A robotic arm device for automatic cleaning of cigarette cylinders

Abstract

This invention relates to the field of robotic arm technology, and in particular to a robotic arm device for automatic cleaning of cigarette glue cylinders. The device includes a conveyor belt and a dry ice cleaning machine. One end of the conveyor belt is equipped with a robotic arm and a glue roller drive mechanism for rotating the glue roller. The other end of the conveyor belt is fixed to a gantry. A vertically movable sealing cover is provided inside the gantry, and a glue scraping mechanism is provided inside the sealing cover. This invention uses the glue scraping mechanism to collect residual glue from the bottom of the glue cylinder to the middle section. Then, the glue extraction mechanism extracts and collects the collected residual glue, thereby quickly recovering the residual glue at the bottom of the glue cylinder, reducing the accumulation of residual glue, preventing residual glue from dripping and contaminating the glue cylinder and equipment during cleaning, and preventing residual glue from covering the grooves on the surface of the glue cylinder and glue roller. During dry ice cleaning, the dry ice particles can fully enter the grooves on the surface of the glue cylinder and glue roller, improving the cleaning effect.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a robotic arm device for automatic cleaning of cigarette dispensers. Background Technology

[0002] Robotic arms have multiple joints and, under the control of a controller, can move their end effector freely in space, thus finding wide application in industry.

[0003] When cigarette making machines produce cigarettes, the adhesive stored in the glue cylinder is transferred to the cigarette paper by the rotation of the glue rollers, thus bonding the cigarettes together. Cigarette making machines require regular cleaning, and the glue cylinder and glue rollers are constantly immersed in adhesive, making cleaning difficult. Cleaning requires cleaning both the glue cylinder and the internal glue rollers simultaneously. Currently, cigarette factories are widely adopting dry ice cleaning technology to clean the glue cylinder. This involves a robotic arm that moves a spray gun flexibly, spraying dry ice particles onto the surface and grooves of the glue cylinder and glue rollers.

[0004] A search revealed Chinese patent CN117509144A, which discloses a robotic arm device for cleaning and transporting cigarette glue cylinders with dry ice. This invention utilizes a sliding component and a baffle component. Powered by a first motor, a first slider slides in a first groove. Powered by a second motor, a gear rotates, causing a rod to move up and down. When the rod moves downwards, a fourth slider slides in a fourth groove. A baffle, influenced by the weight of the collection container, rotates and opens. When the robotic gripper grasps the glue cylinder, the rod moves upwards. When the lower inner wall of the fourth groove abuts against the fourth slider, it moves the fourth slider upwards, causing the first transmission rod to close the baffle, thus blocking the bottom of the glue cylinder and preventing it from shaking and spilling glue outside the cylinder, thus contaminating the equipment and damaging the production environment.

[0005] Based on the above research and combined with the actual problems, it was found that: existing robotic arm devices for cleaning glue cylinders cannot rotate the glue rollers in the glue cylinder when spraying dry ice particles. As a result, the outer surface of the glue roller near the bottom of the glue cylinder cannot fully contact the dry ice particles, thus affecting the cleaning effect. Moreover, a lot of residual glue usually accumulates on the bottom of the glue cylinder. Because the residual glue has a certain stickiness, it cannot be completely poured out by conventional pouring. The residual glue tends to cover the inner surface of the glue cylinder and the grooves on the surface of the glue roller, preventing the dry ice particles from completely entering the grooves on the surface of the glue roller, further reducing the cleaning effect. Summary of the Invention

[0006] The purpose of this invention is to provide a robotic arm device for automatic cleaning of cigarette glue cylinders, so as to solve the problems mentioned in the background art.

[0007] The technical solution of the present invention is: a robotic arm device for automatic cleaning of cigarette glue cylinders, comprising a conveyor belt and a dry ice cleaning machine. One end of the conveyor belt is equipped with a robotic arm and a glue roller drive mechanism for driving the glue roller to rotate. The other end of the conveyor belt is fixed with a gantry. A vertically movable sealing cover is provided inside the gantry, and a glue scraping mechanism is provided inside the sealing cover. The glue roller drive mechanism includes a vertical plate fixed to the conveyor belt. A vertical groove is formed inside the vertical plate, and a sliding plate is slidably connected to the inner side of the vertical groove. A second motor is installed on one side of the sliding plate, and a drive wheel is fixed to the drive end of the second motor. The glue scraping mechanism includes two rotating shafts that are rotatably connected through the sealing cover. Two rotating rods are fixed to both ends of the two rotating shafts. Two scrapers are slidably arranged between the four rotating rods. A rotating shaft drive mechanism is provided between the two rotating shafts, and a glue extraction mechanism is provided between the two scrapers.

[0008] Preferably, each of the four rotating rods has a sliding groove inside, and both ends of the two scrapers are fixed with sliders that are slidably connected to the inside of the four sliding grooves. Each of the four sliding grooves has a guide rod fixed inside, and the four sliders are respectively slidably sleeved on the outside of the four guide rods. One end of each of the four sliders is elastically connected to one end of the corresponding inner side of the sliding groove through a first spring.

[0009] Preferably, the glue extraction mechanism includes a glue extraction cylinder and a glue storage cylinder disposed outside the sealing cover, two cavities and two glue suction channels opened inside two scrapers. One end of the glue storage cylinder is threadedly connected to an end cap. The cavity and glue suction channels located at the same location are interconnected. A glue extraction cylinder is installed at one end of the glue extraction cylinder. A glue extraction piston that is slidably connected to the inside of the glue extraction cylinder is fixed at the telescopic end of the glue extraction cylinder. One end of the glue extraction cylinder is connected to the inside of the glue storage cylinder through a connecting pipe, and one end of the glue extraction cylinder is connected to a glue extraction main pipe. The end of the glue extraction main pipe is connected to two glue extraction branch pipes through a three-way valve. The two glue extraction branch pipes are respectively connected to the inside of the two cavities. One-way valves are provided inside both the connecting pipe and the glue extraction main pipe. The one-way valve located inside the connecting pipe is directed towards the inside of the glue storage cylinder, and the one-way valve located inside the glue extraction main pipe is directed towards the inside of the glue extraction cylinder.

[0010] Preferably, the rotating shaft drive mechanism includes two worm gears fixed to one end of two rotating shafts, two worms symmetrically rotatably connected to one end of the outer side of the sealing cover, and a first motor installed at one end of the outer side of the sealing cover. The drive end of the first motor is fixed with a driving bevel gear, and one end of each of the two worms is fixed with a driven bevel gear that meshes with the driving bevel gear. The two worms mesh with the two worm gears respectively.

[0011] Preferably, a guide strip is fixed to one side of each of the two scrapers, and a pusher plate is slidably connected to one side of each of the two scrapers through the guide strip. A pusher cylinder is installed on one side of each of the two scrapers, and the telescopic ends of the two pusher cylinders are respectively fixedly connected to one side of the two pusher plates.

[0012] Preferably, the end of the robotic arm is equipped with a dry ice spray gun, which is connected to a dry ice cleaning machine and is used to spray out dry ice particles generated by the dry ice cleaning machine.

[0013] Preferably, the four outer sides of the sealing cover are provided with positioning baffles, and the lower end of each positioning baffle is bent outward.

[0014] Preferably, a lifting cylinder is installed at the middle section of the gantry, and the telescopic end of the lifting cylinder is fixedly connected to the upper side of the sealing cover.

[0015] Preferably, a sensor is installed on the outer side of the sealing cover near the robotic arm, and the sensor is electrically connected to the lifting cylinder through a control circuit.

[0016] Preferably, the upper end of the slide plate is elastically connected to the upper inner side of the vertical groove via a second spring, and the drive wheel is a component made of rubber.

[0017] The present invention provides an improved robotic arm device for automatic cleaning of cigarette dispensers, which, compared with the prior art, has the following improvements and advantages:

[0018] Firstly, the present invention uses a rubber roller drive mechanism to drive the rubber roller to rotate during dry ice cleaning of the rubber cylinder and the rubber roller. This allows all parts of the outer surface of the rubber roller to fully contact the dry ice particles, thereby further improving the cleaning effect on the rubber cylinder and the rubber roller.

[0019] Secondly, this invention uses a rotating shaft drive mechanism to drive two rotating shafts of the scraping mechanism to rotate in opposite directions, thereby driving two scrapers to rotate in opposite directions via a rotating rod. The opposite rotation of the two scrapers can collect residual glue at the bottom of the glue cylinder to the middle position. At the same time, the glue extraction mechanism extracts and collects the collected residual glue, thereby quickly recovering the residual glue at the bottom of the glue cylinder, reducing the accumulation of residual glue, preventing residual glue from dripping and contaminating the glue cylinder and equipment during cleaning, and preventing residual glue from covering the grooves on the surface of the glue cylinder and glue roller. During dry ice cleaning, dry ice particles can fully enter the grooves on the surface of the glue cylinder and glue roller, improving the cleaning effect. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is a schematic diagram of the combined state of the sealing cover and the glue cylinder in this invention;

[0023] Figure 3 This is a partially enlarged structural diagram of the sealing cover in this invention;

[0024] Figure 4 This is a schematic diagram of the internal structure of the sealing cover in this invention;

[0025] Figure 5 This is a schematic diagram of the disassembled structure of the glue scraping mechanism in this invention;

[0026] Figure 6 This is a schematic diagram of the structure of the two scrapers rotating to the middle position of the glue cylinder in this invention;

[0027] Figure 7 For the present invention Figure 1 A magnified structural diagram of point A in the middle.

[0028] Figure label:

[0029] 1. Conveyor belt; 2. Robotic arm; 3. Gantry; 4. Sealing cover; 5. Positioning baffle; 6. Dry ice cleaning machine; 7. Lifting cylinder; 8. Dry ice spray gun; 9. Sensor; 101. Rotating shaft; 102. Rotating rod; 103. Scraper; 104. Cavity; 105. Adhesive suction channel; 106. Adhesive suction cylinder; 107. Adhesive storage cylinder; 108. Adhesive suction cylinder; 109. Adhesive suction piston; 110. Connecting pipe; 111. Adhesive suction main pipe; 112. Adhesive suction support 113. Pipe; 114. Guide bar; 115. Push plate cylinder; 116. Push rubber plate; 117. Slide groove; 118. Slider; 119. Guide rod; 120. First spring; 201. End cap; 202. First motor; 203. Driving bevel gear; 204. Worm gear; 205. Driven bevel gear; 301. Vertical plate; 302. Vertical groove; 303. Slide plate; 304. Second spring; 305. Second motor; 306. Drive wheel. Detailed Implementation

[0030] The present invention will now be described in detail, and the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] This invention provides an improved robotic arm device for automatic cleaning of cigarette dispensers. The technical solution of this invention is as follows:

[0032] like Figures 1 to 7 As shown, this embodiment of the invention provides a robotic arm device for automatic cleaning of cigarette glue cylinders, including a conveyor belt 1 and a dry ice cleaning machine 6. One end of the conveyor belt 1 is equipped with a robotic arm 2 and a glue roller drive mechanism for driving the glue roller to rotate. The end of the robotic arm 2 is equipped with a dry ice spray gun 8, which is connected to the dry ice cleaning machine 6 and is used to spray out dry ice particles generated by the dry ice cleaning machine 6. The other end of the conveyor belt 1 is fixed with a gantry 3. The inner side of the gantry 3 is equipped with a vertically movable sealing cover 4. A lifting cylinder 7 is installed at the middle section of the gantry 3. The telescopic end of the lifting cylinder 7 is fixedly connected to the upper side of the sealing cover 4. The inner side of the sealing cover 4 is equipped with a glue scraping mechanism. The glue roller drive mechanism includes a vertical plate 301 fixed to the conveyor belt 1 (e.g., ...). Figure 7 As shown), a vertical groove 302 is provided inside the vertical plate 301. A sliding plate 303 is slidably connected to the inner side of the vertical groove 302. A second motor 305 is installed on one side of the sliding plate 303. A drive wheel 306 is fixed to the drive end of the second motor 305. The upper end of the sliding plate 303 is elastically connected to the upper inner end of the vertical groove 302 through a second spring 304. The drive wheel 306 is a component made of rubber. The glue scraping mechanism includes two rotating shafts 101 (such as...) that are rotatably connected inside the sealing cover 4. Figure 3 As shown), two rotating rods 102 are fixed at both ends of the two rotating shafts 101. Two scrapers 103 are slidably arranged between the four rotating rods 102. A rotating shaft drive mechanism is arranged between the two rotating shafts 101, and a glue-pulling mechanism is arranged between the two scrapers 103.

[0033] Furthermore, each of the four rotating rods 102 has a sliding groove 116 (such as...). Figure 5 As shown), both ends of the two scrapers 103 are fixed with sliders 117 that are slidably connected to the inside of the four grooves 116. The inside of the four grooves 116 is fixed with guide rods 118. The four sliders 117 are respectively slidably sleeved on the outside of the four guide rods 118, and one end of each of the four sliders 117 is elastically connected to one end of the corresponding groove 116 through a first spring 119.

[0034] Guided by the chute 116, the slider 117 and scraper 103 can move linearly along the inner side of the chute 116. At the same time, under the elastic force of the first spring 119, a pushing force is applied to the slider 117, which is transmitted to the scraper 103. This ensures that the lower side of the scraper 103 is always in close contact with the bottom surface of the glue cylinder, improving the scraping effect and ensuring that the residual glue on the bottom surface of the glue cylinder is evenly scraped to the middle position for more thorough collection.

[0035] Furthermore, the glue extraction mechanism includes a glue extraction cylinder 106 and a glue storage cylinder 107 disposed outside the sealing cover 4, two cavities 104 and two glue suction channels 105 opened inside the two scrapers 103, one end of the glue storage cylinder 107 is threadedly connected to an end cap 120, the cavity 104 and the glue suction channel 105 located at the same location are interconnected, one end of the glue extraction cylinder 106 is equipped with a glue extraction cylinder 108, the telescopic end of the glue extraction cylinder 108 is fixed with a glue extraction piston 109 slidably connected to the inside of the glue extraction cylinder 106, and one end of the glue extraction cylinder 106 is connected to a connecting... The connecting pipe 110 is connected to the inside of the glue storage cylinder 107, and one end of the glue extraction cylinder 106 is connected to the glue extraction main pipe 111. The end of the glue extraction main pipe 111 is connected to two glue extraction branch pipes 112 through a three-way valve. The two glue extraction branch pipes 112 are respectively connected to the inside of the two cavities 104. One-way valves are installed inside both the connecting pipe 110 and the glue extraction main pipe 111. The one-way valve inside the connecting pipe 110 is directed towards the inside of the glue storage cylinder 107, and the one-way valve inside the glue extraction main pipe 111 is directed towards the inside of the glue extraction cylinder 106.

[0036] The glue extraction mechanism extracts and collects the accumulated residual glue, thereby quickly recovering the residual glue at the bottom of the glue tank, reducing the accumulation of residual glue, preventing residual glue from dripping and contaminating the glue tank and equipment during cleaning, and preventing residual glue from covering the grooves on the surface of the glue tank and glue roller. During dry ice cleaning, dry ice particles can fully enter the grooves on the surface of the glue tank and glue roller, improving the cleaning effect.

[0037] Furthermore, the rotating shaft drive mechanism includes two worm gears 205 fixed to one end of the two rotating shafts 101, two worms 203 symmetrically rotatably connected to one end of the outer side of the sealing cover 4, and a first motor 201 installed on one end of the outer side of the sealing cover 4. The drive end of the first motor 201 is fixed with a driving bevel gear 202, and one end of each of the two worms 203 is fixed with a driven bevel gear 204 that meshes with the driving bevel gear 202. The two worms 203 mesh with the two worm gears 205 respectively.

[0038] The rotating shaft drive mechanism drives the two rotating shafts 101 of the glue scraping mechanism to rotate in opposite directions, thereby driving the two scrapers 103 to rotate in opposite directions through the rotating rod 102. The reverse rotation of the two scrapers 103 can gather the residual glue on the bottom of the glue cylinder to the middle position, thus facilitating the collection of residual glue.

[0039] Furthermore, guide strips 113 are fixed on one side of each of the two scrapers 103, and push plates 115 are slidably connected to one side of each of the two scrapers 103 via guide strips 113. Push plate cylinders 114 are installed on one side of each of the two scrapers 103, and the telescopic ends of the two push plate cylinders 114 are respectively fixedly connected to one side of the two push plates 115.

[0040] The extension end of the control push plate cylinder 114 extends and drives the push plate 115 to slide downward along one side of the scraper 103. Thus, the residual glue adhering to the surface of the scraper 103 can be pushed to the lower port of the glue suction channel 105 by the lower side of the push plate 115, so that the residual glue is sucked into the cavity 104, thereby preventing excessive glue from accumulating on the surface of the scraper 103.

[0041] Furthermore, positioning baffles 5 are provided on all four sides of the outer side of the sealing cover 4, and the lower end of each positioning baffle 5 is bent outward.

[0042] Multiple positioning baffles 5 are provided on the outer side of the sealing cover 4, and the lower end of each positioning baffle 5 is bent outward. When the sealing cover 4 moves down, under the guidance of the multiple positioning baffles 5, a lateral thrust can be applied to the glue cylinder on the upper side of the conveyor belt 1, so that the glue cylinder is aligned with the sealing cover 4, making it easier for the glue scraping mechanism to extend into the inside of the glue cylinder.

[0043] Furthermore, a sensor 9 is installed on the outer side of the sealing cover 4 near the robotic arm 2. The sensor 9 is electrically connected to the lifting cylinder 7 through a control circuit.

[0044] The glue cylinder first moves to the bottom of the gantry 3. When the sensor 9 senses the glue cylinder below, the sensor 9 sends a signal to the lifting cylinder 7 through the control circuit. The telescopic end of the lifting cylinder 7 extends quickly, causing the sealing cover 4 to move down.

[0045] Working Principle: During use, the AGV robot in the workshop can individually transport each cigarette machine glue cylinder (hereinafter referred to as glue cylinder). The AGV robot can move along the preset track in the workshop. The AGV can transport the glue cylinder to the upper side of the conveyor belt 1 of the device. The conveyor belt 1 can transport several glue cylinders that need to be cleaned. The glue cylinder first moves to the bottom of the gantry 3. When the sensor 9 senses the glue cylinder below, the sensor 9 feeds back a signal to the lifting cylinder 7 through the control circuit. The telescopic end of the lifting cylinder 7 quickly extends, driving the sealing cover 4 to move down. Due to the sealing cover 4... Multiple positioning baffles 5 are provided on the outside, and the lower end of each positioning baffle 5 is bent outward. Therefore, under the guidance of multiple positioning baffles 5, a lateral thrust can be applied to the glue cylinder on the upper side of the conveyor belt 1, so that the glue cylinder is aligned with the sealing cover 4. At the same time, when the sealing cover 4 moves down to contact the glue cylinder, it covers the upper side of the glue cylinder and seals the glue cylinder. At this time, the glue cylinder is blocked by the sealing cover 4 and the positioning baffles 5 and does not move. Its lower side only slides with the belt of the conveyor belt 1. The sealing cover 4 seals the glue cylinder, which can prevent the residual glue inside the glue cylinder from overflowing outward, thereby preventing contamination of the equipment and ensuring the cleanliness of the equipment surface.

[0046] After the sealing cover 4 seals with the glue cylinder, the lower sides of the two scraper blades 103 of the glue scraping mechanism are in contact with the two sides of the bottom surface of the glue cylinder. Then, the first motor 201 of the rotating shaft drive mechanism drives the active bevel gear 202 to rotate. The active bevel gear 202 drives the two driven bevel gears 204 to rotate in the opposite direction through its teeth. The two driven bevel gears 204 drive the two worm gears 203 to rotate in the opposite direction, and the two worm gears 203 drive the two worm wheels 205 to rotate in the opposite direction, thereby driving the two rotating shafts 101 of the glue scraping mechanism to rotate in the opposite direction. The two rotating shafts 101 of the glue scraping mechanism drive the four rotating rods 102 on both sides to rotate in the opposite direction, and the four rotating rods 102 drive the two scraper blades 103 to rotate in the opposite direction, so that the two scraper blades 103 rotate synchronously towards the middle position. When the two scraper blades 103 rotate, their lower sides slide along the bottom surface of the glue cylinder. When the lower sides of the two scraper blades 103 have completely rotated to the middle position of the bottom surface of the glue cylinder (e.g. Figure 6 As shown), at this time, the two scrapers 103 can gather the glue remaining on the bottom surface of the glue cylinder to the middle section of the bottom surface of the glue cylinder, which makes it easier to gather the dispersed glue and collect the glue. Under the guidance of the slide groove 116, the slider 117 and the scraper 103 can move linearly along the inner side of the slide groove 116. At the same time, under the elastic force of the first spring 119, a pushing force is applied to the slider 117, and the pushing force is transmitted to the scraper 103, so that the lower side of the scraper 103 is always in close contact with the bottom surface of the glue cylinder, improving the glue scraping effect and ensuring that the residual glue on the bottom surface of the glue cylinder is evenly scraped to the middle section, making it easier to collect more fully.

[0047] Then, the extension end of the glue-drawing cylinder 108 of the glue-drawing mechanism retracts, driving the glue-drawing piston 109 to move, creating a negative pressure state inside the glue-drawing cylinder 106. This draws the accumulated glue into the inside of the two cavities 104 through the two glue-drawing channels 105, and then into the inside of the glue-drawing cylinder 106 through the glue-drawing branch pipe 112, the three-way valve, and the glue-drawing main pipe 111. When the extension end of the glue-drawing cylinder 108 is fully retracted, it extends again, driving the glue-drawing piston 109 to move in the opposite direction, squeezing the glue drawn into the inside of the glue-drawing cylinder 106 through the connecting pipe 110 into the inside of the glue storage cylinder 107. This achieves rapid recovery of residual glue at the bottom of the glue cylinder, reduces the accumulation of residual glue, and prevents residual glue from dripping and contaminating the glue cylinder and equipment during cleaning. It also prevents residual glue from covering the grooves on the surface of the glue cylinder and the glue roller. During dry ice cleaning, dry ice particles can fully enter the grooves on the surface of the glue cylinder and the glue roller, improving the cleaning effect.

[0048] After the residual glue on the bottom of the glue cylinder is collected, the telescopic end of the lifting cylinder 7 drives the sealing cover 4 to move upward and reset, separating the sealing cover 4 from the glue cylinder. At the same time, multiple positioning baffles 5 also separate from the glue cylinder. Under the traction of the conveyor belt 1, the glue cylinder continues to move towards the position of the robotic arm 2. The dry ice cleaning machine 6 can generate dry ice particles and spray them out through the dry ice spray gun 8. At the same time, through the action of the robotic arm 2, the robotic arm 2 can drive the dry ice spray gun 8 to move flexibly above the glue cylinder, so as to evenly spray the dry ice particles onto the surface of the glue cylinder and the glue roller. The dry ice particles sublimate rapidly on the surface of the glue cylinder and the glue roller and in the groove to form carbon dioxide gas. During the sublimation process, the dry ice absorbs a large amount of heat and expands hundreds of times, which rapidly cools down the residual glue on the surface of the glue cylinder and the glue roller and in the groove, thus causing it to become brittle and easy to fall off the surface of the glue cylinder and the glue roller. At the same time, the expansion of the dry ice into a gaseous state generates a high-speed airflow, which blows out the fallen glue, achieving a rapid cleaning effect.

[0049] When the glue cylinder passes the position of the robotic arm 2, one end of the glue roller inside it will contact the lower side of the drive wheel 306 of the glue roller drive mechanism. The second motor 305 runs continuously, driving the drive wheel 306 to rotate. Moreover, the second spring 304 can apply a downward thrust to the slide plate 303. The thrust is transmitted to the drive wheel 306, so that the drive wheel 306 can press on the upper side of the glue roller. When the drive wheel 306 rotates, it can drive the glue roller to rotate through friction. This allows all parts of the outer surface of the glue roller to fully contact the dry ice particles, thereby further improving the cleaning effect on the glue cylinder and the glue roller.

[0050] The foregoing description enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic arm device for automatic cleaning of cigarette cartridge cylinders, comprising a conveyor belt (1) and a dry ice cleaning machine (6), characterized in that, One end of the conveyor belt (1) is provided with a mechanical arm (2) and a rubber roller drive mechanism for driving the rubber roller to rotate, and the other end of the conveyor belt (1) is fixed with a gantry (3). The inner side of the gantry (3) is provided with a sealing cover (4) that moves up and down, and the inner side of the sealing cover (4) is provided with a scraping mechanism. The rubber roller drive mechanism includes a vertical plate (301) fixed on the conveyor belt (1), a vertical groove (302) is provided inside the vertical plate (301), a slide plate (303) is slidably connected to the inner side of the vertical groove (302), a second motor (305) is installed on one side of the slide plate (303), and a drive wheel (306) is fixed to the drive end of the second motor (305). The glue scraping mechanism includes two rotating shafts (101) that are rotatably connected inside the sealing cover (4). Two rotating rods (102) are fixed at both ends of the two rotating shafts (101). Two scrapers (103) are slidably arranged between the four rotating rods (102). A rotating shaft driving mechanism is arranged between the two rotating shafts (101). A glue extraction mechanism is arranged between the two scrapers (103). The glue-drawing mechanism includes a glue-drawing cylinder (106) and a glue-storage cylinder (107) disposed outside the sealing cover (4), two cavities (104) and two glue-suction channels (105) opened inside the two scrapers (103). One end of the glue-storage cylinder (107) is threadedly connected to an end cap (120). The cavity (104) and the glue-suction channel (105) located at the same location are interconnected. A glue-drawing cylinder (108) is installed at one end of the glue-drawing cylinder (106). A glue-drawing piston (109) is fixedly slidably connected to the inside of the glue-drawing cylinder (106) at the telescopic end of the glue-drawing cylinder (108). One end of the glue-drawing cylinder (106) is connected to the glue-drawing cylinder (109). The connecting pipe (110) is connected to the inside of the glue storage cylinder (107), and one end of the glue extraction cylinder (106) is connected to the glue extraction main pipe (111). The end of the glue extraction main pipe (111) is connected to two glue extraction branch pipes (112) through a three-way valve. The two glue extraction branch pipes (112) are respectively connected to the inside of two cavities (104). Both the connecting pipe (110) and the glue extraction main pipe (111) are equipped with one-way valves. The one-way valve located inside the connecting pipe (110) is directed towards the inside of the glue storage cylinder (107), and the one-way valve located inside the glue extraction main pipe (111) is directed towards the inside of the glue extraction cylinder (106).

2. The robotic arm device for automatic cleaning of cigarette glue cylinders according to claim 1, characterized in that: The interior of each of the four rotating rods (102) is provided with a sliding groove (116). Both ends of the two scrapers (103) are fixed with sliders (117) that are slidably connected to the inside of the four sliding grooves (116). The inside of each of the four sliding grooves (116) is fixed with a guide rod (118). The four sliders (117) are respectively slidably sleeved on the outside of the four guide rods (118), and one end of each of the four sliders (117) is elastically connected to one end of the corresponding inner side of the sliding groove (116) through a first spring (119).

3. The robotic arm device for automatic cleaning of cigarette glue cylinders according to claim 1, characterized in that: The rotating shaft drive mechanism includes two worm gears (205) fixed at one end of two rotating shafts (101), two worms (203) symmetrically rotatably connected to one end of the outer side of the sealing cover (4), and a first motor (201) installed at one end of the outer side of the sealing cover (4). The driving end of the first motor (201) is fixed with a driving bevel gear (202), and one end of each of the two worms (203) is fixed with a driven bevel gear (204) that meshes with the driving bevel gear (202). The two worms (203) mesh with the two worm gears (205) respectively.

4. The robotic arm device for automatic cleaning of cigarette glue cylinders according to claim 1, characterized in that: One side of each of the two scrapers (103) is fixed with a guide strip (113), and one side of each of the two scrapers (103) is slidably connected with a pusher plate (115) through the guide strip (113). One side of each of the two scrapers (103) is equipped with a pusher cylinder (114), and the telescopic ends of the two pusher cylinders (114) are respectively fixedly connected to one side of the two pusher plates (115).

5. The robotic arm device for automatic cleaning of cigarette glue cylinders according to claim 1, characterized in that: The end of the robotic arm (2) is equipped with a dry ice spray gun (8), which is connected to the dry ice cleaner (6) and is used to spray out dry ice particles generated by the dry ice cleaner (6).

6. The robotic arm device for automatic cleaning of cigarette glue cylinders according to claim 1, characterized in that: The sealing cover (4) has four positioning baffles (5) on its outer sides, and the lower end of each positioning baffle (5) is bent outward.

7. The robotic arm device for automatic cleaning of cigarette glue cylinders according to claim 1, characterized in that: A lifting cylinder (7) is installed in the middle section of the gantry (3), and the telescopic end of the lifting cylinder (7) is fixedly connected to the upper side of the sealing cover (4).

8. The robotic arm device for automatic cleaning of cigarette glue cylinders according to claim 7, characterized in that: A sensor (9) is installed on the outer side of the sealing cover (4) near the robotic arm (2), and the sensor (9) is electrically connected to the lifting cylinder (7) through a control circuit.

9. The robotic arm device for automatic cleaning of cigarette glue cylinders according to claim 1, characterized in that: The upper end of the slide plate (303) is elastically connected to the upper inner side of the vertical groove (302) via a second spring (304), and the drive wheel (306) is made of rubber.

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