Tobacco bale film grabbing device

Abstract

The invention belongs to the technical field of cigarette production equipment, and particularly relates to a cigarette packet film grabbing device which comprises a servo moving unit and a film grabbing unit, and the servo moving unit is used for driving the film grabbing unit to move; the film grabbing unit comprises a mounting part, at least one set of first grabbing hand and at least one set of second grabbing hand, the at least one set of first grabbing hand is mounted on the mounting part, and the at least one set of second grabbing hand is mounted on the mounting part; according to the film grabbing device, when a film grabbing unit moves to the position above a cigarette packet, a first grabbing hand grabs a film and drives the film to be away from the cigarette packet, and a second grabbing hand replaces the first grabbing hand to grab the film when the film is away from the cigarette packet by a set distance; according to the grabbing mode, primary grabbing is used for stably grabbing the film, secondary grabbing is used for taking out the film, meanwhile, tobacco leaves (or tobacco shreds) are prevented from being grabbed, and waste of the tobacco leaves is effectively prevented.

Description

Technical Field

[0001] The invention belongs to the technical field of cigarette production equipment, and in particular relates to a cigarette package film grabbing device. Background Art

[0002] During the cigarette processing process, the cigarette factory opens the incoming cigarette packs through the automatic tobacco leaf opening line. Specifically, first, the incoming materials are transferred by a grabbing robot or manually. Then, the film packaging the cigarette packs is opened on the opening line. After that, the film is grabbed by a machine grabbing device. The film is then transferred to the recycling station. The opened cigarette packs are transported to the subsequent station.

[0003] However, it is found in practice that when the existing mechanical grabbing equipment grabs the film, it also grabs some tobacco leaves at the location where the film is grabbed, and the film is also stuck to some tobacco leaves; this results in poor film grabbing effect and waste of tobacco leaves, and it is necessary to improve a cigarette pack film grabbing device. Summary of the invention

[0004] The purpose of the present invention is to provide a cigarette pack film grabbing device to solve the problems of poor film grabbing effect and tobacco leaf adhesion resulting in tobacco leaf waste in the cigarette pack opening process of existing machine grabbing equipment.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is as follows: A cigarette pack film grabbing device comprises a servo moving unit and a film grabbing unit, wherein the servo moving unit is used to drive the film grabbing unit to move; the film grabbing unit comprises a mounting member, at least one set of first grippers and at least one set of second grippers, at least one set of the first grippers is mounted on the mounting member, and at least one set of the second grippers is mounted on the mounting member; wherein when the servo moving unit drives the film grabbing unit to move above the cigarette pack, the first gripper grabs the film and drives the film away from the cigarette pack, and the second gripper replaces the first gripper to grab the film when the film is away from the cigarette pack by a set distance.

[0006] In the present application, cigarette packs are packed in cartons or films during circulation and transported through a conveyor line; the cigarette packs are opened for silk making; the opened film is grabbed by a set film grabbing unit; the claws of the film grabbing unit are designed as a first gripper and a second gripper, a single gripper and a secondary hand-changing gripper, wherein the single gripper is used to stably grab the film, and the secondary hand-changing gripper is used to separate and remove the film from the cigarette pack while avoiding grabbing tobacco leaves, and when the secondary hand-changing gripper is used, the single gripper is released, which will cause the tobacco leaves grabbed by the first gripper to fall back onto the cigarette pack, effectively preventing the waste of tobacco leaves.

[0007] Furthermore, a film shaking structure is installed on the mounting member, and the film shaking structure shakes the film when the first gripper and the second gripper grasp the film; the film shaking structure can generate high-frequency vibration to help separate the tobacco leaves from the film.

[0008] Furthermore, a film shaking structure is installed on the first gripper and the second gripper, and the film shaking structure shakes the film when the first gripper and the second gripper grasp the film.

[0009] Among them, the film shaking structure can be composed of a series of tiny vibration motors and springs, which can generate high-frequency vibrations to help separate the tobacco leaves from the film, reducing the waste of tobacco leaves.

[0010] Furthermore, the servo mobile unit includes a moving frame and a lifting cylinder; ear plates are provided at both ends of the moving frame, a moving slider is installed at the bottom of the ear plate, the moving slider is slidably connected to a slide rail, and the slide rail is laid on a truss; the cylinder body of the lifting cylinder is fixedly installed on the moving frame, and the lifting rod of the lifting cylinder extends out of the bottom of the moving frame and is connected to the mounting member. Wherein, the moving slider moves under the guidance of the slide rail, and drives the mounting member, the first gripper and the second gripper to move through the moving frame; when moving to the top of the cigarette pack, the lifting cylinder is controlled to move, driving the mounting member, the first gripper and the second gripper to move downward, firstly grabbing the film through the first gripper, moving up a distance after grabbing, and then controlling the second gripper to grab the film, and at the same time controlling the first gripper to release; then the film grabbed by the second gripper is driven by the moving frame to be transferred to a designated position, so as to facilitate post-processing or recycling of the film.

[0011] Furthermore, the lifting rod of the lifting cylinder is connected to a movable plate, the movable plate is rotatably connected to the mounting member, a rotary motor is installed on the movable plate or the mounting member, and the rotary motor drives the mounting member to rotate relative to the movable plate.

[0012] Furthermore, the first gripper is provided with two sets, and the second gripper is provided between the two sets of the first gripper.

[0013] Furthermore, the first gripper includes a first gripper body, a mounting seat and a first driver, the mounting seat and the first driver are relatively mounted on the mounting member, at least one group of the first gripper bodies are rotatably mounted on the mounting seat via an axis, a gear pair is mounted on the axis, the first telescopic end of the first driver is connected to a rack, and the rack is meshed with the gear pair.

[0014] Furthermore, the second gripper includes a second gripper body, a fixing plate and a second driver, the second driver is mounted on the mounting member, the fixing plate is mounted on an end of the second driver away from the mounting member, at least one group of the second gripper bodies is rotatably mounted on the fixing plate, the second telescopic end of the second driver is connected to a double-sided rack, and third gears are simultaneously engaged on both sides of the double-sided rack, and the third gear is connected to the second gripper body on the same side.

[0015] Furthermore, the cigarette pack film grasping device also includes a stroke detection structure installed on the mounting member, and the stroke detection structure is used to detect the distance between the mounting member and the top of the cigarette pack.

[0016] Among them, when the lifting cylinder drives the mounting part, the first gripper and the second gripper to move downward, the stroke detection structure first contacts the top of the cigarette pack. When sensing the contact state, the lifting cylinder is controlled to stop moving downward; and the first gripper is triggered to grab the film. The degree of automation is high, and the various components cooperate to assist in opening the cigarette pack.

[0017] Furthermore, the cigarette pack film grabbing device also includes a control unit, which is electrically connected to the servo moving unit and the film grabbing unit and is used to control the operation of the servo moving unit and the film grabbing unit.

[0018] The control unit of the present application controls the servo moving unit and the film grabbing unit, thereby realizing the automation of tobacco leaf processing, improving production efficiency, reducing production costs, and having broad market application prospects.

[0019] The invention adopting the above technical solution has the following advantages: In the present application, when opening a cigarette pack, the servo moving unit drives the film grabbing unit to move above the cigarette pack, and the first gripper is used to grab the film and drive the film away from the cigarette pack, and the second gripper replaces the first gripper to grab the film when the film is away from the cigarette pack by a set distance; at the same time, the first gripper is controlled to be released; in this way, in the form of one-time grabbing and two-time hand-changing grabbing, the one-time grabbing is used to stably grab the film, and the two-time hand-changing grabbing is used to separate and remove the film from the cigarette pack, while avoiding grabbing tobacco leaves, and the one-time grabbing is released during the second-time hand-changing grabbing, which will cause the tobacco leaves grabbed by the first gripper to fall back onto the cigarette pack, effectively preventing the waste of tobacco leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention can be further illustrated by the non-limiting examples given in the accompanying drawings; Figure 1 It is a schematic diagram of the overall structure of a cigarette pack film grabbing device of the present invention; Figure 2This is a front view of the entire cigarette pack film grabbing device of the present invention; Figure 3 It is a side view of the whole of a cigarette pack film grabbing device of the present invention; Figure 4 This is a schematic diagram of a cigarette package film grabbing device of the present invention before grabbing the film for the first time; Figure 5 It is a schematic diagram of the state of a cigarette package film grabbing device of the present invention when grabbing the film for the first time; Figure 6 It is a schematic diagram of the state of a cigarette package film grabbing device of the present invention when performing the second grabbing of the film; Figure 7 A partial front view of a cigarette pack film grabbing device of the present invention including a vibration structure; Figure 8 It is a partial front view of a cigarette pack film grabbing device of the present invention; The main component symbols are described as follows: 100, moving frame; 110, ear plate; 120, mounting frame; 130, lifting cylinder; 131, guide rod; 132, lifting rod; 133, movable plate; 134, rotating motor; 200, mounting member; 210, connecting plate; 220, vertical plate; 230, air path through hole; 300, stroke detection structure; 310, buffer cylinder; 320, detection unit; 400, first gripper; 401, first gripper body; 402, clamping block; 410, first driver; 411, first telescopic end; 412, connecting block; 413, rack; 414, mounting seat; 415, first gear; 416, second gear; 500, second gripper; 501, second gripper body; 502, fixing plate; 503, third gear; 510, second driver; 511, second telescopic end; 512, double-sided rack; 600, film shaking structure; 610, vibration motor; 620, spring. DETAILED DESCRIPTION

[0021] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that in the drawings or descriptions of the specification, similar or identical parts use the same figure numbers, and the implementation methods not shown or described in the drawings are forms known to ordinary technicians in the relevant technical field. In addition, the directional terms mentioned in the embodiments, such as "upper", "lower", "top", "bottom", "left", "right", "front", "back", etc., are only referenced to the directions of the drawings and are not used to limit the scope of protection of the present invention.

[0022] like Figures 1 to 8As shown, in one embodiment, a cigarette pack film grabbing device includes a servo moving unit and a film grabbing unit, the servo moving unit is used to drive the film grabbing unit to move; the film grabbing unit includes a mounting member 200, a first gripper 400 and a second gripper 500, two sets of first grippers 400 are installed on the mounting member 200, and one set of second grippers 500 is installed on the mounting member 200 and is located between the two sets of first grippers 400; wherein, when the servo moving unit drives the film grabbing unit to move above the cigarette pack, the first gripper 400 grabs the film and drives the film away from the cigarette pack, and the second gripper 500 replaces the first gripper 400 to grab the film when the film is away from the cigarette pack by a set distance. The process in which the servo moving unit drives the film grabbing unit to move above the cigarette pack can be divided into two steps. The first step is that the servo moving unit drives the film grabbing unit to move horizontally from an initial position or a film recovery position to the top of the cigarette pack; the second step is that the servo moving unit drives the film grabbing unit to move vertically from the top of a cigarette pack to the top of the cigarette pack, at which point the first gripper 400 can grab the film. In this embodiment, taking the packaging of cigarette packages through film as an example, the cigarette packages can be first transferred to the automatic tobacco package opening line (specifically a conveyor belt) through a robot arm, and the cigarette package film grabbing device is set above the automatic tobacco package opening line through a truss. When the cigarette package is opened: the film to be opened is grabbed by the set film grabbing unit; wherein the claws of the film grabbing unit are set as the first gripper 400 and the second gripper 500, and this one-time grabbing and two-hand-changing grabbing form is adopted. The one-time grabbing is used to stably grab the film, and the film grabbing effect is good; and the two-hand-changing grabbing is used to separate and remove the film from the cigarette package, while avoiding grabbing tobacco leaves. When the one-time grabbing is released during the second-hand-changing grabbing, the tobacco leaves grabbed by the first gripper 400 will fall back on the cigarette package, effectively preventing the waste of tobacco leaves.

[0023] In this embodiment, the second gripper 500 replaces the first gripper 400 to grip the film when the film is away from the cigarette pack at a set distance; wherein the set distance can be flexibly set according to the size specification of the second gripper 500 so that the second gripper 500 has a complete gripping space, for example: the set distance is slightly larger than the length dimension of the second gripper 500.

[0024] In actual application, the number of first grippers 400 can be flexibly selected according to demand, and the number of first grippers 400 can be set to one set, two sets or three sets; the number of second grippers 500 can also be flexibly selected according to demand, and the number of second grippers 500 can be set to two sets or three sets.

[0025] like Figure 1 , Figure 4As shown, the mounting member 200 can be a flat plate made of stainless steel or aluminum, with a series of mounting holes processed on the flat plate, through which the first gripper 400 and the second gripper 500 are installed and fixed; the connection between the flat plate and the servo mobile unit can also be achieved by setting the mounting holes.

[0026] Among them, a vertical plate 220 is installed on the top of the flat plate; an air path through hole 230 is processed on the flat plate, and the air supply pipeline, control line, etc. of the first gripper 400 and the second gripper 500 can pass through the air path through hole 230; a drag chain is arranged on the truss, and the end of the drag chain is connected to the vertical plate 220, and the drag chain is used to encapsulate and protect the air supply pipeline, control line, etc. of the first gripper 400 and the second gripper 500; the drag chain can be retracted and extended following the reciprocating movement of the mounting part 200.

[0027] like Figures 1 to 3 As shown, in this embodiment, the servo mobile unit includes a mobile frame 100 and a lifting cylinder 130. The mobile frame 100 can be a U-shaped plate; ear plates 110 are provided at both ends of the mobile frame 100, and the ear plates 110 and the mobile frame 100 can be integrally formed. The ear plates 110 are processed with connecting screw holes, and a moving slider is installed at the bottom of the ear plates 110. The moving slider is slidably connected to a slide rail, and the slide rail is laid on a truss; the moving slider can be an electric slider (or an electric slide, a linear module). The cylinder body of the lifting cylinder 130 is fixedly installed on the mobile frame 100, and the lifting rod 132 of the lifting cylinder 130 extends out of the bottom of the mobile frame 100 and is connected to the mounting member 200.

[0028] Among them, the mounting frame 120 can be installed in the middle of the mobile frame 100, and the installation and position adjustment of the lifting cylinder 130 can be carried out through the mounting frame 120; a notch is opened at the bottom of the mobile frame 100, and the lifting rod 132 of the lifting cylinder 130 can pass through the notch; in addition, a limit plate can be installed on the mounting frame 120, and a guide hole can be processed on the limit plate to facilitate the insertion of a guide rod 131 in the guide hole, and the guide rod 131 is used to guide and limit the lifting of the lifting rod 132.

[0029] The working process of the servo moving unit in this embodiment is as follows: the moving slider moves under the guidance of the slide rail, and drives the mounting member 200, the first gripper 400 and the second gripper 500 to move through the moving frame 100; when the mounting member 200 moves to the top of the cigarette pack, the lifting cylinder 130 is controlled to move, driving the mounting member 200, the first gripper 400 and the second gripper 500 to move downward, and after moving down to the right position, the film is grabbed by the first gripper 400, and after grabbing, the first gripper 400 is driven to move up a certain distance through the lifting cylinder 130, and then the second gripper 500 is controlled to grab the film, and the first gripper 400 is controlled to release at the same time; the film grabbed by the second gripper 500 is then driven to be transferred to a designated position by the moving frame 100, and the designated position can be set as needed to facilitate post-processing or recycling of the film.

[0030] like Figure 3 As shown, in this embodiment, the cylinder body of the lifting cylinder 130 is fixedly mounted on the mobile frame 100, and the lifting rod 132 of the lifting cylinder 130 extends out of the bottom of the mobile frame 100 and is connected to the connecting plate 210; and then connected to the mounting member 200 through the connecting plate 210 and bolts. At the same time, the guide rod 131 is also connected to the connecting plate 210.

[0031] like Figure 8 As shown, in the present embodiment, the lifting rod 132 of the lifting cylinder 130 is connected with a movable plate 133, and the movable plate 133 is rotationally connected to the mounting member 200, wherein the manner in which the movable plate 133 is rotationally connected to the mounting member 200 is indirectly realized through the connecting plate 210, that is: the connecting plate 210 is connected to the mounting member 200 through bolts, and the movable plate 133 and the connecting plate 210 are rotationally connected through a rotating shaft; a rotating motor 134 is installed on the movable plate 133 or the mounting member 200, and the rotating motor 134 drives the rotating shaft to rotate, thereby driving the mounting member 200 to rotate relative to the movable plate 133.

[0032] For example, in some instances of this embodiment, the movement of the rotary motor 134 can assist in positioning when the first gripper 400 is gripping; it can also facilitate the transfer of the film to a designated position when the film needs to be recovered or released.

[0033] In this embodiment, a film shaking structure 600 is installed on the mounting member 200. The film shaking structure 600 shakes the film when the first gripper 400 and the second gripper 500 grasp the film, so as to shake off the tobacco leaves stuck to the film. The film shaking structure 600 can generate high-frequency vibrations to help separate the tobacco leaves from the film.

[0034] For example, Figure 7As shown, the film shaking structure 600 includes a vibration motor 610 and a spring 620; wherein, the spring 620 is sleeved on the bolt between the mounting member 200 and the connecting plate 210; the vibration motor 610 is installed on the connecting plate 210, and the vibration motor 610 is provided with an even number of pairs, which are symmetrically installed in pairs on the connecting plate 210 to generate uniform high-frequency vibration.

[0035] In this embodiment, according to actual needs, a film shaking structure 600 can also be installed on the first gripper 400 and the second gripper 500, and the film shaking structure 600 shakes the film when the first gripper 400 and the second gripper 500 grab the film. The film shaking structure 600 can be composed of a series of tiny vibration motors 610 and springs 620, which can generate high-frequency vibrations to help separate tobacco leaves from the film, thereby reducing the waste of tobacco leaves.

[0036] like Figure 4 As shown, in this embodiment, two sets of first grippers 400 are provided, and the second gripper 500 is provided between the two sets of first grippers 400 .

[0037] In fact, if the volume of the cigarette package is not large, a set of first grippers 400 can be provided, and a set of second grippers 500 can be provided on either side of the set of first grippers 400; in this way, the cost can be reduced and the structure can be simple while still providing the form of one-time gripping and two-time hand-changing gripping.

[0038] It should be noted that the gripping points of the second gripper 500 and the two sets of first grippers 400 on the film are on a straight line, or the projections of the gripping points of the second gripper 500 and the two sets of first grippers 400 on the film on a horizontal plane are on a straight line.

[0039] like Figure 4 As shown, the first gripper 400 includes a first gripper body 401, a mounting seat 414 and a first driver 410. The mounting seat 414 and the first driver 410 are relatively mounted on the mounting member 200. A set of the first gripper 400 includes two groups of first gripper bodies 401. The two groups of first gripper bodies 401 are rotatably mounted on the mounting seat 414 through an axis. A gear pair is mounted on the axis. The gear pair includes a first gear 415 and a second gear 416. The first telescopic end 411 of the first driver 410 is connected to a rack 413, and the rack 413 is meshed with the gear pair.

[0040] Exemplarily, a group of first gripper bodies 401 includes two first gripper bodies 401, which are relatively mounted on a mounting seat 414, and correspondingly, a first gear 415 is respectively mounted on the two shafts on which the two first gripper bodies 401 are mounted, and the first gears 415 on the two shafts are meshed; a second gear 416 is mounted on one of the shafts, and the second gear 416 is meshed with a rack 413; the rack 413 is driven to retract and retract by the first driver 410, thereby driving the second gear 416 to rotate, and the rotation of the second gear 416 drives the coaxial first gripper body 401 to rotate, and drives another first gripper body 401 in the same group to rotate through the meshing first gear 415, thereby achieving the gripping of the film; similarly, the first gripper bodies 401 of other groups are also driven in the same way, which will not be described in detail here.

[0041] In fact, in the specific design, the number and size of the first gripper bodies 401 can also be flexibly selected according to the size specifications of the cigarette package. For example, a set of first grippers 400 is provided, and a set of first grippers 400 includes a group of first gripper bodies 401.

[0042] In this embodiment, the first telescopic end 411 of the first driver 410 is installed with a connecting block 412, and the connecting block 412 is connected to the rack 413; A guide block is provided on the top of the connecting block 412 , and a guide groove is provided on the mounting member 200 . The guide block slides in the guide groove to guide and limit the movement of the rack 413 .

[0043] like Figure 4 As shown, in this embodiment, the second gripper 500 includes a second gripper body 501, a fixing plate 502 and a second driver 510, the second driver 510 is mounted on the mounting member 200, the fixing plate 502 is mounted on an end of the second driver 510 away from the mounting member 200, a group of second gripper bodies 501 are rotatably mounted on the fixing plate 502, the second telescopic end 511 of the second driver 510 is connected to a double-sided rack 512, and the third gear 503 is meshed on both sides of the double-sided rack 512, and the third gear 503 is connected to the second gripper body 501 on the same side.

[0044] The first driver 410 and the second driver 510 may both be cylinders. In fact, in this embodiment, a hydraulic rod or an electromagnetic push rod may also be selected according to the force design requirements of the rack 413 .

[0045] In this embodiment, a clamping block 402 is installed on the first gripper body 401 , and the clamping block 402 can be made of an anti-slip material, such as rubber.

[0046] In fact, the clamping block 402 can be made of wear-resistant alloy steel; a vibration motor 610 is installed on the first gripper body 401, and the vibration motor 610 provides high-frequency vibration, so that the clamping block 402 vibrates at a high frequency and shakes the film clamped by it.

[0047] like Figure 4 As shown, in this embodiment, the cigarette pack film grasping device further includes a travel detection structure 300 mounted on the mounting member 200, and the travel detection structure 300 is used to detect the distance between the mounting member 200 and the top of the cigarette pack.

[0048] Exemplarily, the stroke detection structure 300 includes a buffer cylinder 310, and a detection part 320 installed at the end of the telescopic rod of the buffer cylinder 310; the detection part 320 adopts a contact plate; when the contact plate abuts against the top of the cigarette pack, the air pressure in the buffer cylinder 310 changes, and the air pressure can be calibrated in advance; when the air pressure reaches the set value, it indicates that the mounting part 200 has been lowered into place; the lowering stops; at the same time, the buffer cylinder 310 can also provide a buffer function to prevent the first gripper 400 and the second gripper 500 from accidentally colliding with the cigarette pack.

[0049] In fact, a pressure sensor may also be installed on the contact plate to perform position detection through the pressure sensor.

[0050] In addition, a distance measuring sensor may also be installed at the bottom of the mounting member 200 to form the travel detection structure 300 .

[0051] Among them, the stroke detection structure 300: when the lifting cylinder 130 drives the mounting part 200, the first gripper 400 and the second gripper 500 to move downward, the stroke detection structure 300 first contacts the top of the cigarette pack, and when sensing the contact state, controls the lifting cylinder 130 to stop moving downward; and triggers the first gripper 400 to perform the film grabbing action, with a high degree of automation, and the various components cooperate to assist in opening the cigarette pack.

[0052] In one embodiment, the cigarette pack film grabbing device further includes a control unit, which is electrically connected to the servo moving unit and the film grabbing unit and is used to control the operation of the servo moving unit and the film grabbing unit.

[0053] The control unit of this embodiment controls the servo moving unit and the film grabbing unit, thereby realizing the automation of tobacco leaf processing, improving production efficiency, reducing production costs, and having broad market application prospects.

[0054] Exemplarily, the control unit includes a PLC controller and proximity switches; a number of proximity switches are arranged on the rotation path when the first gripper 400 and the second gripper 500 are grasping the film, and are used to detect the rotation state of the first gripper 400 and the second gripper 500, so as to allow the PLC controller to determine whether the first gripper 400 and the second gripper 500 are in a grasping state, a released state, or a fully grasped state or an incompletely grasped state, so as to realize the collaboration of one-time grasping, secondary hand-changing grasping, etc.

[0055] The present embodiment provides a cigarette pack film grabbing device, which grabs the opened film by means of a film grabbing unit; wherein the claws of the film grabbing unit are set as a first gripper 400 and a second gripper 500, and adopts this one-time grabbing and two-hand-changing grabbing form, wherein the one-time grabbing is used to stably grab the film, and the film grabbing effect is good; and the two-hand-changing grabbing is used to separate and remove the film from the cigarette pack, while avoiding grabbing tobacco leaves, and when the one-time grabbing is released during the two-hand-changing grabbing, the tobacco leaves grabbed by the first gripper 400 will fall back onto the cigarette pack, effectively preventing the waste of tobacco leaves. At the same time, during the grabbing process, the attached tobacco leaves are shaken off by means of the film shaking structure 600; the film shaking structure 600 shakes the film when the first gripper 400 and the second gripper 500 grab the film, so as to shake off the tobacco leaves stuck to the film; the film shaking structure 600 can generate high-frequency vibrations to help separate the tobacco leaves from the film and avoid material waste, has a high degree of automation, is highly practical, and has broad market promotion value.

[0056] The above is a detailed introduction to a cigarette pack film grabbing device provided by the present invention. The description of the specific embodiment is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A cigarette pack film grabbing device, comprising a servo moving unit and a film grabbing unit, wherein the servo moving unit is used to drive the film grabbing unit to move; characterized in that: The film grabbing unit comprises a mounting member (200), at least one set of first grippers (400) and at least one set of second grippers (500), wherein at least one set of the first grippers (400) is mounted on the mounting member (200), and at least one set of the second grippers (500) is mounted on the mounting member (200); wherein when the servo moving unit drives the film grabbing unit to move above a cigarette pack, the first grippers (400) grab the film and drive the film away from the cigarette pack, and when the film is away from the cigarette pack by a set distance, the second grippers (500) replace the first grippers (400) to grab the film.

2. The cigarette pack film grabbing device according to claim 1, characterized in that: A film shaking structure (600) is installed on the mounting member (200), and the film shaking structure (600) shakes the film when the first gripper (400) and the second gripper (500) grip the film.

3. The cigarette pack film grabbing device according to claim 1 or 2, characterized in that: The first gripper (400) and the second gripper (500) are provided with a film shaking structure (600), and the film shaking structure (600) shakes the film when the first gripper (400) and the second gripper (500) grasp the film.

4. The cigarette pack film grabbing device according to claim 1, characterized in that: The servo mobile unit comprises a mobile frame (100) and a lifting cylinder (130); ear plates (110) are provided at both ends of the mobile frame (100); a mobile slider is installed at the bottom of the ear plate (110); the mobile slider is slidably connected to a slide rail, and the slide rail is laid on a truss; the cylinder body of the lifting cylinder (130) is fixedly installed on the mobile frame (100); the lifting rod (132) of the lifting cylinder (130) extends out of the bottom of the mobile frame (100) and is connected to the mounting member (200).

5. The cigarette pack film grabbing device according to claim 4, characterized in that: The lifting rod (132) of the lifting cylinder (130) is connected to a movable plate (133), and the movable plate (133) is rotatably connected to the mounting member (200). A rotary motor (134) is installed on the movable plate (133) or the mounting member (200), and the rotary motor (134) drives the mounting member (200) to rotate relative to the movable plate (133).

6. The cigarette pack film grabbing device according to claim 1, characterized in that: The first gripper (400) is provided in two sets, and the second gripper (500) is provided between the two sets of the first gripper (400).

7. The cigarette pack film grabbing device according to claim 1, characterized in that: The first gripper (400) comprises a first gripper body (401), a mounting seat (414) and a first driver (410); the mounting seat (414) and the first driver (410) are relatively mounted on the mounting member (200); at least one group of the first gripper bodies (401) is rotatably mounted on the mounting seat (414) via an axis; a gear pair is mounted on the axis; a first telescopic end (411) of the first driver (410) is connected to a rack (413); and the rack (413) is meshed with the gear pair.

8. The cigarette packet film grabbing device according to claim 1 or 7, characterized in that: The second gripper (500) comprises a second gripper body (501), a fixing plate (502) and a second driver (510), wherein the second driver (510) is mounted on the mounting member (200), the fixing plate (502) is mounted on an end of the second driver (510) away from the mounting member (200), at least one group of the second gripper bodies (501) is rotatably mounted on the fixing plate (502), a second telescopic end (511) of the second driver (510) is connected to a double-sided rack (512), both sides of the double-sided rack (512) are simultaneously meshed with a third gear (503), and the third gear (503) is connected to the second gripper body (501) on the same side.

9. The cigarette pack film grabbing device according to claim 1, characterized in that: The cigarette pack film grasping device further comprises a travel detection structure (300) mounted on the mounting member (200), wherein the travel detection structure (300) is used to detect the distance between the mounting member (200) and the top of the cigarette pack.

10. The cigarette pack film grabbing device according to claim 1, characterized in that: The cigarette pack film grabbing device further comprises a control unit, which is electrically connected to the servo moving unit and the film grabbing unit and is used to control the operation of the servo moving unit and the film grabbing unit.

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