Vacuum chuck smoke box unstacking and stacking clamp

Abstract

The invention discloses a vacuum chuck cigarette box unstacking and stacking clamp, and belongs to the technical field of logistics conveying automatic loading and unloading clamps. The cigarette box unstacking and stacking clamp comprises a main body support, and the first mounting end of the main body support is connected with the tail end of a mechanical arm; the main suction module is connected with the second mounting end of the main body support, the main suction module is used for sucking or releasing the smoke box from the upper portion, and the main suction module can automatically adjust the suction range to adapt to the size of the upper surface of the smoke box; the side suction module is located on one side of the main suction module, the side suction module is connected with the main suction module, the side suction module moves relative to the main suction module, and the side suction module is used for sucking or releasing the smoke box from the side face. The main suction module sucks the cigarette box from the upper portion, the position of the suction cup is flexibly adjusted according to the sizes of different cigarette boxes, and the firm suction effect on the box body is achieved. The side suction module clamps the smoke box from the side face, the suction stabilizing effect on the side face of the box body is achieved, and the situation that the smoke box shakes in a large range and falls off when the mechanical arm rotates rapidly is prevented.

Description

Technical Field

[0001] The invention belongs to the technical field of automated loading and unloading fixtures for logistics transportation, and relates to a vacuum suction cup cigarette box disassembling and stacking fixture. Background Art

[0002] As competition in the global tobacco industry becomes increasingly fierce, improving production efficiency and reducing operating costs have become an industry consensus. As a key link in the logistics and transportation process, the efficiency of cigarette box palletizing is directly related to the production capacity of the entire production line.

[0003] The suction cup of traditional cigarette box depalletizing fixtures is fixed on the mounting plate, and the position of the suction cup cannot be adjusted according to the different sizes of cigarette boxes. At the same time, the design of traditional cigarette box depalletizing fixtures is often bulky, which not only increases the burden on operators, but also leads to increased energy consumption and equipment maintenance costs.

[0004] Therefore, designing a set of vacuum suction cup fixtures for robotic arms to automatically dismantle and stack cigarette boxes is of great significance for improving the efficiency of tobacco warehousing and logistics production. Summary of the invention

[0005] In order to at least solve the problem that the conventional cigarette box depalletizing and stacking fixture in the prior art cannot adjust the position of the suction cup according to different cigarette box sizes, the present invention provides the following technical solution: a vacuum suction cup cigarette box depalletizing and stacking fixture, the cigarette box depalletizing and stacking fixture comprising:

[0006] A main body bracket, wherein a first mounting end of the main body bracket is connected to the end of the mechanical arm;

[0007] A main suction module, the main suction module is connected to the second mounting end of the main support, the main suction module is used to suck or release the cigarette box from above, and the main suction module can automatically adjust the suction range to adapt to the upper surface size of the cigarette box; and

[0008] A side suction module, the side suction module is located at one side of the main suction module, the side suction module is connected to the main suction module, and the side suction module moves relative to the main suction module, and the side suction module is used to suck or release the cigarette box from the side.

[0009] Optionally, in the above-mentioned vacuum suction cup cigarette box depalletizing and stacking fixture, the cigarette box depalletizing and stacking fixture further comprises: a control module, and the control module comprises: a cylinder solenoid valve group;

[0010] The cylinder solenoid valve group is located on the main body bracket, and the cylinder solenoid valve group is connected to the side suction module, and is used to control the side suction module to approach or move away from the main suction module along the width direction of the main body bracket, and to control the side suction module to move up and down along the height direction of the main body bracket.

[0011] Optionally, in the above-mentioned vacuum suction cup cigarette box depalletizing and stacking fixture, the control module further comprises: a suction cup solenoid valve group;

[0012] The suction cup solenoid valve group is located on the main support, and the suction cup solenoid valve group is connected to the main suction module and the side suction module respectively, and is used to control the main suction module and the side suction module to suck or release the smoke box.

[0013] Optionally, in the above-mentioned vacuum suction cup cigarette box depalletizing and stacking fixture, the main support comprises: a flange seat, a connecting plate and a linear module arranged in sequence from top to bottom;

[0014] One end of the flange seat is connected to the end of the mechanical arm, and the other end of the flange seat is connected to a horizontally arranged connecting plate;

[0015] The two horizontally arranged linear modules are symmetrically distributed about the axis of the flange seat;

[0016] The connecting plate is used to connect the two linear modules;

[0017] The two linear modules are respectively driven by a servo motor to slide with the main suction module along the length direction of the connecting plate toward a direction close to the flange seat or away from the flange seat.

[0018] Optionally, in the above-mentioned vacuum suction cup cigarette box depalletizing and stacking fixture, the main suction module includes: a positioning suction cup assembly and a shifting suction cup assembly;

[0019] One end of the positioning suction cup assembly is fixedly connected to the main body bracket;

[0020] The displacement suction cup assembly is located on both sides of the positioning suction cup assembly, one end of the displacement suction cup assembly is slidably connected to the main body bracket, and the two displacement suction cup assemblies move in opposite directions.

[0021] Optionally, in the above-mentioned vacuum suction cup cigarette box depalletizing and stacking fixture, the side suction module includes: multiple groups of side suction cup assemblies, and the side suction cup assemblies include: longitudinal cylinders, transverse cylinders, profile racks and side suction cups;

[0022] The profile frame comprises: a fixed part, a transverse moving part and a longitudinal moving part;

[0023] The fixed part is connected to the main suction module via the transverse cylinder, and the fixed part is slidably connected to the transverse moving part;

[0024] The output end of the lateral cylinder is connected to the lateral moving part, and the lateral cylinder has an induction switch for identifying the state of the lateral cylinder and judging the current open and closed state of the side suction module;

[0025] The longitudinal moving part is connected to the transverse moving part through the longitudinal cylinder, and the longitudinal moving part is slidably connected to the transverse moving part;

[0026] The output end of the longitudinal cylinder is connected to the longitudinal moving part, and the longitudinal cylinder has an induction switch for identifying the state of the longitudinal cylinder and judging the current open and closed state of the side suction cup;

[0027] The side suction cup is installed on a side of the longitudinal moving part close to the main suction module, and the side suction cup is connected to the air supply device through an air pipe.

[0028] Optionally, in the above-mentioned vacuum suction cup cigarette box depalletizing and stacking fixture, a transverse linear guide rail is provided on the fixed part, and one end of the slider located in the transverse linear guide rail is connected to the transverse moving part;

[0029] The lateral moving part is provided with a longitudinal linear guide rail, and one end of a sliding block located in the longitudinal linear guide rail is connected to the longitudinal moving part.

[0030] Optionally, in the above-mentioned vacuum suction cup cigarette box depalletizing and stacking fixture, a position sensor is installed above the side suction cup to measure the position of the cigarette box in front.

[0031] Optionally, in the above-mentioned vacuum suction cup cigarette box depalletizing and stacking fixture, the positioning suction cup assembly and the shifting suction cup assembly both include: a base and a main suction cup;

[0032] One end of the base is connected to the main support, and the other end of the base is provided with a plurality of main suction cups;

[0033] The main suction cup is connected to the air supply device through an air delivery pipe.

[0034] Optionally, in the above-mentioned vacuum suction cup cigarette box depalletizing and stacking fixture, an air pressure detection gauge is installed on the main suction cup to detect whether the negative pressure value in the main suction cup reaches a set value.

[0035] The technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0036] The present application provides a main suction module and a side suction module to suck or release the cigarette box from the top and side, respectively. According to the (upper surface) size of the cigarette box, the main suction module can automatically adjust the suction area, and flexibly adjust the position of the suction cup according to different cigarette box sizes. The main suction module can achieve a firm suction effect on the box. The side suction module is connected to the main suction module and moves relative to the main suction module to achieve the opening and closing of the side suction module. The side suction module clamps the cigarette box from the side to achieve a firm suction effect on the side of the box, preventing the cigarette box from shaking over a large range when the robotic arm rotates rapidly, thereby preventing the cigarette box from falling and improving the accuracy of depalletizing;

[0037] The suction cup in the present application adopts a flexible vacuum suction cup, which can easily and quickly suck up materials such as cigarette boxes, has high work efficiency, and can reduce manpower. Compared with the traditional cigarette box depalletizing and stacking fixture design, the structure is more optimized, which can effectively reduce the burden on the robotic arm, improve the efficiency of depalletizing and stacking operations, and can also significantly reduce energy consumption and reduce equipment maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic structural diagram of a vacuum suction cup cigarette box depalletizing and stacking fixture provided in an embodiment of the present invention;

[0039] Figure 2 A schematic structural diagram of a vacuum suction cup cigarette box depalletizing and stacking fixture from another perspective provided by an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of the specific structure of a side suction module in a vacuum suction cup cigarette box depalletizing and stacking fixture provided by an embodiment of the present invention;

[0041] In the figure: 1. main bracket; 11. flange seat; 12. connecting plate; 13. linear module; 131. slider; 14. servo motor; 15. connecting sheet metal; 2. main suction module; 21. positioning suction cup assembly; 211. base; 212. main suction cup; 213. air pressure detection meter; 214. air supply pipe; 22. shift suction cup assembly; 3. side suction module; 31. side suction cup assembly; 311. longitudinal cylinder; 312. transverse cylinder; 313. side suction cup; 314. transverse linear guide; 315. longitudinal linear guide; 316. diffuse reflection sensor; 317. magnetic induction switch; 318. profile frame; 3181. fixed part; 3182. transverse moving part; 3183. longitudinal moving part; 4. control module; 41. cylinder solenoid valve group; 42. suction cup solenoid valve group. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0043] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can be a wired electrical connection, a radio connection, or a wireless communication signal connection. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0044] See also Figure 1-3 The present invention provides the following technical solution: a vacuum suction cup cigarette box depalletizing fixture, the cigarette box depalletizing fixture comprises: a main frame 1, a main suction module 2 and a side suction module 3. Among them, the first mounting end of the main frame 1 (at Figure 1 In the picture shown, the top of the main support 1 is connected to the end of the mechanical arm (robot), so that the mechanical arm (not shown in the figure) can move with the main support 1. The main suction module 2 is connected to the second mounting end of the main support 1 (at Figure 1 In the picture shown, it refers to the bottom of the main support 1), and the main suction module 2 is used to suck or release the cigarette (paper) box (not shown in the figure) from above to achieve a firm suction effect on the box. Preferably, the main suction module 2 includes: a positioning suction cup assembly 21 and a shifting suction cup assembly 22. One end of the positioning suction cup assembly 21 is fixedly connected to the main support 1. The shifting suction cup assembly 22 is located on both sides of the positioning suction cup assembly 21, and one end of the shifting suction cup assembly 22 is slidably connected to the main support 1, that is, the shifting suction cup assembly 22 and the main support 1 can slide relative to each other, and the two shifting suction cup assemblies 22 move in opposite directions. According to the (upper surface) size of the cigarette box, the main suction module 2 can automatically adjust the suction area. Specifically, in Figure 1In the picture shown, the middle part of the main suction module 2 (referring to the positioning suction cup assembly 21) is stationary relative to the main bracket 1, while the two ends of the main suction module 2 (referring to the displacement suction cup assembly 22) move toward the two ends or the middle part of the main bracket 1 respectively relative to the main bracket 1. After adjustment, the suction range of the main suction module 2 matches the (upper surface) size of the cigarette box, thereby realizing flexible adjustment of the position of the suction cup according to different cigarette box sizes. The side suction module 3 is located on one side of the main suction module 2, and the side suction module 3 is connected to the main suction module 2, such as the side suction module 2 is connected to the main suction module 2 through a cylinder, and the side suction module 3 moves relative to the main suction module 2, such as the side suction module 3 moves relative to the main suction module 2 along the width direction of the main frame 1 toward the direction close to the main suction module 2 or away from the main suction module 2 (to realize the opening and closing of the side suction module 3), and the side suction module 2 moves upward or downward relative to the main suction module 2 along the height direction of the main frame 1. In addition, when the main suction module 2 automatically adjusts the suction area according to the size of the cigarette box, the side suction module 2 moves along the length direction of the main frame 1 with the main suction module 2 toward the two ends or the middle of the main frame 1. The side suction module 3 is used to suck or release the cigarette box from the side, to achieve a stabilizing effect on the suction of the side of the box, to prevent the cigarette box from shaking in a large range when the robot arm rotates rapidly, thereby preventing the cigarette box from falling and improving the accuracy of destacking and stacking. The suction cup in this cigarette box depalletizing and stacking fixture adopts a flexible vacuum suction cup, which can suck cigarette boxes and other materials simply and quickly, has high work efficiency, can reduce labor, and has strong adaptability to cigarette boxes of different specifications. Compared with the traditional cigarette box depalletizing and stacking fixture design, the structure is more optimized, which can effectively reduce the burden on the robot arm, improve the efficiency of depalletizing and stacking operations, and can also significantly reduce energy consumption and reduce equipment maintenance costs.

[0045] Furthermore, the cigarette box unstacking fixture further comprises: a control module 4. The control module 4 comprises: a cylinder solenoid valve group 41. Specifically, the cylinder solenoid valve group 41 (including multiple solenoid valves) is located on the main support 1 (referring to the connecting plate 12), and the cylinder solenoid valve group 41 is connected to the side suction module 3 (referring to the longitudinal cylinder 311 and the transverse cylinder 312). The cylinder solenoid valve group 41 controls the transverse cylinder 312 to bring the entire side suction module 3 closer to or away from the main suction module 2 along the width direction of the main support 1 (referring to the connecting plate 12), and the cylinder solenoid valve group 41 controls the longitudinal cylinder 311 to bring the entire side suction module 3 up and down along the height direction of the main support 1. That is to say, the side suction module 3 includes four actions of opening, closing, raising and lowering. Simply put, the cylinder solenoid valve group 41 controls the action of the transverse cylinder 312 to realize the opening or closing of the side suction module 3, and the cylinder solenoid valve group 41 controls the action of the longitudinal cylinder 311 to realize the lifting and lowering of the side suction clamp (referring to the side suction cup assembly 31).

[0046] In order to accurately control the actions of the main suction module 2 and the side suction module 3, in this embodiment, the control module 4 further includes: a suction cup solenoid valve group 42. The suction cup solenoid valve group 42 (including multiple solenoid valves) is located on the main support 1 (referring to the connecting plate 12), and the suction cup solenoid valve group 42 is respectively connected to the main suction module 2 (referring to the main suction cup 212) and the side suction module 3 (referring to the side suction cup 313), and the suction cup solenoid valve group 42 is used to control the main suction module 2 (referring to the main suction cup 212) and the side suction module 3 (referring to the side suction cup 313) to suck (grab smoke) and release (release smoke) the smoke box.

[0047] As an embodiment of the specific structure of the main support 1, in this embodiment, the main support 1 includes: Figure 1 The flange seat 11, the connecting plate 12 and the linear module 13 are sequentially arranged (in the upper and lower directions of the picture shown). Specifically, one end of the flange seat 11 is connected to the end of the mechanical arm (robot), and the other end of the flange seat 11 is connected to the horizontally arranged connecting plate 12, such as by bolts. The two horizontally arranged linear modules 13 are symmetrically distributed about the axis of the flange seat 11. The connecting plate 12 is used to connect two (same) linear modules 13. The two linear modules 13 are driven by a servo motor 14 to slide along the length direction of the connecting plate 12 with the main suction module 2 (referring to the displacement suction cup assembly 22) toward the direction close to the flange seat 11 or away from the flange seat 11 (that is, each servo motor 14 can independently control the displacement suction cup assembly 22 at the relative position to adjust the gap distance), and at the same time, the main suction module 2 (referring to the displacement suction cup assembly 22) moves in the same direction with the side suction module 3 (referring to the side suction cup assembly 31 located on both sides of the vertical center line of the main support 1), so as to adapt to different cigarette box sizes. According to different cigarette box sizes, the position of the suction cup is adjusted so that the suction cup covers the surface of the cigarette box as much as possible, thereby increasing the suction force when grabbing the cigarette box and improving the stability of the suction cup. Preferably, the two linear modules 13 are both installed with the servo motor 14 in an inwardly bent manner.

[0048] As an embodiment of the specific structure of the above-mentioned positioning suction cup assembly 21 and the displacement suction cup assembly 22, in this embodiment, the structures of the positioning suction cup assembly 21 and the displacement suction cup assembly 22 are the same, and both include: a base 211 and a main suction cup 212. Slightly different is that one end of the base 211 in the positioning suction cup assembly 21 is fixedly connected to the main support 1 (referring to the connecting plate 12) through the connecting sheet metal 15, and one end of the base 211 in the displacement suction cup assembly 22 is fixedly connected to the main support 1 (referring to the slider 131 in the linear module 13) through the connecting sheet metal 15, so the positioning suction cup assembly 21 cannot move relative to the main support 1, and the displacement suction cup assembly 22 can move relative to the main support 1. It should be noted that the servo motor 14 is used to drive the slider 131 in the linear module 13 to slide, and the slider 131 moves in the same direction with the displacement suction cup assembly 22 through the connecting sheet metal 15, and the distance between the displacement suction cup assembly 22 and the positioning suction cup assembly 21 is adjusted to adapt to different cigarette box sizes. The other end (i.e., the lower end) of the base 211 in the positioning suction cup assembly 21 and the shifting suction cup assembly 22 is evenly distributed with a plurality of main suction cups 212. The main suction cup 212 is connected to the air supply device (not shown in the figure) through the air pipe 214. At the same time, the main suction cup 212 is connected to the suction cup solenoid valve group 42 by signal. The suction and closing of the main suction cup 212 are controlled by the suction cup solenoid valve group 42. Preferably, the main suction cup 212 adopts a large-area sponge suction cup on the market, which has a strong suction force and can firmly suck the box (stable grip). Figure 2 In a specific embodiment shown in the figure, the main suction module 2 includes 6 large-area suction cup assemblies, which are arranged in groups of two to form three groups of suction cup assemblies, and can suck up to three cigarette boxes at the same time. The middle group of suction cup assemblies is fixed directly below the main support 1, and the other two groups of suction cup assemblies are symmetrically arranged on both sides of the vertical center line of the main support 1, and are driven by a servo motor 14 to achieve the opening distance between each group of suction cup assemblies. An air pressure detection meter 213 is installed on the main suction cup 212 to detect whether the negative pressure value in the main suction cup 212 reaches the set value, and judge whether the main suction cup 212 is stable in grabbing the cigarette box, whether there is air leakage, and whether the box falls during the grabbing process.

[0049] As an embodiment of the specific structure of the side suction module 3, in this embodiment, the side suction module 3 includes: a plurality of side suction cup assemblies 31. Figure 1-2 As shown, the number of the side suction cup assemblies 31 (also called side suction claws) is consistent with the total number of the positioning suction cup assemblies 21 and the displacement suction cup assemblies 22, such as setting three sets of side suction cup assemblies 31. The structures of the multiple sets of side suction cup assemblies 31 are the same, refer to Figure 3As shown, taking a set of side suction cup components 31 as an example, the side suction cup components 31 include: a longitudinal cylinder 311, a transverse cylinder 312, a profile frame 318 and a side suction cup 313. Specifically, the profile frame 318 is constructed of aluminum profiles and is divided into: a fixed part 3181, a transverse moving part 3182 and a longitudinal moving part 3183 according to the moving mode (including direction). The fixed part 3181 is connected to the main suction module 2 through the transverse cylinder 312. Specifically, one end cover of the transverse cylinder 312 is connected to the fixed part 3181, and the other end cover of the transverse cylinder 312 is connected to the positioning suction cup assembly 21 (or the shift suction cup assembly 22, depending on whether the transverse cylinder 312 is located in the middle or at both ends of the side suction module 3) in the main suction module 2. In this way, when the servo motor independently controls the shift suction cup assembly 22 at the relative position to adjust the gap distance, the servo motor 14 drives the slider 131 in the linear module 13 to move, and the slider 131 moves with the shift suction cup assembly 22 in the same direction. The shift suction cup assembly 22 moves in the same direction with the side suction cup assembly 31 (located at both ends of the side suction module 3) through the transverse cylinder 312, and the distance is adjusted together. At the same time, the transverse cylinder 312 is located above the main suction cup 212, and the fixed part 3181 is slidably connected to the transverse moving part 3182. The output end (i.e., the end of the stroke) of the transverse cylinder 312 is connected to the transverse moving part 3182. The transverse cylinder 312 has an induction switch (such as a magnetic induction switch 317). The induction switch is used to identify the state of the transverse cylinder 312 and determine the current open and closed state of the side suction module 3. Specifically, when the side suction module 3 is opened (away from the main suction module 2), the piston in the transverse cylinder 312 extends outward, and the transverse cylinder 312 corresponds to the open state; when the side suction module 3 is closed (close to the main suction module 2), the piston in the transverse cylinder 312 is retracted inward, and the transverse cylinder 312 corresponds to the closed state. The cylinder solenoid valve group 41 is connected to the transverse cylinder 312 signal. The cylinder solenoid valve group 41 can control the transverse cylinder 312 to make reciprocating linear motion in the horizontal direction to realize the opening and closing of the side suction module 3. The longitudinal moving part 3183 is connected to the transverse moving part 3182 through the longitudinal cylinder 311, that is, one end cover of the longitudinal cylinder 311 is connected to the longitudinal moving part 3183, and the other end cover of the longitudinal cylinder 311 is connected to the transverse moving part 3182, and the longitudinal moving part 3183 is slidably connected to the transverse moving part 3182. The output end of the longitudinal cylinder 311 is connected to the longitudinal moving part 3183, and the longitudinal cylinder 311 has an induction switch (such as a magnetic induction switch 317), which is used to identify the state of the longitudinal cylinder 311 and judge the current open and closed state of the side suction cup 313. The side suction cup 313 is put down: the piston in the longitudinal cylinder 311 extends outward, and the longitudinal cylinder 311 corresponds to the open state. The side suction cup 313 is lifted: the piston in the longitudinal cylinder 311 is retracted inward, and the longitudinal cylinder 311 corresponds to the closed state.The cylinder solenoid valve group 41 is connected to the longitudinal cylinder 311 by signal, and the longitudinal cylinder 311 can be controlled to make reciprocating linear motion in the vertical direction through the cylinder solenoid valve group 41. The side suction cup 313 is located below the transverse cylinder 312. The side suction cup 313 is installed on the side of the longitudinal moving part 3183 close to the main suction module 2 through the connecting sheet metal 15. The suction force requirement of the side suction cup 313 is generally not as high as that of the main suction cup 212. Ordinary suction cups on the market can be used according to the actual needs of the site. The number of suction cups can be flexibly set. Generally, two side suction cups 313 are configured in a set of side suction cup assemblies 31 to meet the use. The side suction cup 313 is connected to the air supply device through the air pipe 214. The side suction cup 313 is connected to the suction cup solenoid valve group 42 by signal. The suction and closing of the side suction cup 313 are controlled by the suction cup solenoid valve group 42. Preferably, the fixed part 3181 is provided with a transverse linear guide 314, and one end of the slider 131 located in the transverse linear guide 314 is connected to the transverse moving part 3182, so that when the transverse cylinder 312 moves, the transverse cylinder 312 moves with the transverse moving part 3182 in the same direction, and the transverse moving part 3182 moves with the slider 131 along the transverse linear guide 314. The transverse moving part 3182 is provided with a longitudinal linear guide 315, and one end of the slider 131 located in the longitudinal linear guide 315 is connected to the longitudinal moving part 3183, so that when the longitudinal cylinder 311 moves, the longitudinal cylinder 311 moves with the longitudinal moving part 3183 in the same direction, and the longitudinal moving part 3183 moves with the slider 131 along the longitudinal linear guide 315, so that the side suction module 3 moves up and down along the height direction of the main support 1. A position sensor (such as a diffuse reflection sensor 316) is installed above the side suction cup 313. The position sensor is used to measure the position of the cigarette box in front, determine the current state of the clamp grabbing the cigarette box and whether there is a box drop failure, and realize fast and accurate positioning of the cigarette box. When the side suction module 3 is working, the profile frame 318 is controlled by the horizontal cylinder 312 and the longitudinal cylinder 311 to open or lower the side suction cup 313. The components of the profile frame 318 are connected by linear guides and sliders 131, so as to adjust the state of the side suction cup 313. It should be noted that the three groups of side suction cup components 31 can be independently controlled (open, close, raise, and lower four actions), which effectively reduces the separation of the bottom of the cigarette box due to the premature lifting of the clamp and improves the compatibility of the clamp. In addition, since the main suction cup 212 sucks the cigarette box firmly, the side suction cup 313 only serves to stabilize the cigarette box, and the size of the cigarette box has a certain error, a certain margin needs to be left for the side suction position to prevent the cigarette box from being scratched. Therefore, no negative pressure test is performed on the side suction cup 313 (with an air pressure detection gauge 213) to determine whether it is sucked firmly, so that normal grasping can be performed even when some side suction cups 313 are not close to the surface of the cigarette box.

[0050] Here’s how the application works:

[0051] When performing cigarette box unstacking operations, the cigarette boxes to be grasped are transported to a predetermined position within the working range of the robotic arm. After receiving a signal to start grasping, the robotic arm equipped with the clamp will move to the specified position and open the solenoid valve that controls the corresponding suction cup according to the program setting. At the same time, the transverse cylinder 312 controls the side suction module 3 to be in an open state, and the entire clamp is in a workpiece grasping state.

[0052] Before sucking the cigarette box, the two shifting suction cup assemblies 22 in the main suction module 2 will adjust the gap between the main suction cups 212 (that is, the positioning suction cup assembly 21 and the shifting suction cup assembly 22) according to the size of the upper surface of the cigarette box under the drive of the servo motor 14, so that the entire three groups of main suction cups 212 can adapt to different cigarette box sizes. The three groups of side suction modules 3 are driven by the transverse cylinder 312 and simultaneously open outward (referring to the direction away from the main support 1) along the length direction of the transverse linear guide 314 to ensure that the clamp has enough space when moving downward to approach the cigarette box workpiece, and there will be no side suction cups 313 scraping against the side surface of the cigarette box.

[0053] When sucking the cigarette box, the suction cup surfaces of the three groups of main suction cups 212 (referring to the two groups of side suction cup assemblies 31 and the one group of positioning suction cup assemblies 21) are pressed down to the surface of the cigarette box, and the suction cup solenoid valve group 42 opens the air circuit control of the clamp to make the main suction cup 212 start to suck air. The main suction cup 212 of the clamp is sucked to the surface of the cigarette box. At this time, the air pressure detection meter 213 installed on the main suction cup 212 will detect whether the negative pressure value in the main suction cup 212 reaches the preset value, so as to judge whether the suction cup has firmly sucked the cigarette box to prevent the occurrence of box leakage or box falling failure. When the clamp (referring to the air pressure detection gauge 213) determines that the cigarette box has been firmly sucked by the main suction cup 212 (the negative pressure value reaches the predetermined value), the side suction module 3 closes inward (referring to the direction close to the main bracket 1) along the length direction of the horizontal linear guide 314, and at the same time, the side suction cup 313 starts to suck air under the control of the suction cup solenoid valve group 42, completing the side suction module 3 clamping the cigarette box from the side, thereby reducing the swaying of the cigarette box due to inertia during the process of being transported and transferred, enhancing the stability of the depalletizing and stacking operations, and finally lifting the robotic arm to complete the box grabbing.

[0054] When placing the cigarette box, the clamp moves with the robot arm to the predetermined position, and then the clamp places the cigarette box to the target position. At this time, the corresponding side suction cup 313 in the side suction module 3 first closes the air valve, and then the side suction module 3 opens outward (referring to the direction away from the main bracket 1) along the direction of the horizontal linear guide rail 314; finally, the corresponding main suction cup 212 in work disconnects the air valve and completely releases the cigarette box, so that the clamp completes a process of catching cigarettes, transporting and releasing cigarettes.

[0055] The main suction cups 212 on both sides of the clamp can independently control the travel of their movement, and the corresponding side suction modules 3 can also move accordingly, so that the clamp can simultaneously suck 1 to 3 boxes, greatly improving the adaptability of the clamp to different specifications of cigarette box sizes.

[0056] The side suction cup 313 module driven by the longitudinal cylinder 311 in the side suction module 3 can be lifted upward or dropped downward along the length direction of the longitudinal linear guide rail 315. These two states are mainly for two different cigarette box heights, namely, the standard cigarette box with a height of more than 500mm and the special-shaped cigarette box with a height of less than 500mm. The tops of the standard cigarette box and the special-shaped cigarette box are made at the same height. When grabbing the standard cigarette box with a higher height, the side suction cup 313 is lowered downward, and when grabbing the special-shaped cigarette, the side suction module 3 is kept in the lifted state. The purpose is to enable the side suction cup 313 to be sucked near the middle of the cigarette box to improve the stability of the cigarette box during the transfer process.

[0057] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A vacuum suction cup cigarette box depalletizing fixture, characterized in that: The cigarette box disassembling and stacking fixture comprises: A main body bracket, wherein a first mounting end of the main body bracket is connected to the end of the mechanical arm; A main suction module, the main suction module is connected to the second mounting end of the main support, the main suction module is used to suck or release the cigarette box from above, and the main suction module can automatically adjust the suction range to adapt to the upper surface size of the cigarette box; and A side suction module, the side suction module is located at one side of the main suction module, the side suction module is connected to the main suction module, and the side suction module moves relative to the main suction module, and the side suction module is used to suck or release the cigarette box from the side.

2. The vacuum suction cup cigarette box depalletizing fixture according to claim 1, characterized in that: The cigarette box depalletizing and stacking fixture further comprises: a control module, and the control module comprises: a cylinder solenoid valve group; The cylinder solenoid valve group is located on the main body bracket, and the cylinder solenoid valve group is connected to the side suction module, and is used to control the side suction module to approach or move away from the main suction module along the width direction of the main body bracket, and to control the side suction module to move up and down along the height direction of the main body bracket.

3. The vacuum suction cup cigarette box depalletizing fixture according to claim 2, characterized in that: The control module also includes: a suction cup solenoid valve group; The suction cup solenoid valve group is located on the main support, and the suction cup solenoid valve group is connected to the main suction module and the side suction module respectively, and is used to control the main suction module and the side suction module to suck or release the smoke box.

4. The vacuum suction cup cigarette box depalletizing fixture according to claim 1, characterized in that: The main support comprises: a flange seat, a connecting plate and a linear module arranged in sequence from top to bottom; One end of the flange seat is connected to the end of the mechanical arm, and the other end of the flange seat is connected to a horizontally arranged connecting plate; The two horizontally arranged linear modules are symmetrically distributed about the axis of the flange seat; The connecting plate is used to connect the two linear modules; The two linear modules are respectively driven by a servo motor to slide with the main suction module along the length direction of the connecting plate toward a direction close to the flange seat or away from the flange seat.

5. The vacuum suction cup cigarette box depalletizing fixture according to claim 1, characterized in that: The main suction module includes: a positioning suction cup assembly and a displacement suction cup assembly; One end of the positioning suction cup assembly is fixedly connected to the main body bracket; The displacement suction cup assembly is located on both sides of the positioning suction cup assembly, one end of the displacement suction cup assembly is slidably connected to the main body bracket, and the two displacement suction cup assemblies move in opposite directions.

6. The vacuum suction cup cigarette box depalletizing fixture according to claim 2, characterized in that: The side suction module comprises: a plurality of side suction cup assemblies, and the side suction cup assemblies comprise: a longitudinal cylinder, a transverse cylinder, a profile frame and a side suction cup; The profile frame comprises: a fixed part, a transverse moving part and a longitudinal moving part; The fixed part is connected to the main suction module via the transverse cylinder, and the fixed part is slidably connected to the transverse moving part; The output end of the lateral cylinder is connected to the lateral moving part, and the lateral cylinder has an induction switch for identifying the state of the lateral cylinder and judging the current open and closed state of the side suction module; The longitudinal moving part is connected to the transverse moving part through the longitudinal cylinder, and the longitudinal moving part is slidably connected to the transverse moving part; The output end of the longitudinal cylinder is connected to the longitudinal moving part, and the longitudinal cylinder has an induction switch for identifying the state of the longitudinal cylinder and judging the current open and closed state of the side suction cup; The side suction cup is installed on a side of the longitudinal moving part close to the main suction module, and the side suction cup is connected to the air supply device through an air pipe.

7. The vacuum suction cup cigarette box depalletizing fixture according to claim 6, characterized in that: The fixed part is provided with a transverse linear guide rail, and one end of a sliding block located in the transverse linear guide rail is connected to the transverse moving part; The lateral moving part is provided with a longitudinal linear guide rail, and one end of a sliding block located in the longitudinal linear guide rail is connected to the longitudinal moving part.

8. The vacuum suction cup cigarette box depalletizing fixture according to claim 6, characterized in that: A position sensor is installed above the side suction cup to measure the position of the cigarette box in front.

9. The vacuum suction cup cigarette box depalletizing fixture according to claim 5, characterized in that: The positioning suction cup assembly and the displacement suction cup assembly both include: a base and a main suction cup; One end of the base is connected to the main support, and the other end of the base is provided with a plurality of main suction cups; The main suction cup is connected to the air supply device through an air delivery pipe.

10. The vacuum suction cup cigarette box depalletizing fixture according to claim 9, characterized in that: An air pressure detection gauge is installed on the main suction cup to detect whether the negative pressure value in the main suction cup reaches a set value.

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