dimensional structure of the present application;

[0017] Figure 2 is a schematic diagram of the installation of the cigarette strip pickup device of the present application;

[0018] Figure 3 is a schematic diagram of the installation of the cigarette box fixing box of the present application;

[0019] Figure 4 is a schematic diagram of the three-dimensional structure of the cigarette strip pickup device of the present application;

[0020] Figure 5 is a schematic diagram of the three-dimensional structure of the cigarette strip positioning device of the present application;

[0021] In the figure, 1 is a navigation transport trolley, 2 is a cigarette box fixing box, 2-1 is a cigarette box side suction cup, 2-2 is a cigarette box top fixing suction cup, 3 is a cigarette strip pickup device, 3-1 is a vertical movement linear module, 3-2 is a horizontal movement linear module, 3-3 is a rotating motor, 3-4 is a cigarette strip gripper, 3-4-1 is a gripper frame, 3-4-2 is a cigarette strip grabbing suction cup, 3-5 is a support shaft, 3-6 is a connecting rod, 3-7 is a connecting plate, 4 is a cigarette strip positioning device, 4-1 is a flow guide slide plate, 4-2 is a cylindrical guide rail, 4-3 is a positioning baffle, and 4-4 is a positioning cylinder. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and beneficial effects of the present application more clear, the preferred embodiments of the present application will be described in detail below with reference to the drawings, so as to facilitate the understanding of the skilled in the art.

[0023] As shown in the figure, an automatic navigation multi-freedom general-purpose cigarette stick picking robot comprises a navigation transport trolley 1, a cigarette box fixing box 2 and a cigarette stick picking device 3. The navigation transport trolley 1 is provided with a SLAM navigation system, which can automatically identify the position, automatically adjust the required speed, yaw angle and other characteristics of the trolley and accurately position, with a positioning accuracy of less than or equal to 5 cm, and can independently identify the reference object to automatically navigate to the specified position. The navigation transport trolley 1 is also provided with an electric control cabinet, a vacuum pump and a 24V direct current storage battery. The storage battery is used to power the entire robot system and is charged in a wireless charging mode. According to the actual power consumption and task execution, when the power is insufficient, the robot will automatically supplement the power on the charging device. The electric control cabinet is composed of PLC, servo controller, contactor and other electrical elements, and can communicate with the upper management system by different wireless network protocols, including industrial 5G, industrial WiFi and other wireless communication protocols. The internal equipment uses industrial bus and industrial Ethernet for communication, can perform multi-machine collaborative operation in the upper management system, the management system can know the position of each transport robot, and lock the position. Within the operation range of the robot body and the extended mechanical arm, other same devices are prohibited from entering to ensure safety. The vacuum pump is used to provide negative pressure for the system.

[0024] As a preferred, the navigation transport trolley 1 is also provided with a laser distance detection system, which can detect and judge the obstacles near the vehicle, so that the vehicle can avoid the obstacles on the road by deceleration, parking and other methods, and the vehicle can automatically drive again after the obstacles are removed.

[0025] As a preferred, the navigation transport trolley 1 is provided with a vehicle-mounted camera, which can identify whether anyone passes by the vehicle through vision. During the cigarette stick picking and packaging process of the robot, the camera observes the situation of people passing by the surrounding environment to prevent people from entering the working range and continuing to work, causing personal injury. The navigation transport trolley 1 is provided with a sound and light alarm device, which reminds the workers and equipment to keep a safe distance during the operation.

[0026] The navigation transport trolley 1 is fixedly provided with a cigarette case fixing box 2 for fixing the position of the cigarette case, the top and one side of the cigarette case fixing box 2 are open, and the size of the cigarette case fixing box 2 matches the size of the cigarette case, after the cigarette case is placed into the cigarette case fixing box 2, the cigarette case fixing box 2 can be better supported, the position of the cigarette case is fixed firmly, and the cigarette case cannot slide out of the cigarette case fixing box 2 in the walking process of the robot, the open side can more conveniently take out the cigarette case filled with cigarette from the cigarette case fixing box 2 by the staff, and the cigarette case fixing box 2 is provided with a cigarette picking device 3 which can automatically pick the cigarette and place the cigarette into the cigarette case, in the working process, the empty cigarette case is placed into the cigarette case fixing box 2 by manual, when the navigation trolley receives the sealing machine fault shutdown signal, the navigation transport trolley 1 automatically moves to the cigarette picking position of the sealing machine which fails, then the cigarette picking device 3 acts to pick the cigarette and place the cigarette into the cigarette case, when the cigarette case is filled with the cigarette, the cigarette picking device 3 returns to the initial position to wait for the next picking, if the sealing machine fault is not solved at this time, the full cigarette case is taken out by the on-site operator, the empty cigarette case is placed again, and the cigarette picking process can continue, so that the cigarette blocking phenomenon is not caused, and when the sealing machine fault is solved, the robot automatically returns to the specified position.

[0027] In the application, the closed side of the cigarette case fixing box 2 is uniformly and spacedly provided with cigarette case side suction cups 2-1 which can suck the side of the cigarette case, the cigarette case side suction cups 2-1 are arranged in two rows, after the cigarette case is placed into the cigarette case fixing box 2, the cigarette case side suction cups 2-1 act to suck the side of the cigarette case, so that the cigarette case cannot slide out of the cigarette case fixing box 2 in the turning process of the robot, the top side of the cigarette case fixing box 2 is provided with cigarette case top fixing suction cups 2-2 which can suck the folding part of the opening of the cigarette case, the cigarette case top fixing suction cups 2-2 are fixedly arranged on the mounting plate which is perpendicular to the side of the cigarette case fixing box 2 and are uniformly and spacedly arranged, so that the folding part of the opening of the cigarette case is effectively fixed, the interference problem in the process of placing the cigarette into the cigarette case after picking the cigarette by the robot is avoided, and the normal placing of the cigarette is ensured. As a preferred, the cigarette case fixing box 2 is forwardly inclined and supported by four supporting columns and a bottom fixing inclined block, the cigarette case is placed at an angle of 55 degrees, so that the cigarette can automatically slide to the corresponding position under the action of gravity, and the angle can be adjusted and changed according to the actual situation on site.

[0028] In the application, the cigarette strip pickup device 3 comprises a vertical moving linear module 3-1, a horizontal moving linear module 3-2, a rotating motor 3-3 and a cigarette strip gripper 3-4. The horizontal moving linear module 3-2 is horizontally installed on the navigation transport trolley 1 through a support rod and extends forward of the navigation transport trolley 1, adopts an extension design, can increase the pickup operation space and avoid interference, a support shaft 3-5 is rotatably installed on the slider of the horizontal moving linear module 3-2, the rotating motor 3-3 is slidably installed on a linear guide rail, the linear guide rail is fixedly installed on the transport trolley, the vertical moving linear module 3-1 is fixedly installed on the support shaft 3-5, the cigarette strip gripper 3-4 is arranged on the slider of the vertical moving linear module 3-1, when the cigarette strip is grabbed, the cigarette strip gripper 3-4 is stretched forward or withdrawn backward through the action of the horizontal moving linear module 3-2, the rotating motor 3-3 is used to rotate the cigarette strip gripper 3-4 to place or grab the cigarette strip at different angles, the rotating motor 3-3 is a stepping motor or a servo motor, and the rotatable angle is generally set to be between 50 degrees and 120 degrees, and the vertical moving linear module 3-1 is used to move the cigarette strip gripper 3-4 up and down. The cigarette strip pickup device 3 has high action accuracy, rapid response, can avoid excessive accumulation of the cigarette strip and damage of the cigarette strip and quality defects.

[0029] In the application, the cigarette strip gripper 3-4 comprises a gripper frame 3-4-1 and a cigarette strip grabbing suction cup 3-4-2. The gripper frame 3-4-1 is fixedly installed at the bottom of the cigarette strip grabbing suction cup 3-4-2 and a sensor for detecting whether the cigarette strip is correctly grabbed by the cigarette strip grabbing suction cup 3-4-2. The cigarette strip grabbing suction cup 3-4-2 is arranged according to different specifications of the cigarette strip, forms cigarette strip grippers 3-4 of multiple models, and can be replaced with different models of the cigarette strip gripper 3-4 for use according to needs, so as to meet the pickup and boxing of cigarette strips of different specifications and realize universal, convenient and rapid pickup conversion. As an optimization, the cigarette strip grabbing suction cup 3-4-2 adopts a 5-row 2-column arrangement, two suction cups are used to adsorb each cigarette strip, the stability of the cigarette strip grabbing is ensured, and five cigarette strips can be grabbed at a time. When the cigarette strip gripper 3-4 moves to the specified position, the cigarette strip grabbing suction cup 3-4-2 acts to suck the cigarette strip, and the sensor detects the cigarette strip. If the five cigarette strips are not completely sucked up, the cigarette strip gripper 3-4 is used for secondary grabbing until the cigarette strip is successfully grabbed.

[0030] As preferred, a clamping groove is arranged on the slider of the vertical moving linear module 3-1, and a connecting rod 3-6 capable of moving up and down is slidably arranged in the clamping groove, the connecting rod 3-6 is fixed by screws, the bottom end of the connecting rod 3-6 is fixedly connected with the gripper frame 3-4-1, and during use, the connecting rod 3-6 can be slid up and down according to the actual situation on site, and then locked by screws to adjust the height of the cigarette rod gripper 3-4, so that the use is more convenient.

[0031] As preferred, a square connecting plate 3-7 is arranged at the bottom end of the connecting rod 3-6, the connecting plate 3-7 is provided with square connecting holes, the gripper frame 3-4-1 is provided with threaded holes corresponding to the connecting holes, and the connecting plate 3-7 is connected with the gripper frame 3-4-1 by screwing the screws through the connecting holes and into the threaded holes, so that the connecting plate 3-7 and the gripper frame 3-4-1 are firmly connected, the cigarette rod gripper 3-4 can be disassembled by unscrewing the screws, the cigarette rod gripper 3-4 is more convenient to assemble and disassemble, and different cigarette rod grippers 3-4 can be replaced, meanwhile, the cigarette rod gripper 3-4 can still be installed on the connecting rod 3-6 after being rotated by 90 degrees, the cigarette rod gripper 3-4 rotated by 90 degrees can realize single cigarette pickup and boxing, meet different production requirements, and have wider applicability.

[0032] In the application, a cigarette rod positioning device 4 for arranging the flowing cigarette rods in the carton sealing machine in order is further included, the cigarette rod positioning device 4 comprises a flow guide slide plate 4-1, cylindrical guide rails 4-2, a positioning baffle 4-3 and a positioning cylinder 4-4, the flow guide slide plate 4-1 is provided with two mutually parallel cylindrical guide rails 4-2, and the distance between the two cylindrical guide rails 4-2 matches the length of the cigarette rod; the flow guide slide plate 4-1 is provided with the positioning baffle 4-3 capable of moving up and down between the two cylindrical guide rails 4-2 at the discharging end, and the positioning baffle 4-3 is driven to move by the positioning cylinder 4-4 arranged at the bottom of the flow guide slide plate 4-1, when the carton sealing machine fails and stops, the cigarette rod slides along the flow guide slide plate 4-1, the cylindrical guide rails 4-2 position the cigarette rod from both sides, effectively preventing the cigarette rod from deviating during movement, and when the positioning cylinder 4-4 is elongated, the positioning baffle 4-3 is driven to move upwards and is blocked between the two cylindrical guide rails 4-2, the cigarette rod stops when moving to the position of the positioning baffle 4-3, so that the cigarette rod is arranged in order between the two cylindrical guide rails 4-2, thereby facilitating the effective pickup of the cigarette rod.

[0033] Finally, it should be pointed out that the above preferred embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail through the above preferred embodiments, those skilled in the art should understand that various modifications can be made in form and details without departing from the scope defined by the claims of the present application; the sizes of the drawings are not related to the specific objects, and the sizes of the objects can be arbitrarily changed.

Claims

1. An automatically navigable multi-degree of freedom universal cigarette stick picking robot, characterized by: It includes a navigation transport trolley (1), a cigarette box fixing box (2), a cigarette stick picking device (3) and a cigarette stick positioning device (4); The navigation transport vehicle (1) is equipped with a SLAM navigation system, which can automatically identify reference objects and navigate to a designated position. The navigation transport vehicle (1) is fixedly equipped with a cigarette box fixing box (2) for fixing the position of the cigarette box. The cigarette box fixing box (2) is tilted forward, with the top and one side open, and the size of the cigarette box fixing box (2) matches the size of the cigarette box. The closed side of the cigarette box fixing box (2) is evenly spaced with cigarette box side suction cups (2-1) that can hold the side of the cigarette box, and the top side of the cigarette box fixing box (2) is provided with cigarette box top fixing suction cups (2-2) that can hold the folded part of the cigarette box opening. A cigarette stick picking device (3) is provided above the cigarette box fixing box (2) to automatically pick up cigarette sticks and put them into the cigarette box. The cigarette stick picking device (3) includes a vertical moving linear module (3-1), a horizontal moving linear module (3-2), a rotary motor (3-3), and a cigarette stick gripper (3-4). The horizontal moving linear module (3-2) is horizontally mounted on the navigation transport trolley (1) by a support rod and extends forward of the navigation transport trolley (1). A support shaft (3-5) is rotatably mounted on the slider of the horizontal moving linear module (3-2). The support shaft (3-5) is driven to rotate by the rotary motor (3-3) mounted on the navigation transport trolley (1). The vertical moving linear module (3-1) is fixedly mounted on the support shaft (3-5). A cigarette stick gripper (3-4) is provided on the slider of the vertical moving linear module (3-1). The cigarette stick gripper (3-4) includes... The gripper frame (3-4-1) and the cigarette stick gripping suction cup (3-4-2) are fixedly installed at the bottom of the gripper frame (3-4-1). The cigarette stick gripping suction cup (3-4-2) and the sensor used to detect whether the cigarette stick gripping suction cup (3-4-2) has correctly gripped the cigarette stick are installed. The slider of the vertical moving linear module (3-1) is provided with a slot. A connecting rod (3-6) that can move up and down is slidably installed in the slot. The connecting rod (3-6) is fixed by screws. The bottom end of the connecting rod (3-6) is fixedly connected to the gripper frame (3-4-1). The bottom end of the connecting rod (3-6) is provided with a square connecting piece (3-7). The connecting piece (3-7) is provided with a square distribution of connecting holes. The gripper frame (3-4-1) is provided with threaded holes that correspond one-to-one with the connecting holes. After the screw passes through the connecting hole, it is screwed into the threaded hole to firmly connect the connecting piece (3-7) to the gripper frame (3-4-1). The cigarette positioning device (4) arranges the flowing cigarette in the cartoning machine in order, comprising a flow guide slide plate (4-1), a cylindrical guide rail (4-2), a positioning baffle (4-3) and a positioning cylinder (4-4); the flow guide slide plate (4-1) is provided with two parallel cylindrical guide rails (4-2), and the distance between the two cylindrical guide rails (4-2) matches the length of the cigarette; the flow guide slide plate (4-1) is provided with the positioning baffle (4-3) which is movable up and down and located between the two cylindrical guide rails (4-2) at the discharging end of the flow guide slide plate (4-1), and the positioning baffle (4-3) is driven to move by the positioning cylinder (4-4) installed at the bottom of the flow guide slide plate (4-1).

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