Grabbing clamp for automatic disc matching of disc-shaped production auxiliary materials

Abstract

The invention relates to the technical field of cigarette production, in particular to a grabbing clamp for automatic disc matching of disc-shaped production auxiliary materials. Comprising a quick-change disc connecting block, a solid guide shaft, an air cylinder mounting plate, a quick-change disc disc, a thin air cylinder, a center opening shaft, a center expansion plate and a linear guide rail. The quick-change disc connecting block, the solid guide shaft and the air cylinder mounting plate form an integral frame, the quick-change disc is quickly connected with a robot, the thin air cylinder drives the center expanding shaft, the center expanding plate is pushed to slide along the linear guide rail through the inclined plane structure, and the inner wall of the disc-shaped material is tensioned or separated. The problems that manual tray matching is low in efficiency, insufficient in precision and low in automation degree are solved, automatic clamping, positioning and moving are achieved, manual operation is reduced, the production efficiency and stability are improved, and the automation degree of a factory is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cigarette production, in particular to a grabbing clamp for automatic tray arrangement of disc-shaped production accessories. BACKGROUND

[0002] In the process of cigarette production, the tray arrangement of disc-shaped cigarette accessories (such as tipping paper, aluminum foil paper, box film, and cigarette film) is a key process to ensure production continuity. Currently, this process is mainly completed by manual operation. Specifically, the workers need to move a variety of single-specification accessories from the storage area to the tray arrangement area according to the production task sheet, then manually scan the code of each accessory tray to input information, and then stack or place the accessories of different types according to the requirements of the standard operation procedure (SOP) manual, finally complete the tray arrangement and transfer to the production line.

[0003] This traditional manual tray arrangement mode has many significant drawbacks. First, the labor intensity is high and the efficiency is low. Manual handling of accessories requires frequent bending and standing up, and the single-shift processing capacity is limited, which cannot meet the material supply demand of high-speed cigarette production lines. Second, the operation precision is low and prone to errors. Manual code scanning is prone to information input errors due to visual fatigue, and the quantity check and specification differentiation during tray arrangement may also cause material mixing, shortage or excess due to human negligence, which directly affects the subsequent production quality. Third, the automation level is low, and it cannot be connected with the intelligent production line of modern cigarette workshops. When the production line is short of materials, manual material replenishment response is lagging, which may cause the production line to stop and wait, and restrict the overall production efficiency. Fourth, it relies on a large number of manual labor. With the increase of labor cost, the production cost of enterprises increases, and the personnel flow may cause fluctuations in operation proficiency, further affecting the stability of tray arrangement.

[0004] In summary, the existing technology relies on manual completion of disc-shaped cigarette accessory tray arrangement, which has the problems of low efficiency, insufficient precision, and low automation, and cannot meet the needs of automatic and intelligent production of the cigarette industry. Therefore, there is an urgent need for a device that can automatically grab, position, and transport disc-shaped cigarette accessories.

[0005] INVENTION CONTENT

[0006] The purpose of the present application is to provide a grabbing clamp for automatic tray arrangement of disc-shaped production accessories, which overcomes the problems of low efficiency, insufficient precision, and low automation in the existing technology that relies on manual completion of disc-shaped cigarette accessory tray arrangement.

[0007] To achieve the above purpose, the following technical solutions are adopted.

[0008] A kind of grabbing clamp for the automatic tray of disc-shaped production auxiliary material, including quick-change tray connecting block, solid guide shaft, cylinder mounting plate, quick-change tray tray, thin cylinder, center support opening shaft, center expansion plate and linear guide rail;

[0009] The quick-change tray connecting block, solid guide shaft and cylinder mounting plate are fixedly connected into an integral frame, wherein the two ends of the solid guide shaft are fixedly connected with the bottom of the quick-change tray connecting block and the top of the cylinder mounting plate respectively, forming a vertical support structure;The quick-change tray tray is fixedly installed on the top of the quick-change tray connecting block, its structure matches the quick-change tray female disc on the sixth axis of the robot, for realizing the quick connection of the clamp and the robot;The thin cylinder is fixedly installed on the bottom of the cylinder mounting plate, and its piston rod extends downward in the vertical direction;The upper end of the center support opening shaft is fixedly connected with the end of the piston rod of the thin cylinder, and the lower end of the center support opening shaft is provided with a circumferentially distributed inclined surface structure, and the inclined direction of the inclined surface structure is towards the outside of the center support opening shaft;The number of the center expansion plates is multiple, and the inner side of each center expansion plate is provided with an inclined surface matching the inclined surface structure of the lower end of the center support opening shaft, and the center expansion plate is tightly fitted with the inclined surface structure of the center support opening shaft through its inclined surface, forming an inclined surface matching structure;The linear guide rail is fixedly installed on the bottom of the cylinder mounting plate, and the extension direction of the linear guide rail is arranged in the horizontal direction, and the top of each center expansion plate is fixedly connected with the slider of the linear guide rail, and the center expansion plate can reciprocatingly slide along the extension direction of the linear guide rail;When the piston rod of the thin cylinder is retracted, the center support opening shaft is driven to move upward, and the center support opening shaft pushes the center expansion plate to move away from the center support opening shaft along the linear guide rail through the inclined surface structure, so that the outer side of the center expansion plate contacts the inner wall of the disc-shaped material and generates a tensioning force;When the piston rod of the thin cylinder is extended, the center expansion plate moves towards the center support opening shaft along the linear guide rail, so that the outer side of the center expansion plate is separated from the inner wall of the disc-shaped material.

[0010] Optionally, it further includes a reset spring, the number of the reset spring is consistent with the number of the center expansion plates, one end of each reset spring is fixedly connected with the inner side of the corresponding center expansion plate, and the other end is fixedly connected with the bottom of the cylinder mounting plate or the fixed seat of the linear guide rail;When the piston rod of the thin cylinder is extended, the center expansion plate moves towards the center support opening shaft along the linear guide rail, the reset spring is stretched and generates an elastic restoring force, which assists the center expansion plate to fold to the initial position;When the piston rod of the thin cylinder is retracted, the elastic restoring force of the reset spring is overcome by the thrust of the center support opening shaft, and the center expansion plate moves outward.

[0011] Optionally, the center expansion shaft further comprises a plurality of press-in metal ball heads, which are uniformly inlaid on each inclined surface structure of the center expansion shaft; a spring is installed in each press-in metal ball head, one end of the spring abuts against the bottom of the press-in metal ball head, and the other end abuts against a reserved hole of the inclined surface structure of the center expansion shaft; the spherical surface of the press-in metal ball head protrudes from the inclined surface structure of the center expansion shaft and forms a point contact with the inclined surface of the center expansion plate; when the center expansion shaft and the center expansion plate move relative to each other, the spherical surface of the press-in metal ball head rolls along the inclined surface of the center expansion plate, thereby reducing the friction therebetween.

[0012] Optionally, the center expansion shaft further comprises a pilot one-way valve, which is installed at the air inlet of the thin cylinder, the inlet of the pilot one-way valve is connected with the compressed air source, and the outlet of the pilot one-way valve is in communication with the air inlet of the thin cylinder; the control port of the pilot one-way valve is connected with the output end of the electromagnetic valve, for receiving a control signal; when the pilot one-way valve is in an open state, the compressed air enters the air inlet of the thin cylinder and drives the piston rod to move; when the pilot one-way valve is in a closed state, the gas in the air inlet of the thin cylinder is blocked, thereby maintaining the current position of the piston rod.

[0013] Optionally, the center expansion shaft further comprises three magnetic switches, which are sequentially arranged on the cylinder body of the thin cylinder along the movement direction of the piston rod of the thin cylinder, and correspond to the extended limit position, the intermediate position and the retracted limit position of the piston rod, respectively; the sensing end of each magnetic switch faces the piston rod of the thin cylinder, for sensing the position of the magnetic element on the piston rod; the output end of the magnetic switch is connected with the control system, for feeding back the current position signal of the center expansion shaft.

[0014] Optionally, the center expansion shaft further comprises an electromagnetic valve, which is installed on the side surface of the quick-change disc connecting block, the air inlet of the electromagnetic valve is connected with the compressed air source, and the air outlet of the electromagnetic valve is connected with the air inlet and the air outlet of the thin cylinder through an air pipe; the control end of the electromagnetic valve is connected with the control system, for receiving a control signal; by switching the valve core position of the electromagnetic valve, the on-off of the air inlet and the air outlet of the thin cylinder is controlled, thereby realizing the extension, retraction or stop of the piston rod.

[0015] Optionally, the center expansion shaft further comprises an outer support plate, the number of the outer support plates is consistent with the number of the center expansion plates, and each outer support plate is fixedly installed on the outer side of the corresponding center expansion plate; the outer side surface of the outer support plate is an arc structure matched with the inner wall of the disc-shaped material, for increasing the contact area between the center expansion plate and the inner wall of the disc-shaped material.

[0016] Optionally, the top of the quick-change disc connecting block is provided with a quick plug, the signal end of the quick plug is electrically connected with the control end of the electromagnetic valve and the output end of the magnetic switch, for collecting the control signal of the electromagnetic valve and the feedback signal of the magnetic switch; the power supply end of the quick plug is connected with an external power supply, for providing power supply for the electromagnetic valve and the magnetic switch; the air path end of the quick plug is connected with a compressed air source, for providing compressed air for the thin air cylinder.

[0017] Optionally, the center expansion shaft is a three-prism pyramid structure, the upper end of which is a cylindrical connecting part fixedly connected with the end of the piston rod of the thin air cylinder; the lower end is a three-prism part, and each side is provided with a slope structure, each slope structure has the same inclination angle and faces the outer side of the three-prism part; the number of center expansion plates is three, and the inner inclined surface of each center expansion plate corresponds to one slope structure of the three-prism part, forming a three-point tension structure.

[0018] Optionally, the number of linear guides is consistent with the number of center expansion plates, each linear guide is fixedly installed at the bottom of the cylinder mounting plate in the horizontal direction and corresponds to the position of a center expansion plate; the top of each center expansion plate is slidably connected with the corresponding linear guide through a sliding block, and the extension direction of the linear guide points to the outer side away from the center expansion shaft, so that the outer side of the center expansion plate always maintains vertical contact with the inner wall of the disc-shaped material when the center expansion plate moves along the linear guide.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] The connection and cooperation structure of the overall framework and each core component of the present application solves the problems of low efficiency, insufficient precision and low automation degree in the prior art that relies on manual disc-shaped cigarette auxiliary material disc dispensing, realizes automatic clamping, positioning and moving of the disc-shaped material through the cooperation of the inclined surface of the center expansion plate and the center expansion shaft driven by the thin air cylinder, in combination with the guiding effect of the linear guide, effectively replaces the traditional manual code scanning and disc dispensing process, reduces manual operation, significantly improves production efficiency, ensures the stability of the production process, and greatly improves the degree of factory automation.

[0021] The setting of the reset spring can reliably fold the center expansion plate when the cylinder piston rod is stretched out, and ensures the stability of the initial state; the point contact of the pressed-in metal ball head effectively reduces the friction between the center expansion shaft and the center expansion plate, increases the buffer, avoids the movement jam, and prolongs the service life of the device; the pilot one-way valve can keep the position of the cylinder piston rod when the gas is suddenly cut off, prevents the material from falling, and improves the safety of the equipment; the outer support plate made of polyurethane further increases the friction with the inner wall of the auxiliary material, and realizes double protection against material falling in cooperation with the above structure; the three magnetic switches can accurately detect the position of the center expansion shaft, provide accurate feedback for the control system, and improve the control accuracy; the design of the electromagnetic valve and the quick plug simplifies the gas path control and signal integration, makes the docking of the device and the robot more convenient, improves the intelligent level and response speed of the equipment as a whole, and better meets the needs of modern industrial automatic production. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is an initial state structure schematic diagram of an embodiment of the grabbing clamp for automatic tray arrangement of disc-shaped production auxiliary materials of the present application.

[0023] Figure 2 It is another angle structure schematic diagram of an initial state of an embodiment of the grabbing clamp for automatic tray arrangement of disc-shaped production auxiliary materials of the present application.

[0024] Figure 3 It is an intermediate state structure schematic diagram of an embodiment of the grabbing clamp for automatic tray arrangement of disc-shaped production auxiliary materials of the present application.

[0025] Figure 4 It is another angle structure schematic diagram of an intermediate state of an embodiment of the grabbing clamp for automatic tray arrangement of disc-shaped production auxiliary materials of the present application.

[0026] Figure 5 It is a structure schematic diagram of a to-position state of an embodiment of the grabbing clamp for automatic tray arrangement of disc-shaped production auxiliary materials of the present application.

[0027] Figure 6 It is another angle structure schematic diagram of a to-position state of an embodiment of the grabbing clamp for automatic tray arrangement of disc-shaped production auxiliary materials of the present application.

[0028] Among them: 101, quick-change tray connecting block; 102, solid guide shaft; 103, cylinder mounting plate; 104, quick-change tray sub-disc; 105, electromagnetic valve; 106, thin cylinder; 107, pilot one-way valve; 108, center expansion shaft; 109, center expansion plate; 110, outer support plate; 111, linear guide rail; 113, reset spring; 114, pressed-in metal ball head. DETAILED DESCRIPTION

[0029] The application will be described in detail below with reference to the drawings and in conjunction with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0030] The following detailed description is exemplary and is intended to provide further details of the present application. Unless otherwise defined, all technical and scientific terms used in the present application have the same meanings as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the present application are only for the purpose of describing specific embodiments in accordance with the present application, and are not intended to limit the exemplary embodiments in accordance with the present application.

[0031] Embodiment 1

[0032] As Figures 1-6 shown, a specific embodiment of a grabbing clamp for automatic tray dispensing of disc-shaped production accessories is as follows: through detailed description of the structure, connection mode, working principle and actual application scene of each component, the person skilled in the art can clearly understand and implement the device.

[0033] The overall frame is fixedly connected by quick-change tray connecting block 101, solid guide shaft 102 and cylinder mounting plate 103, serving as the support basis of the entire device. The quick-change tray connecting block 101 is made of high-strength aluminum alloy material, which not only ensures structural rigidity but also reduces overall weight. The bottom is uniformly distributed with multiple threaded holes in the circumferential direction for connection with the solid guide shaft 102. The solid guide shaft 102 is made of high-strength steel and the surface is treated with anti-rust. The two ends are fixed by threaded connection with the bottom of the quick-change tray connecting block 101 and the top of the cylinder mounting plate 103. Multiple solid guide shafts 102 are symmetrically distributed in the circumferential direction to form a stable support structure in the vertical direction, ensuring that the frame does not tilt or deform during grabbing and handling. The cylinder mounting plate 103 is made of metal plate material with a smooth surface for mounting components such as thin cylinder 106 and linear guide rail 111. Its size is designed according to the installation requirements of the thin cylinder 106 and the linear guide rail 111 to ensure compact layout of the components without interference.

[0034] The quick-change tray sub-tray 104 is fixedly installed on the top of the quick-change tray connecting block 101, and the end face is provided with a positioning structure and a locking mechanism matched with the robot sixth-axis quick-change tray female tray. When the robot drives the quick-change tray female tray to approach, precise centering is achieved through the positioning structure, and then the locking mechanism automatically engages to complete the quick connection of the clamp and the robot. The entire process does not require manual operation. After connection, the clamp can be moved in three-dimensional space by the movement of the robot to meet the material grabbing requirements of different positions.

[0035] The thin cylinder 106 is fixedly installed at the bottom center of the cylinder mounting plate 103, and the cylinder body is rigidly connected with the cylinder mounting plate 103 through bolts, so as to ensure that the movement direction of the piston rod is perpendicular to the plane of the cylinder mounting plate 103. The end of the piston rod is fixedly connected with the upper end of the center opening shaft 108, and the connection mode can adopt threaded connection and cooperate with anti-loosening measures to prevent loosening in frequent movement. The lower end of the center opening shaft 108 is provided with a circumferentially distributed inclined surface structure, and the inclination angle of the inclined surface is designed according to the movement stroke of the center expansion plate 109 and the required tensioning force. The inclined direction is outward, so that the center opening shaft 108 can effectively push the center expansion plate 109 to expand outward when moving upward.

[0036] The number of the center expansion plate 109 is multiple, and the inner side of each center expansion plate 109 is processed with an inclined surface that completely matches the inclined surface structure of the lower end of the center opening shaft 108. The matching surface is precisely processed to ensure the matching precision and reduce the gap during relative movement. The linear guide rail 111 is fixedly installed at the bottom of the cylinder mounting plate 103, and the extension direction is arranged in the horizontal direction. The top of each center expansion plate 109 is fixedly connected with the sliding block of the linear guide rail 111 through bolts, and the matching gap between the sliding block and the guide rail is adjusted to ensure that the center expansion plate 109 moves smoothly along the guide rail without jamming. When the piston rod of the thin cylinder 106 retracts, the center opening shaft 108 moves upward, the inclined surface structure of the center opening shaft 108 interacts with the inclined surface of the center expansion plate 109, generates a horizontal pushing force, pushes the center expansion plate 109 to move along the linear guide rail 111 away from the center opening shaft 108, until the outer side of the center expansion plate 109 contacts the inner wall of the disc-shaped cigarette auxiliary material (such as tipping paper, aluminum foil paper), and generates sufficient tensioning force under the action of continuous pushing force, so as to realize reliable grabbing of the material; when the piston rod extends, the center expansion plate 109 moves along the linear guide rail 111 towards the center opening shaft 108 under the action of the subsequent structure, and the outer side is separated from the inner wall of the material, and the release action is completed.

[0037] The number of reset springs 113 is consistent with the center expansion plates 109. One end of each reset spring 113 is fixedly connected to the inner side boss of the corresponding center expansion plate 109, and the other end is fixedly connected to the bottom of the air cylinder mounting plate 103 or the fixed seat of the linear guide rail 111. The reset spring 113 is made of a metal material with stable elastic coefficient and is in a slightly stretched state in the initial state (when the center expansion plates 109 are folded), thereby ensuring the stability of the relative position between the center expansion plates 109. When the piston rod of the thin air cylinder 106 is extended, the center expansion plates 109 move towards the center opening shaft 108, the reset spring 113 is further stretched, and the elastic restoring force is generated to assist the center expansion plates 109 to quickly fold to the initial position; when the piston rod is retracted, the thrust of the center opening shaft 108 overcomes the elastic restoring force of the reset spring 113, and the center expansion plates 109 are pushed to move outward. At this time, the elastic force of the spring provides certain damping for the movement of the center expansion plates 109, avoiding the damage of the material caused by too violent movement.

[0038] The press-in type metal ball head 114 is uniformly embedded on each inclined surface structure of the center opening shaft 108, the number is determined according to the length of the inclined surface, and is distributed along the length direction of the inclined surface. Each press-in type metal ball head 114 is made of high-strength wear-resistant material, and a micro spring is installed inside. The spherical surface of the ball head protrudes from the inclined surface structure of the center opening shaft 108 and forms a point contact with the inclined surface of the center expansion plate 109. When the center opening shaft 108 moves relative to the center expansion plate 109, the spherical surface of the press-in type metal ball head 114 rolls along the inclined surface of the center expansion plate 109, converting the traditional surface contact friction into rolling friction, greatly reducing the friction between the two; at the same time, the internal spring is elastically deformed when the ball head is subjected to pressure, providing a buffering effect to avoid component wear caused by rigid collision and ensure smooth movement without jamming.

[0039] The pilot one-way valve 107 is installed at the air inlet of the thin air cylinder 106. The inlet is connected with the compressed air source through an air pipe, the outlet is communicated with the air inlet of the thin air cylinder 106, and the control port is connected with the output end of the electromagnetic valve 105 through a control pipeline. When the device is normally working, the electromagnetic valve 105 outputs a control signal to the control port of the pilot one-way valve 107, so that the pilot one-way valve 107 is in an open state, and the compressed air enters the thin air cylinder 106 smoothly to drive the piston rod to move; when an abnormal condition such as sudden air cut-off occurs, the control signal of the control port disappears, the pilot one-way valve 107 quickly closes, the gas in the air inlet of the thin air cylinder 106 is intercepted, the piston rod remains in the current position, the material is prevented from falling due to accidental release, and the production safety is ensured.

[0040] Three magnetic switches are installed on the cylinder body in sequence along the direction of the piston rod movement of the thin cylinder 106, corresponding to the extension limit position, the intermediate position and the retraction limit position of the piston rod respectively. Each magnetic switch is fixed by an adjustable bracket, which can be adjusted along the length direction of the cylinder body to ensure the accuracy of the detection position. The sensing end of the magnetic switch faces the piston rod, and a magnetic element is arranged at the corresponding position on the piston rod. When the piston rod moves, the magnetic element moves with it, and the magnetic switch outputs an electrical signal after sensing the magnetic element, which is transmitted to the control system through the wire. The control system judges the current position of the center support shaft 108 and the center expansion plate 109 according to the received signal, and then controls the action of the thin cylinder 106, for example, when grabbing auxiliary materials of different diameters, the piston rod is controlled to stop at the corresponding position according to the feedback signal of the magnetic switch, ensuring that the tension is moderate.

[0041] The electromagnetic valve 105 is installed on the side of the quick-change disc connecting block 101, its air inlet is connected with the compressed air source through the air pipe, the air outlet is connected with the air inlet and exhaust port of the thin cylinder 106 through the air pipe respectively, and the control end is connected with the control system through the wire. The electromagnetic valve 105 controls the on-off of the air inlet and exhaust port of the thin cylinder 106 by switching the valve core position: when the valve core is in the first position, compressed air enters the rodless cavity of the thin cylinder 106, and the piston rod extends; when it is in the second position, compressed air enters the rod cavity, and the piston rod retracts; when it is in the third position, the air inlet and exhaust port are closed, and the piston rod stops moving. This control mode makes the action of the piston rod precise and controllable, meeting the needs of different grabbing scenes.

[0042] The number of the outer support plate 110 is consistent with the center expansion plate 109, and each outer support plate 110 is fixedly installed on the outer side of the corresponding center expansion plate 109 and is made of polyurethane or other materials with certain elasticity and wear resistance. The outer side surface of the outer support plate 110 is processed into an arc structure matching the inner wall of the disc-shaped cigarette auxiliary material. When the center expansion plate 109 is tensioned, the arc surface can tightly fit with the inner wall of the material, greatly increasing the contact area. At the same time, the characteristics of the polyurethane material increase the friction between the material, further preventing the material from sliding or falling during grabbing and carrying, ensuring the reliability of grabbing.

[0043] The top of the quick-change disc connecting block 101 is provided with a quick plug, which integrates a signal end, a power supply end and an air path end. The signal end is electrically connected with the control end of the electromagnetic valve 105 and the output end of the magnetic switch through internal wires, so as to centrally transmit the control signal of the electromagnetic valve 105 and the feedback signal of the magnetic switch, and simplify external wiring; the power supply end is connected with an external power supply, so as to provide working power for electrical elements such as the electromagnetic valve 105 and the magnetic switch; and the air path end is connected with a compressed air source through an internal air channel, so as to provide an air source for the thin air cylinder 106. The design of the quick plug enables the connection between the clamp and an external system (robot, power supply and air source) to be completed only by one-time plugging and unplugging, thereby greatly shortening the installation and replacement time of the clamp and improving the model changing efficiency of the production line.

[0044] The center expansion shaft 108 adopts a three-prism pyramid structure, the upper end of which is a cylindrical connecting part fixedly connected with the end of the piston rod of the thin air cylinder 106, and the lower end of which is a three-prism part, and the three side faces are all provided with inclined surfaces, each of which has the same inclination angle and faces outward. The inner inclined surfaces of the three center expansion plates 109 are respectively correspondingly attached to the three inclined surfaces of the three-prism part, so as to form a three-point tensioning structure. This structure enables the tensioning force to be uniformly distributed in the circumferential direction, so as to ensure that the material is balanced in the grabbing process and will not be eccentric or deformed, and is especially suitable for cigarette auxiliary materials with high shape precision requirements.

[0045] The number of the linear guide rails 111 is consistent with that of the center expansion plates 109, and each linear guide rail 111 is fixedly installed at the bottom of the air cylinder mounting plate 103 in the horizontal direction and corresponds to the position of a center expansion plate 109. The extension direction of the linear guide rail 111 points to the outer side away from the center expansion shaft 108, and the included angle with the center axis is determined according to the distribution of the center expansion plate 109, so as to ensure that the outer side of the center expansion plate 109 always maintains vertical contact with the inner wall of the disc-shaped material when the center expansion plate 109 moves along the guide rail. This design enables the direction of the tensioning force to be perpendicular to the inner wall of the material, so as to avoid the tangential force from causing the material to rotate or slide, and further improves the stability of grabbing.

[0046] The working process of the device is as follows: in the initial state, the piston rod of the thin air cylinder 106 is extended, and the center expansion plate 109 is retracted under the action of the return spring 113, so as to form a small outer diameter, thereby facilitating the entry into the inside of the material; when the material needs to be grabbed, the control system controls the electromagnetic valve 105 to act according to the type of the material, so that the piston rod of the thin air cylinder 106 is retracted, the center expansion shaft 108 is driven to move upward, the center expansion plate 109 is driven to move outward along the linear guide rail 111, the outer support plate 110 contacts the inner wall of the material and generates a tensioning force, and the magnetic switch feeds back a position signal to the control system, so as to confirm that the grabbing is in place, and then the robot carries the device to carry the material; when the material is released, the control system controls the electromagnetic valve 105 to switch, the piston rod is extended, the center expansion plate 109 is retracted under the action of the return spring 113, and the center expansion plate 109 is separated from the inner wall of the material, so as to complete the release.

[0047] Through the above specific implementation methods, the device realizes the automated grabbing, handling and release of disc-shaped cigarette auxiliary materials, replacing traditional manual operation, greatly improving the efficiency and accuracy of disc matching. At the same time, through multiple safety designs and stable structural cooperation, it ensures the safety and reliability of the production process, fully meeting the needs of automated and intelligent cigarette production.

[0048] Example 2

[0049] like Figures 1-6 As shown, a gripping fixture for automatic dispensing of auxiliary materials in disc-shaped production includes: a quick-change disc connecting block 101, a solid guide shaft 102 and a cylinder mounting plate 103, a quick-change disc 104, a solenoid valve 105, a thin cylinder 106, a pilot check valve 107, a central expansion shaft 108, a central expansion plate 109, an outer support plate 110, a linear guide rail 111, a return spring 113, and a press-fit metal ball head 114;

[0050] The quick-change disc connecting block 101, solid guide shaft 102, and cylinder mounting plate 103 are installed and connected to form an integral frame. The quick-change disc 104 and the thin cylinder 106 are both mounted on the frame. The quick-change disc 104 is used to connect with the quick-change disc mother disc on the sixth axis of the robot. The thin cylinder 106 serves as a power actuator to provide power for clamping auxiliary materials.

[0051] Specifically, in this embodiment, the thin cylinder 106 serves as the power output, and its piston rod is connected to the central support shaft 108. The central expansion plate 109 and the inclined surface of the central support shaft 108 are tightly fitted together. When the piston rod retracts, it drives the central support shaft 108 to move upward, thereby driving the central expansion plate 109 to move along the installation direction of the linear guide rail 111, and finally tightly clamps the inner wall of the auxiliary material, achieving the effect of gripping the material.

[0052] Initial state: The piston rod of the thin cylinder 106 is in the extended state, and the central expansion plate 109 is in the concentrated tightened state under the action of the return spring 113. The three central expansion plates 109 form a cylindrical structure with an outer diameter of φ55.

[0053] In the open state: The control system issues a command to grab the paper feed material. The piston rod of the thin cylinder 106 retracts, which drives the central expansion shaft 108 to open the central expansion plate 109. The cylinder formed by the three central expansion plates 109 has an outer diameter of φ65, which tightly clamps the inner wall of the paper feed material.

[0054] Maximum opening state: The control system issues a command to grab cigarette auxiliary materials with an inner diameter of φ76, such as aluminum foil, cigarette box film, and cigarette pack film. Finally, the three central expansion plates 109 move to their limit positions and lock the inner wall of the corresponding auxiliary materials.

[0055] In this embodiment, the telescopic action of the thin cylinder 106 is controlled by a PLC controller, which receives instructions from the upper computer and adjusts the retraction position of the piston rod according to the type of cigarette auxiliary material, to ensure continuous and stable production process. Through the above specific embodiment, the device of the present application can realize the automatic clamping, positioning and carrying of different types of cigarette auxiliary materials, significantly improve the efficiency of cigarette auxiliary material tray, reduce the demand for manual operation, and meet the needs of modern industrial automation production.

[0056] As a preferred example, the quick-change tray disc 104 is installed on the quick-change tray connecting block 101, and when the upper computer issues an instruction and the corresponding clamp is needed for auxiliary material grabbing, the robot drives the quick-change tray mother disc and the quick-change tray disc 104 to be positioned and locked, and provides power for the entire clamp.

[0057] Specifically, the center opening shaft 108 is a rigid structural member, which is designed in the shape of a triangular pyramid, and the upper part is connected with the cylinder piston rod, and the lower part is tightly attached to the center expansion plate 109 under the action of the reset spring 113. Thanks to this structure, when it moves up and down, the center expansion plate 109 will also move together.

[0058] The inclined surface of the center expansion plate 109 and the center opening shaft 108 is tightly attached, and when they move relative to each other, a large friction force is generated. The center opening shaft 108 is embedded with a type metal ball head 114, which is internally installed with a spring and is in point contact, effectively reducing friction and increasing buffering, which is of great benefit to prolonging the service life of the structure.

[0059] The thin cylinder 106 is provided with a pilot one-way valve 107 at the gas inlet, which can ensure that the gas in the cylinder will not leak out when the gas is suddenly cut off, and the position of the piston rod will not change, preventing material from falling.

[0060] The center expansion plate 109 is provided with an outer support plate 110 made of polyurethane, which can further increase the friction with the inner roll of the auxiliary material and ensure that the material will not fall.

[0061] Through the above specific embodiment, the device of the present application not only improves the efficiency of cigarette auxiliary material tray, but also enhances the structural stability and operational reliability of the entire device, further optimizing the automatic production process of the entire workshop logistics.

[0062] As a preferred example, the thin cylinder 106 is provided with a magnetic switch for detecting the position of the center opening shaft 108.

[0063] Specifically, the thin cylinder 106 is provided with a magnetic switch, which is a position detection device for real-time monitoring of the up-down movement position of the center opening shaft 108.

[0064] The magnetic switch converts the mechanical position of the center spread shaft 108 into an electrical signal by sensing the position change of the magnetic element such as a magnet or a magnetic encoder on the cylinder piston rod, thereby achieving precise control and feedback of the center spread shaft 108 position.

[0065] When the center spread shaft 108 extends or retracts, the position of the magnetic element relative to the inductive head changes, and the magnetic switch outputs a corresponding electrical signal according to this change.

[0066] The output electrical signal is sent to a control system such as a PLC, which determines the current position of the center spread shaft 108 according to the signal and executes the corresponding control logic.

[0067] Through the position feedback of the magnetic switch, the control system can accurately control the clamping and releasing action of the center spread shaft 108, ensuring the accurate positioning and pushing of the cigarette box label paper.

[0068] The magnetic switch can be adjusted or maintained as needed to ensure its long-term stable operation and provide accurate feedback signals.

[0069] Through the above specific embodiments, the device of the present patent not only improves the accuracy of cigarette auxiliary material clamping, but also enhances the automation control level and response speed of the entire device through the position detection function of the magnetic switch.

[0070] As a preferred example, a five-position three-way electromagnetic valve 105 is used to control the air inlet and outlet of the thin cylinder 106 to achieve accurate positioning of the cigarette box label paper; the five-position three-way electromagnetic valve 105 has three states: cylinder piston rod extension, cylinder piston rod retraction, and cylinder piston rod stop, and by controlling the state of the electromagnetic valve 105, precise control of the cylinder piston rod is achieved.

[0071] In the air path system of the thin cylinder 106, a five-position three-way electromagnetic valve 105 is installed, which can control the two air chambers of the cylinder to achieve extension, retraction, and stop of the cylinder piston rod.

[0072] Through programming or setting control logic, the PLC controller sends control instructions to the five-position three-way electromagnetic valve 105 according to the position feedback signal of the center spread shaft 108 to adjust the action of the cylinder rod.

[0073] The three states of the electromagnetic valve 105 correspond to different air path combinations, achieving precise control of the cylinder piston rod:

[0074] Extension state: Provide compressed air to one air chamber of the cylinder to extend the cylinder piston rod and push the center spread shaft 108.

[0075] Retraction state: Provide compressed air to the other air chamber of the cylinder to retract the cylinder piston rod.

[0076] Stop state: cut off the gas source, stop the action of the cylinder piston rod, and keep the current position.

[0077] Realization of positioning accuracy: through accurate control of the state of the electromagnetic valve 105, micro-motion control of the cylinder piston rod is realized, thereby ensuring accurate positioning of the cigarette auxiliary materials during the pushing process.

[0078] Integrate the five-position three-way electromagnetic valve 105 with the PLC controller, position sensor, and thin cylinder 106 into a control system to form a closed-loop control circuit and realize automatic control.

[0079] Install the five-position three-way electromagnetic valve 105 in the gas path system of the thin cylinder 106 and ensure its connection with the output interface of the PLC controller.

[0080] Program in the PLC controller and set the control logic of the electromagnetic valve 105 to automatically switch the state of the electromagnetic valve 105 according to the feedback signal of the position sensor.

[0081] Perform system debugging to ensure that the electromagnetic valve 105 can accurately respond to the instructions of the PLC controller and realize accurate control of the cylinder piston rod.

[0082] During production, the PLC controller automatically adjusts the state of the electromagnetic valve 105 to control the action of the thin cylinder 106 and realizes accurate positioning of the cigarette auxiliary materials according to real-time feedback signals.

[0083] Periodically check the working state of the electromagnetic valve 105 and related pneumatic elements, adjust the control logic according to production needs, and optimize system performance.

[0084] Through the above specific embodiments, the control method of the present patent utilizes the five-position three-way electromagnetic valve 105 to accurately control the gas path of the thin cylinder 106, realizes accurate positioning during the grabbing and placing process of the cigarette auxiliary materials, and improves the degree of automation and production efficiency.

[0085] As known from common technical knowledge, the present patent can be realized through other embodiments that do not deviate from its spiritual essence or essential features. Therefore, the above disclosed embodiments are just examples and are not the only ones. All changes within the scope of the present patent or within the scope equivalent to the present patent are included in the present patent.

Claims

1. A gripping jig for automatic traying of disk-shaped production aids, characterized in that, The quick-change disc connecting block (101), the solid guide shaft (102) and the cylinder mounting plate (103) are fixedly connected into an integral frame, wherein the two ends of the solid guide shaft (102) are fixedly connected with the bottom of the quick-change disc connecting block (101) and the top of the cylinder mounting plate (103) respectively, forming a vertical support structure; the quick-change disc sub-disc (104) is fixedly installed on the top of the quick-change disc connecting block (101), and its structure is matched with the quick-change disc female disc on the sixth axis of the robot, for realizing the quick connection of the clamp and the robot; the thin cylinder (106) is fixedly installed on the bottom of the cylinder mounting plate (103), and the piston rod thereof extends downward in the vertical direction; the upper end of the center opening shaft (108) is fixedly connected with the end of the piston rod of the thin cylinder (106), and the lower end of the center opening shaft (108) is provided with a circumferentially distributed inclined surface structure, and the inclined direction of the inclined surface structure is towards the outside of the center opening shaft (108); the number of the center expansion plates (109) is plural, and the inner side of each center expansion plate (109) is provided with an inclined surface matched with the inclined surface structure of the lower end of the center opening shaft (108), and the center expansion plate (109) is tightly combined with the inclined surface structure of the center opening shaft (108) through the inclined surface thereof, forming an inclined surface matching structure; the linear guide rail (111) is fixedly installed on the bottom of the cylinder mounting plate (103), and the extension direction of the linear guide rail (111) is arranged in the horizontal direction, and the top of each center expansion plate (109) is fixedly connected with the slider of the linear guide rail (111), and the center expansion plate (109) can slide reciprocatingly along the extension direction of the linear guide rail (111); when the piston rod of the thin cylinder (106) is retracted, the center opening shaft (108) is driven to move upward, and the center opening shaft (108) pushes the center expansion plate (109) to move away from the center opening shaft (108) along the linear guide rail (111) through the inclined surface structure thereof, so that the outside of the center expansion plate (109) contacts the inner wall of the disc-shaped material and generates a tensioning force; when the piston rod of the thin cylinder (106) is extended, the center expansion plate (109) moves towards the center opening shaft (108) along the linear guide rail (111), so that the outside of the center expansion plate (109) is separated from the inner wall of the disc-shaped material. ​ 2. The grabbing clamp for automatically dispensing the disc-shaped production auxiliary material according to claim 1, characterized in that, Further comprising reset springs (113), the number of which is consistent with the number of center expansion plates (109), one end of each reset spring (113) is fixedly connected to the inner side of the corresponding center expansion plate (109), and the other end is fixedly connected to the bottom of the air cylinder mounting plate (103) or the fixed seat of the linear guide rail (111); when the piston rod of the thin air cylinder (106) is extended, the center expansion plate (109) moves along the linear guide rail (111) towards the center opening shaft (108), the reset spring (113) is stretched and generates elastic restoring force, assisting the center expansion plate (109) to fold to the initial position; when the piston rod of the thin air cylinder (106) is retracted, the elastic restoring force of the reset spring (113) is overcome by the thrust of the center opening shaft (108), and the center expansion plate (109) moves outward.

3. The grabbing clamp for automatically dispensing the disc-shaped production auxiliary material according to claim 1, characterized in that, Further comprising a plurality of press-in type metal ball heads (114) which are uniformly inlaid in each inclined surface structure of the center opening shaft (108); a spring is installed in each press-in type metal ball head (114), one end of the spring abuts against the bottom of the press-in type metal ball head (114), and the other end abuts against the reserved hole of the inclined surface structure of the center opening shaft (108); the spherical surface part of the press-in type metal ball head (114) protrudes from the inclined surface structure of the center opening shaft (108) and forms point contact with the inclined surface of the center expansion plate (109); when the center opening shaft (108) moves relative to the center expansion plate (109), the spherical surface of the press-in type metal ball head (114) rolls along the inclined surface of the center expansion plate (109), reducing the friction therebetween.

4. The grabbing clamp for automatically dispensing the disc-shaped production auxiliary material according to claim 1, wherein, Further comprising a pilot one-way valve (107) installed at the air inlet of the thin air cylinder (106), the inlet of which is connected with the compressed air source, and the outlet of which communicates with the air inlet of the thin air cylinder (106); the control port of the pilot one-way valve (107) is connected with the output end of the electromagnetic valve (105) for receiving control signals; when the pilot one-way valve (107) is in the open state, compressed air enters the air inlet of the thin air cylinder (106) to drive the piston rod to move; when the pilot one-way valve (107) is in the closed state, the gas in the air inlet of the thin air cylinder (106) is trapped, keeping the current position of the piston rod.

5. The grabbing clamp for automatically dispensing the disc-shaped production auxiliary material according to claim 1, wherein, Further comprising three magnetic switches which are sequentially arranged on the cylinder body of the thin air cylinder (106) along the movement direction of the piston rod of the thin air cylinder (106), corresponding to the extension limit position, the intermediate position and the retraction limit position of the piston rod respectively; the inductive end of each magnetic switch faces the piston rod of the thin air cylinder (106) for inducting the position of the magnetic element on the piston rod; the output end of the magnetic switch is connected with the control system for feeding back the current position signal of the center opening shaft (108).

6. The grabbing clamp for automatically dispensing the disc-shaped production auxiliary material according to claim 1, wherein, The electromagnetic valve (105) is installed on the side of the quick-change disc connecting block (101), the air inlet of the electromagnetic valve (105) is connected with the compressed air source, the air outlet is connected with the air inlets and outlets of the thin air cylinder (106) through the air pipe, the control end of the electromagnetic valve (105) is connected with the control system, and the control signal is received, the valve core position of the electromagnetic valve (105) is switched, the air inlets and outlets of the thin air cylinder (106) are controlled, and the extension, retraction or stop action of the piston rod is realized.

7. The grabbing clamp for automatically dispensing the disc-shaped production auxiliary material according to claim 1, wherein, The outer support plates (110) are arranged on the outer sides of the corresponding center expansion plates (109), the outer side surfaces of the outer support plates (110) are arc-shaped structures matched with the inner walls of the disc-shaped materials, and the contact areas of the center expansion plates (109) and the inner walls of the disc-shaped materials are increased.

8. The grabbing clamp for automatically dispensing the disc-shaped manufacturing auxiliary material according to claim 6, wherein, The top of the quick-change disc connecting block (101) is provided with a quick plug, the signal end of the quick plug is electrically connected with the control end of the electromagnetic valve (105) and the output end of the magnetic switch, the control signal of the electromagnetic valve (105) and the feedback signal of the magnetic switch are collected, the power supply end of the quick plug is connected with an external power supply, and the electromagnetic valve (105) and the magnetic switch are provided with power supply. The air path end of the quick plug is connected with the compressed air source, and the compressed air is provided for the thin air cylinder (106).

9. The grabbing clamp for automatically dispensing the disk-shaped production auxiliary material according to claim 1, wherein, The center expansion shaft (108) is a three-prism pyramid structure, the upper end is a cylindrical connecting part, the piston rod end of the thin air cylinder (106) is fixedly connected with the cylindrical connecting part, the lower end is a three-prism part, the three side surfaces are provided with inclined surface structures, the inclined angles of the inclined surface structures are the same, and the inclined surface structures are located on the outer side of the three-prism part, the number of the center expansion plates (109) is three, the inner inclined surfaces of the center expansion plates (109) are correspondingly matched with the inclined surface structures of the three-prism part, and a three-point tensioning structure is formed.

10. The grabbing clamp for automatically dispensing the disc-shaped production auxiliary material according to claim 1, wherein, The number of the linear guides (111) is the same as that of the center expansion plates (109), each linear guide (111) is fixedly installed at the bottom of the cylinder mounting plate (103) in the horizontal direction and corresponds to the position of one center expansion plate (109), the top of each center expansion plate (109) is slidably connected with the corresponding linear guide (111) through a sliding block, the extension direction of the linear guide (111) is directed to the outer side away from the center expansion shaft (108), and it is ensured that the outer side of the center expansion plate (109) is always in vertical contact with the inner wall of the disc-shaped material when the center expansion plate (109) moves along the linear guide (111).

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