Safety protection device of carton cigarette pile placing manipulator

Abstract

A safety protection device of a cigarette stack placing manipulator comprises a safety protection device body, the safety protection device body is arranged beside a cigarette stack conveying and arranging line, the safety protection device body comprises four stand columns, and the four stand columns surround the periphery of the cigarette stack placing manipulator. The upper portions of the stand columns are provided with safety optical gratings, light rays emitted by the safety optical gratings on the four stand columns surround the carton cigarette pile placing mechanical arm to form a safety area, and short-distance detection radars are arranged on the stand columns beside the emitting end and the receiving end. The area outside the safe area in the detection area of the short-distance detection radar is an early warning area. The safety area including the early warning area is set for the carton cigarette pile placing manipulator, so that personnel are prevented from invading the movement area of the carton cigarette pile placing manipulator during the working period of the carton cigarette pile placing manipulator, and the safety is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cigarette carton sorting and packaging equipment, in particular to a safety protection device for a cigarette carton stacking manipulator. Background Art

[0002] In tobacco logistics, after the cigarette cartons are sorted, a certain number of them need to be stacked together and then wrapped to form a cigarette package. In this way, when they are delivered to retail merchants, they can be delivered accurately and quickly, and the types and quantities are very accurate without any errors.

[0003] According to the relevant regulations of tobacco logistics, a cigarette pack can only contain 25 standard cigarette cartons at most. However, the quantity ordered by tobacco retailers each time is not always an integer multiple of 25 cartons. Therefore, there are always some cigarette packs with less than 25 cigarette cartons. After these cigarette cartons are piled up, there will be a situation where there are only one or two cigarette cartons on the top layer. Since the existing sorting and placement method is that the equipment automatically places them in order, the one or two cigarette cartons on the top layer will be concentrated at one end. After wrapping, one end of the package will be higher than the other. Based on many years of packaging and distribution experience, when there are only one or two cigarette cartons on the top layer of the package, and there are only one or two layers below the top layer, the cigarette cartons in the cigarette pack are very likely to be deflected and displaced by external forces during the distribution process, resulting in loose packages. This makes it easier for disputes to occur when the cigarettes reach the hands of cigarette retail customers.

[0004] Therefore, our unit uses a cigarette pile placement robot to rearrange the top layer of cigarettes in the cigarette piles with only one or two cigarettes on the top layer. The robot used is a cigarette pile placement robot disclosed in Chinese patent application number CN202321698183.X, such as Figure 1 As shown, it is placed above the cigarette pile conveying equipment, including a manipulator for grabbing and placing cigarettes, placed above the cigarette pile, and is a pneumatic manipulator; a cantilever, the lower end of which is connected to the manipulator; a rotary drive component connected to the upper end of the cantilever, allowing the manipulator to rotate; a second-direction drive component, including a connecting piece, allowing the connecting piece to move back and forth in the second direction, and the rotary drive component is installed on the connecting piece; a first-direction drive component, connected to the second-direction drive component, allowing the second-direction drive component to move back and forth in the first direction.

[0005] Since our company distributes to a large area, has a large number of merchants, and has a large demand for cigarettes every day, in actual work, the cigarette stacking robot needs to place 4-5 cigarette stacks per minute on average. According to this processing quantity, the cigarette stacking robot needs to move at high speed to achieve it, and the area where the cigarette stacking robot is located is a relatively open area, that is, the cigarette stacking robot is located above a conveyor belt. Therefore, during the work process, if someone approaches the cigarette stacking robot, it is easy to be hit by the cigarette stacking robot, causing safety hazards. Utility Model Content

[0006] The present application provides a safety protection device for a cigarette carton stacking robot, which sets a safety zone including a warning zone for the cigarette carton stacking robot to prevent personnel from intruding into the movement area of ​​the cigarette carton stacking robot during operation, thereby improving safety.

[0007] According to one aspect of the present application, an embodiment provides a safety protection device for a cigarette pile placing robot, including a safety protection device, which is arranged next to a cigarette pile conveying and sorting line, and the cigarette pile conveying and sorting line includes a first conveying line, a second conveying line and a cigarette pile placing robot, the first conveying line and the second conveying line are placed at an angle of 90 degrees, the tail of the first conveying line is against the head of the second conveying line, and the cigarette pile placing robot is arranged above the second conveying line;

[0008] The safety protection device includes four columns, which surround the cigarette stack placement robot. A safety grating is arranged on the upper part of the column. The safety grating includes a transmitting end and a receiving end. The transmitting end and the receiving end of the same safety grating are arranged on two columns. Each column is provided with a transmitting end and a receiving end. The transmitting end and the receiving end in the same column are arranged at 90 degrees to each other. The light emitted by the safety grating on the four columns surrounds the cigarette stack placement robot to form a safety zone. A short-range detection radar is arranged on the column beside the transmitting end and the receiving end. The area outside the safety zone in the detection area of ​​the short-range detection radar is the early warning zone.

[0009] In some embodiments, a sound and light warning light is disposed on the top of one of the columns, and the safety grating and the short-range detection radar are connected to the sound and light alarm device.

[0010] In some embodiments, the upper portion of the column has a cavity, and the safety grating and the short-range detection radar are both arranged in the cavity.

[0011] In some embodiments, the lower edge of the light curtain between the transmitting end and the receiving end of the safety light grid is slightly higher than the first conveying line and / or the second conveying line.

[0012] In some embodiments, in the column, there are at least three short-range detection radars located next to the transmitting end or the receiving end, which are equidistantly arranged vertically.

[0013] In some embodiments, the short-range detection radar is a UPA ultrasonic radar or a SRR millimeter-wave radar.

[0014] In some embodiments, the frequency of the UPA ultrasonic radar is 58KHz and the maximum detection distance is 2.5 meters.

[0015] In some embodiments, the frequency of the SRR millimeter wave radar is 24 GHz and the maximum detection distance is 3 meters.

[0016] According to the safety protection device for a cigarette carton stacking robot of the above embodiment, a warning zone and a safety zone are set to provide two levels of warning, thereby greatly improving the safety of the cigarette carton stacking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural schematic diagram of the cigarette pile placing robot for Zhongtiao cigarettes with application number CN202321698183.X.

[0018] Figure 2 It is a structural schematic diagram of the utility model.

[0019] Figure 3 It is a schematic diagram of the column structure of the utility model.

[0020] Figure 4 It is a schematic diagram of the cross-sectional structure of the upper part of the column of the utility model.

[0021] In the figure: 1. first conveyor line; 2. second conveyor line; 3. cigarette stack placing robot; 4. column; 41. cavity; 5. safety grating; 51. transmitting end; 52. receiving end; 6. short-range detection radar; 7. sound and light alarm. DETAILED DESCRIPTION

[0022] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0023] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations, and the operation steps involved in each embodiment can also be replaced or adjusted in order in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for the purpose of clearly describing a certain embodiment, and do not mean that the composition and / or order are necessary.

[0024] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). Example

[0025] Please refer to Figure 2 , Figure 3 and Figure 4 According to one aspect of the present application, an embodiment provides a safety protection device for a cigarette pile placing robot, including a safety protection device, which is arranged next to a cigarette pile conveying and sorting line. The cigarette pile conveying and sorting line includes a first conveyor line 1, a second conveyor line 2 and a cigarette pile placing robot 3. The first conveyor line 1 and the second conveyor line 2 are placed at an angle of 90 degrees, the tail of the first conveyor line 1 is against the head of the second conveyor line 2, and the cigarette pile placing robot 3 is arranged above the second conveyor line 2.

[0026] Because the cigarette pile needs to stop when the cigarette pile placing robot 3 places the top layer of cigarettes in the cigarette pile, so that the top layer of cigarettes in the cigarette pile can be placed accurately, the second conveyor line 2 below the cigarette pile placing robot 3 is a stepping conveyor line, that is, each cigarette pile on the second conveyor line 2 must pause for a period of time under the robot 3, and then the second conveyor line 2 rotates to allow the next cigarette pile to pause under the cigarette pile placing robot 3.

[0027] In order to prevent two adjacent cigarette piles from being mixed up during transportation, the second conveyor line 2 is a partition-type conveyor line, that is, the conveyor line is divided into several sections by partitions, and only one cigarette pile is placed in each section.

[0028] The safety protection device includes a column 4, and there are four columns 4. The four columns 4 surround the cigarette stack placing robot 3. The upper part of the column 4 has a cavity 41. The safety grating 5 includes a transmitting end 51 and a receiving end 52. The transmitting end 51 and the receiving end 52 are arranged in the cavity 41. The transmitting end 51 and the receiving end 52 located in the same column 4 cavity 41 are arranged at 90 degrees to each other. The transmitting end 51 and the receiving end 52 of the same safety grating 5 are respectively located in the cavities 41 of two columns 4. The light curtain generated between the same safety grating 5 connects the two columns 4. The light curtains generated by all the safety gratings 5 ​​form a safety zone, and the safety zone is the cigarette stack placing robot 3. The lower edge of the light curtain of the safety grating 5 is slightly higher than the first conveyor line and / or the second conveyor line, and is not blocked by the first conveyor line and the second conveyor line, so as to avoid issuing an erroneous alarm message.

[0029] In the cavity 41 of the column 4, there are three short-distance detection radars 6 arranged equidistantly above and below the transmitting end 51 and the receiving end 52. The area outside the safety zone in the detection area of ​​the short-distance detection radar 6 is the early warning area. The short-distance detection radar 6 is a UPA ultrasonic radar, and the frequency of the UPA ultrasonic radar is 58KHz and the maximum detection distance is 2.5 meters.

[0030] A sound and light warning light 7 is arranged on the top of one of the columns 4 , and the safety grating 5 and the short-range detection radar 6 are connected to the sound and light warning light 7 .

[0031] In the embodiment, a safety protection device for a cigarette stacking manipulator is provided. When working, the light curtain of the safety grating 5 forms a safety zone. The light curtain of the safety grating 5 is the boundary of the safety zone. The short-range detection radar 6 next to it is a UPA ultrasonic radar. Each UPA ultrasonic radar provides a fan-shaped detection area. The area outside the fan-shaped detection area is the warning area.

[0032] When an intruder enters the detection area, the UPA ultrasonic radar can detect it and determine the position of the intruder through triangular positioning, forming an early warning message, and at the same time, the sound and light alarm lamp 7 emits an early warning sound and light message. When the intruder invades the light curtain of the safety grating 5, the safety grating 5 will issue an alarm message, and the sound and light alarm lamp 7 will emit an alarm sound and light.

[0033] The safety protection device of the utility model can also be connected to the control system of the cigarette pile placing robot. When the safety grating detects an intruder, an alarm message is issued and the cigarette pile placing robot is stopped to achieve safety protection.

[0034] In the embodiment, since the cigarette pile is usually no longer than 45 cm and no wider than 30 cm, the activity area of ​​the cigarette pile placing manipulator is not large. If the safety zone is a square, the side length of the square will not exceed 1.5 meters, so the UPA ultrasonic radar with a maximum detection distance of 2.5 meters is completely sufficient. Example

[0035] This embodiment is improved on the basis of the first embodiment. The short-range detection radar in the first embodiment is replaced by the UPA ultrasonic radar with the SRR millimeter-wave radar. The frequency of the SSR millimeter-wave radar is 24 GHz, and the maximum detection distance is 3 meters.

[0036] Since SRR millimeter waves have the ability to quickly identify high-speed moving objects, they can also quickly respond to high-speed invading objects, providing more accurate security protection.

[0037] The above specific examples are used to illustrate the present invention, which are only used to help understand the present invention and are not intended to limit the present invention. For those skilled in the art of the present invention, some simple deductions, deformations or substitutions can be made based on the idea of ​​the present invention.

Claims

1. A safety protection device for a cigarette stacking manipulator, characterized in that: It includes a safety protection device, which is arranged beside the cigarette pile conveying and sorting line. The cigarette pile conveying and sorting line includes a first conveying line, a second conveying line and a cigarette pile placing robot. The first conveying line and the second conveying line are placed at an angle of 90 degrees. The tail of the first conveying line is against the head of the second conveying line. The cigarette pile placing robot is arranged above the second conveying line. The safety protection device includes four columns, and the four columns surround the cigarette pile placing robot. A safety grating is arranged on the upper part of the column. The safety grating includes a transmitting end and a receiving end. The transmitting end and the receiving end of the same safety grating are respectively arranged on two columns. Each of the columns is provided with a transmitting end and a receiving end. The transmitting end and the receiving end in the same column are arranged at 90 degrees to each other. The light emitted by the safety grating on the four columns surrounds the cigarette pile placing robot to form a safety zone. A short-range detection radar is arranged on the column next to the transmitting end and the receiving end. The area outside the safety zone in the detection area of ​​the short-range detection radar is the early warning zone.

2. A safety protection device for a cigarette stacking manipulator according to claim 1, characterized in that: A sound and light warning light is arranged on the top of one of the columns, and the safety grating and the short-range detection radar are connected to the sound and light alarm device.

3. A safety protection device for a cigarette stacking manipulator according to claim 1, characterized in that: The lower edge of the light curtain between the transmitting end and the receiving end of the safety light grid is slightly higher than the first conveying line and / or the second conveying line.

4. A cigarette stacking manipulator safety protection device according to claim 1, characterized in that: The upper part of the column is provided with a cavity, and the safety grating and the short-range detection radar are both arranged in the cavity.

5. The safety protection device for a cigarette stacking manipulator according to claim 1, characterized in that: In the column, there are at least three short-range detection radars located next to the transmitting end or the receiving end, which are equidistantly arranged up and down.

6. A safety protection device for a cigarette stacking manipulator according to claim 1, characterized in that: The short-range detection radar is a UPA ultrasonic radar or a SRR millimeter-wave radar.

7. A safety protection device for a cigarette stacking manipulator according to claim 6, characterized in that: The frequency of the UPA ultrasonic radar is 58KHz and the maximum detection distance is 2.5 meters.

8. The safety protection device for a cigarette stacking manipulator according to claim 6, characterized in that: The frequency of the SRR millimeter-wave radar is 24 GHz and the maximum detection distance is 3 meters.

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