Frame opening and folding manipulator

Abstract

The utility model relates to a frame opening and folding manipulator, which is positioned on one side of a tobacco frame, is correspondingly matched with a side frame plate, and comprises a mounting platform, a mechanical arm rotationally connected with the mounting platform and a driving mechanism for driving the mechanical arm to rotate, the rotating axis of the mechanical arm is parallel to the rotating axis of the corresponding side frame plate, the mechanical arm is further connected with an inserting and pulling mechanism and a jacking mechanism, the inserting and pulling mechanism comprises an inserting and pulling structure matched with an opening in the side face of a side column of the side frame plate in an inserted mode, and the jacking mechanism comprises a jacking structure sliding in the length direction of the side column in a reciprocating mode. The jacking structure is inserted into the meshes of the net structure or abuts against the cross beams of the side frame plates, the pin shafts of the side frame plates can be pushed to move upwards along the long round holes of the hinge structures, the inserting and pulling mechanism of the mechanical arm is matched with the jacking mechanism, the tobacco frame can be automatically opened and closed, the workload and the operation fatigue of workers are relieved, the manpower requirement is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of tobacco leaf transportation, in particular to a frame opening and folding robot. Background Art

[0002] Tobacco frames for holding raw tobacco leaves are widely used in raw tobacco redrying factories and raw tobacco transfer stations. The frames are used to store and transport raw tobacco leaves. When empty (without tobacco leaves), the volume of the frames is greatly reduced after being folded, and they can be stacked and stored in a relatively small space.

[0003] As attached Figure 1 and Figure 2 The cigarette frame 3 generally includes a bottom plate 31 for supporting tobacco leaves, a leg 311 is connected to the bottom of the bottom plate 31, and a side frame plate 33 is hinged on both sides. The side frame plate 33 includes two upper and lower cross beams 333 and two parallel side columns 331 connected to the two ends of the cross beam 333. The side columns 331 are two C-shaped steels with openings facing each other, and a net structure 334 made of a plurality of steel bars is fixedly connected between the two side columns 331 and the cross beam 333. A pin is formed at the position where the two side columns 331 are connected to the bottom plate 31, and the pin axes of the two side columns 331 coincide with each other. A positioning protrusion 332 is also formed on the frame. A hinge structure 32 that cooperates with the two side columns 331 is formed on the bottom plate 31. The hinge structure 32 is provided with an oblong hole 321 for the pin to pass through. The oblong hole 321 extends in the vertical direction, so that the side frame plate 33 can rotate around the bottom plate 31 or deviate in the vertical direction. A positioning groove 322 cooperating with the positioning protrusion 332 is also provided on the top of the hinge structure 32, and the opening of the positioning groove 322 faces upward. When the side frame plate 33 is rotated to a vertical state and the pin shaft is located at the top of the oblong hole 321, the positioning protrusion 332 is located directly above the positioning groove 322. Then, the side frame plate 33 is controlled to move downward so that the positioning protrusion 332 is embedded in the positioning groove 322, and the side frame plate 33 can be locked in the vertical state.

[0004] In the process of closing and stacking the cigarette frames, it is first necessary to lift the two vertical side frame panels so that the positioning protrusions are separated from the positioning grooves, and then control the two side frame panels to rotate toward the bottom plate to a horizontal state in turn, and then put the two side frame panels down and stack them on the bottom plate in turn, and finally stack the cigarette frames for storage; and in the process of unstacking and unfolding the cigarette frames, it is first necessary to take out a folded cigarette frame from the cigarette frame stack, lift the side frame panels of the cigarette frame in turn and rotate them to a vertical state, and then control the side frame panels to move downward so that the positioning protrusions of the side frame panels fall into the positioning grooves, that is, the cigarette frame is fully unfolded, and then the original tobacco leaves are placed on the bottom plate of the cigarette frame. However, in the process of closing and stacking the cigarette frames and unstacking and unfolding the cigarette frames, the staff are required to hold the two side frame panels and move them in turn, which is a complicated operation process and occupies a lot of manpower. In addition, repeated opening and closing of the cigarette frames will lead to high fatigue and low work efficiency.

[0005] Therefore, there is an urgent need to develop a device that can facilitate the opening and closing of the cigarette frame, reduce manpower requirements, reduce work fatigue, and improve work efficiency. Utility Model Content

[0006] The utility model solves the problem that the opening and closing process of the cigarette frame requires a large amount of manpower, the working fatigue is high and the working efficiency is low. A frame opening and folding robot is provided to solve the technical problem. A swinging robot arm is configured, and the rotating robot arm is used to drive the side frame plate of the cigarette frame to rotate, and the lifting mechanism is used to push the side frame plate in a vertical state to move upward, so that the cigarette frame can be automatically opened or closed, the working efficiency is high, and the manpower requirement is reduced.

[0007] In order to solve the above technical problems, the technical solution of the utility model is as follows:

[0008] A frame opening and folding robot, wherein two of the frame opening and folding robots are provided, and the two frame opening and folding robots are respectively located on both sides of a cigarette frame, wherein the cigarette frame comprises a bottom plate supporting tobacco leaves and two side frame plates respectively hinged on both sides of the bottom plate, and the rotation axes of the two side frame plates are horizontal and parallel, and the side frame plates comprise two side columns located on both sides and two cross beams connected between the two side columns, and a net structure is fixedly connected between the side columns and the cross beams, and the side columns are formed with a pin shaft cooperating with the bottom plate, and the top surface of the bottom plate is formed with a hinge structure cooperating with the side frame plate in rotation, and the hinge structure is provided with an oblong hole for the pin shaft to pass through, and the oblong hole extends in a vertical direction,

[0009] Each of the frame opening and folding robot arms corresponds to a side frame plate, and the frame opening and folding robot arm comprises an installation platform, a robot arm rotatably connected to the installation platform, and a driving mechanism for driving the robot arm to rotate, the rotation axis of the robot arm is parallel to the rotation axis of the corresponding side frame plate, and the robot arm is also connected to a plug-in mechanism and a jacking mechanism, the plug-in mechanism comprises a plug-in structure that is plug-in-matched with the side opening of the side column of the side frame plate, and the plug-in structure reciprocates along a direction parallel to the rotation axis of the robot arm, so that when the plug-in structure rotates with the robot arm to align with the side opening of the side column, the plug-in structure and the side opening of the side column are plugged in and matched, and the jacking mechanism comprises a jacking structure that abuts against the mesh structure of the side frame plate and slides back and forth along the length direction of the side column, and the jacking structure is inserted into the mesh of the mesh structure or abuts against the crossbeam of the side frame plate away from the rotation axis of the side frame plate to push the side frame plate to slide, so that the pin shaft of the side frame plate moves upward along the oblong hole of the hinge structure.

[0010] Preferably, the lifting mechanism also includes a lifting cylinder for pushing the lifting structure to move, the lifting cylinder is hinged to the mechanical arm, and the hinge axis is parallel to the rotation axis of the mechanical arm. The mechanical arm is also connected to a limit rod for preventing the lifting cylinder from rotating toward the cigarette frame. The limit rod is arranged in a direction parallel to the rotation axis of the mechanical arm, and a spacing is left between the limit rod and the mechanical arm for the lifting cylinder to swing, and the plug-in mechanism is arranged on the limit rod.

[0011] Preferably, the jacking structure comprises a jacking block connected to the piston rod of the jacking cylinder, the jacking block abuts against the side surface of the net structure of the side frame plate, and the jacking structure abuts against the crossbeam of the side frame plate through the jacking block.

[0012] Preferably, the lifting structure includes at least two lifting rods connected to the lifting cylinder piston rod, the lifting rods extend close to the cigarette frame in a direction perpendicular to the rotation axis of the robot arm, and multiple lifting rods are arranged in a direction parallel to the rotation axis of the robot arm, and each lifting rod is inserted into a mesh hole of the net structure.

[0013] Preferably, the pneumatic circuit of the lifting cylinder is also equipped with a constant pressure valve.

[0014] Preferably, the frame opening and folding robot includes two plug-in mechanisms, which respectively cooperate with the two side columns of the side frame plate. The plug-in mechanism also includes a plug-in cylinder connected to the robot arm, and the piston rod of the plug-in cylinder is arranged in a direction parallel to the rotation axis of the robot arm and is connected to the plug-in structure.

[0015] Preferably, the robotic arm is also connected to an internal tightening cylinder, the piston rod of the internal tightening cylinder is parallel to the piston rod axis of the plug-in cylinder, and is connected to an internal tightening structure. When the robotic arm rotates close to the side frame plate, the internal tightening structure stops rotating after it abuts against the outer side surface of the side column of the side frame plate.

[0016] Preferably, the inner tightening structure and the plug-in structure are both rollers, the inner tightening structure is rotatably connected to the piston rod of the inner tightening cylinder, the plug-in structure is rotatably connected to the piston rod of the plug-in cylinder, and the rotation axes of the plug-in structure and the inner tightening structure are parallel to the rotation axis of the robot arm.

[0017] Preferably, the inner tightening cylinder and the inner tightening structure constitute an inner tightening mechanism, and the robotic arm is provided with two inner tightening mechanisms, which respectively cooperate with the two side columns of the side frame plate, and the inner tightening structure is also formed with a limiting ring, and the diameter of the limiting ring is larger than the diameter of the inner tightening structure. For the two inner tightening mechanisms on the same robotic arm, the limiting ring is located at the end of the inner tightening structure away from the other inner tightening structure.

[0018] Preferably, the mounting platform is provided with two shaft seats with overlapping axes, with one end of the robotic arm connected to the mounting platform as the connecting end and the other end as the free end, and the connecting end of the robotic arm is provided with a shaft body, the two ends of the shaft body are respectively inserted into the two shaft seats and rotatably cooperate with the shaft seats, and the driving mechanism includes a driving motor transmission connected to the shaft body.

[0019] Preferably, the frame opening and folding robot also includes a mounting plate arranged in the vertical direction, the mounting plate is provided with a slide rail extending vertically, a screw pair and a lifting motor for driving the screw pair, the mounting platform is slidingly matched with the mounting plate through the slide rail, the screw pair includes a screw rotatably connected to the mounting plate and a nut threadedly matched with the screw, the screw is transmission-connected to the lifting motor, and the nut is connected to the mounting platform.

[0020] Preferably, the driving mechanism also includes a tensioning cylinder connected between the mounting plate and the robotic arm, the cylinder body of the tensioning cylinder is hinged to the mounting plate, the piston rod is hinged to the robotic arm, the hinge point between the tensioning cylinder and the robotic arm and the plug-in structure are respectively located on both sides of the rotation axis of the robotic arm, the hinge axes between the tensioning cylinder and the mounting plate and the robotic arm are parallel to the rotation axis of the robotic arm, and the piston rod axis of the tensioning cylinder does not intersect with the rotation axis of the robotic arm.

[0021] Beneficial technical effects of the technical solution of the utility model:

[0022] (I) Two manipulators are respectively installed on both sides of the cigarette frame. The manipulator includes a mounting platform and a manipulator arm rotatably connected to the mounting platform. When the manipulator arm rotates close to the side frame plate of the cigarette frame, the plug-in structure of the manipulator arm is inserted into the side opening of the side column of the side frame plate, so that the side column of the side frame plate is connected to the manipulator arm. When the manipulator arm rotates, it can drive the side frame plate to rotate. The lifting structure of the manipulator arm is inserted into the mesh of the side frame plate mesh structure or abuts against the crossbeam of the side frame plate. When the side frame plate rotates to a vertical state or a state close to a vertical state, the lifting structure is controlled to slide along the side column of the side frame plate, so that the side frame plate can be driven to move up and down, so that the positioning protrusion of the side frame plate slides into or out of the positioning groove of the hinge structure, and the locking state of the side frame plate is changed. The lifting structure cooperates with the plug-in structure that drives the side frame plate to rotate, so that the automatic opening and closing of the cigarette frame can be realized, and the staff no longer needs to manually open and close the cigarette frame, which reduces the workload and fatigue of the staff, reduces the manpower demand, and improves the work efficiency.

[0023] (ii) When the plug-in structure of the robot arm is inserted into the side opening of the side column of the side frame plate, so that a connection is established between the side column of the side frame plate and the robot arm, the lifting block abuts against the side of the mesh structure of the side frame plate, and then the lifting cylinder is controlled to extend, which can drive the lifting block to slide along the side of the mesh structure until the lifting block abuts against the crossbeam of the side frame plate, and then the lifting cylinder continues to move, which can smoothly push the side frame plate to move.

[0024] (3) When the plug-in structure of the robot arm is inserted into the side opening of the side column of the side frame plate, so that a connection is established between the side column of the side frame plate and the robot arm, the lifting rod is inserted into the mesh of the net structure of the side frame plate, and then the lifting cylinder is controlled to extend, which can directly push the side frame plate to move.

[0025] (IV) When the lifting cylinder is working, if the pressure in the pneumatic circuit is too high, it means that the movement of the lifting cylinder is obstructed. The constant pressure valve will relieve the pressure in the pneumatic circuit, thereby preventing the lifting force from increasing after the movement of the lifting cylinder is obstructed, so as to avoid damage to the lifting cylinder or the side frame plate of the smoke frame.

[0026] (V) The inner tightening structure of the inner tightening cylinder abuts against the side column of the side frame plate, which can be used to position the side column of the side frame plate so that the plug-in structure is aligned with the side opening of the side column. After the inner tightening structure abuts against the side column of the side frame plate, the plug-in cylinder is operated to conveniently and accurately insert the plug-in structure into the side opening of the side column.

[0027] (VI) A limiting ring is also installed at the end of the inner tightening structure. When the two inner tightening structures abut against the side of the side column of the side frame plate, the inner tightening cylinder is controlled to extend and retract, and the two limiting rings abut against the two side columns of the side frame plate respectively, so as to adjust the position of the side frame plate so that the cigarette frame is placed in the correct position to prevent the cigarette frame from being placed skewed, which will cause the frame opening and folding robots on both sides to fail to clamp the side frame plates of the cigarette frame smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It shows a schematic structural diagram of the opening and closing state of the cigarette frame in the background technology of the utility model;

[0029] Figure 2 It shows a schematic structural diagram of a cigarette frame in the background technology of the utility model in a closed state;

[0030] Figure 3 The schematic diagram of the structure of the frame opening and folding robot and the cigarette frame conveying line in the first embodiment of the utility model is shown;

[0031] Figure 4 Shows Figure 3 The enlarged view of point A in the middle;

[0032] Figure 5 A schematic diagram showing the cooperation between the mechanical arm and the shaft body in the first embodiment of the utility model is shown;

[0033] Figure 6 A schematic diagram showing the cooperation between the mechanical arm and the installation platform in the first embodiment of the utility model is shown;

[0034] Figure 7 A schematic diagram showing the cooperation between the lifting motor and the mounting plate in the first embodiment of the utility model is shown;

[0035] Figure 8 A schematic diagram of the structure of the frame opening and folding robot in the first embodiment of the utility model is shown;

[0036] Fig. 9 The schematic diagram of the structure of the frame opening and folding robot in the second embodiment of the utility model is shown.

[0037] Markings in the accompanying drawings:

[0038] 1-Cigarette frame conveying line; 11-Frame;

[0039] 2-frame opening and folding manipulator; 21-installation plate; 211-slide rail; 212-screw pair; 213-lifting motor; 214-tension cylinder; 22-installation platform; 221-axle seat; 222-drive motor; 23-mechanical arm; 231-axle body; 232-hinge plate; 233-limit rod; 234-short rod; 24-plug-in mechanism; 241-plug-in cylinder; 242-plug-in structure; 25-internal tightening mechanism; 251-internal tightening cylinder; 252-internal tightening structure; 26-lifting mechanism; 261-lifting cylinder; 262-lifting plate; 263-lifting block; 264-lifting plug rod;

[0040] 3-cigarette frame; 31-bottom plate; 311-leg; 32-hinge structure; 321-long round hole; 322-positioning groove; 33-side frame plate; 331-side column; 332-positioning protrusion; 333-crossbeam; 334-net structure. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the utility model clearer, the following is a further detailed description of a frame opening and folding frame manipulator proposed by the utility model in combination with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the utility model will be clearer. It should be noted that the accompanying drawings adopt a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the implementation method of the utility model. In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size, etc. illustrated by the accompanying drawings of this specification are only used to match the content disclosed in the specification, so that people familiar with this technology can understand and read, and are not used to limit the limiting conditions for the implementation of the utility model, so it has no technical substantive significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effect that the utility model can produce and the purpose that can be achieved, should still fall within the scope of the technical content disclosed by the utility model.

[0042] The following will be combined with the attached Figures 1 to 9 The technical solution of the frame opening and folding robot of the utility model is described in detail with specific embodiments.

[0043] Embodiment 1

[0044] like Figures 1 to 8 As shown, a frame opening and folding robot of the present embodiment comprises two frame opening and folding robots 2 symmetrically arranged on both sides of a cigarette frame 3. In actual use, the two frame opening and folding robots 2 can be installed on both sides of a cigarette frame conveying assembly line 1 to automatically open and fold the cigarette frames 3 passing through the assembly line.

[0045] Before describing the frame opening and folding robot 2 in this embodiment, please refer to Figure 1 and Figure 2 First, the specific structure of the currently used smoke frame 3 is introduced as follows:

[0046] The cigarette frame 3 includes a bottom plate 31 for supporting tobacco leaves and two side frame plates 33 installed on both sides of the bottom plate 31. The four corners of the bottom plate 31 are extended upward with vertical cylindrical hinge structures 32, that is, a pair of hinge structures 32 are respectively provided on both sides of the bottom plate 31, and each side frame plate 33 is respectively connected between the pair of hinge structures 32. The side frame plate 33 includes side columns 331 arranged in parallel on both sides, and two cross beams 333 are welded and fixed between the two side columns 331. A net structure 334 made of a plurality of steel bars is welded and fixed in the area surrounded by the two cross beams 333 and the two side columns 331. The widths of the cross beam 333 and the side column 331 are greater than the thickness of the net structure 334, and the cross beam 333 protrudes from both sides of the net structure 334. The side column 331 is made of C-shaped steel, and the side openings of the two side columns 331 of the same side frame plate 33 face the other side column 331 respectively.

[0047] The side posts 331 on both sides of the side frame plate 33 are respectively matched with the two hinge structures 32, and the side surfaces of the two side posts 331 of the side frame plate 33 adjacent to one end of the hinge structure 32 are welded with pins that match the hinge structure 32, and the axes of the two pins coincide, and the side frame plate 33 is rotatably matched with the above-mentioned two hinge structures 32 through the two pins. The side of the hinge structure 32 is provided with an oblong hole 321 for the pin to pass through, and the oblong hole 321 has a certain length in the vertical direction, so as to allow the pin of the side frame plate 33 to move up and down within the range of the oblong hole 321. In addition, the side of the hinge structure 32 is also processed with an avoidance groove for the bottom end of the side post 331 to pass through when rotating.

[0048] A positioning protrusion 332 is welded and fixed on the side of the side column 331. When the side frame plate 33 is rotated to a vertical state and the pin is located at the top of the oblong hole 321, the positioning protrusion 332 is located above the hinge structure 32. A positioning groove 322 that cooperates with the positioning protrusion 332 is also processed at the top open portion of the hinge structure 32. When the side frame plate 33 in the vertical state falls, the distance that the pin can slide downward in the oblong hole 321 is enough for the positioning protrusion 332 to slide into the positioning groove 322. After the positioning protrusion 332 slides into the positioning groove 322, the positioning protrusion 332 and the positioning groove 322 cooperate with each other, which can cooperate to prevent the rotation of the side column 331 and lock the side frame plate 33 in a vertical state to accommodate tobacco leaves.

[0049] In addition, the four corners of the bottom plate 31 of the cigarette frame 3 also extend downward with supporting legs 311. When the closed cigarette frames 3 are stacked, the bottom ends of the supporting legs 311 of the upper cigarette frame 3 abut against the top ends of the hinge structures 32 of the lower cigarette frame 3, thereby separating the bottom plates 31 of two adjacent cigarette frames 3.

[0050] In this embodiment, each frame opening and folding manipulator 2 includes a mounting platform 22 connected to the frame 11 of the assembly line, a mechanical arm 23 rotatably connected to the mounting platform 22, and a driving mechanism for driving the mechanical arm 23 to rotate. The mounting platform 22 has a horizontal top surface, and the mechanical arm 23 is rotatably connected to the top surface of the mounting platform 22, and the rotation axis of the mechanical arm 23 is parallel to the rotation axis of the side frame plate 33 of the cigarette frame 3. The mechanical arm 23 is installed with a plug-in mechanism 24 and a lifting mechanism 26, wherein:

[0051] The plug-in mechanism 24 includes a plug-in structure 242 plugged with the side opening of the side column 331 of the side frame plate 33 and a plug-in cylinder 241 driving the plug-in structure 242 to reciprocate in a direction parallel to the rotation axis of the mechanical arm 23. When the mechanical arm 23 swings to the side opening of the plug-in structure 242 and the side column 331 of the side frame plate 33, the plug-in cylinder 241 is controlled to operate to insert the plug-in structure 242 into the side opening of the side column 331 of the side frame plate 33, so that the side frame plate 33 of the cigarette frame 3 is connected to the mechanical arm 23. When the mechanical arm 23 rotates, the plug-in structure 242 can drive the side frame plate 33 to rotate, so that the side frame plate 33 is switched between the expanded or closed state.

[0052] The lifting mechanism 26 includes a lifting structure abutting against the mesh structure 334 of the side frame plate 33 and a lifting cylinder 261 for driving the lifting structure to move along the length direction of the side column 331 of the side frame plate 33. When the unfolded cigarette frame 3 needs to be closed, the side frame plate 33 is still in a vertical state. At this time, the lifting mechanism 26 is first needed to drive the side frame plate 33 to move upward so that the positioning protrusion 332 of the side frame plate 33 is disengaged from the positioning groove 322 of the hinge structure 32, and then the side frame plate 33 can be controlled to rotate and close; and when the cigarette frame 3 needs to be unfolded, the lifting mechanism 26 is needed to support the side frame plate 33 rotated to the vertical state, drive the side frame plate 33 to slowly fall, align the positioning protrusion 332 of the side frame plate 33 with the positioning groove 322 embedded in the hinge structure 32, thereby locking the side frame plate 33 to the vertical state.

[0053] Please refer to Figures 3 to 8 The specific structure of the frame opening and folding robot 2 is described below:

[0054] The frame opening and folding manipulator 2 includes a mounting plate 21 bolted to the side of the frame 11 and a mounting platform 22 slidably matched with the mounting plate 21 in the vertical direction. The mounting platform 22 has a horizontal top surface. Two shaft seats 221 are welded and fixed on the top surface of the mounting platform 22. The axes of the two shaft seats 221 coincide with each other and are parallel to the direction of conveying the cigarette frame 3 on the cigarette frame conveying line 1. When the cigarette frame 3 passes through the frame opening and folding manipulator 2, the two side frame plates 33 of the cigarette frame 3 are respectively close to the frame opening and folding manipulator 2 on both sides, and the rotation axis of the side frame plates 33 of the cigarette frame 3 is parallel to the axis of the shaft seat 221.

[0055] The mechanical arm 23 is rotatably connected between the two shaft seats 221 of the mounting platform 22, with one end of the mechanical arm 23 connected to the mounting platform 22 as the connection end and the other end as the free end. The connection end of the mechanical arm 23 is welded and fixed with a shaft body 231 that matches the shaft seat 221, and the two ends of the shaft body 231 pass through the two shaft seats 221 respectively and rotatably match with the shaft seats 221. A driving mechanism for driving the mechanical arm 23 to rotate is also installed on the mounting platform 22. When the mechanical arm 23 rotates around the shaft seat 221, it can approach or move away from the cigarette frame 3 on the cigarette frame 3 assembly line.

[0056] Specifically, the mounting plate 21 in this embodiment is arranged vertically, and a slide rail 211 and a lead screw pair 212 extending in the vertical direction are installed on the side of the mounting plate 21. The mounting platform 22 is slidably matched with the slide rail 211, and is also matched with the mounting plate 21 through the lead screw pair 212. The lead screw pair 212 includes a lead screw rotatably connected to the mounting plate 21 and a nut threadedly matched with the lead screw. The axis of the lead screw is arranged in the vertical direction, and the nut is fixedly connected to the mounting platform 22. When the lead screw rotates, the mounting platform 22 can be driven to slide up and down by the nut. A lifting motor 213 is also installed on the side of the mounting plate 21 close to the frame 11. The lifting motor 213 drives the lead screw of the lead screw pair 212 to rotate through a pulley group for transmission, so that the mounting platforms 22 of the two frame opening and folding frame manipulators 2 are lifted and lowered synchronously. By controlling the mounting platform 22 to slide in the vertical direction, the rotation trajectory of the mechanical arm 23 can be easily changed, so that the mechanical arm 23 can smoothly approach the cigarette frames 3 of different specifications after rotation.

[0057] Specifically, the driving mechanism includes a driving motor 222 bolted to the mounting platform 22 and a tensioning cylinder 214 connected to the mounting plate 21, and the output shaft of the driving motor 222 is connected to the end of the shaft body 231 through a reducer transmission. The cylinder body of the tensioning cylinder 214 is hinged to the mounting plate 21, and the piston rod is hinged to the mechanical arm 23, and the hinge axis between the tensioning cylinder 214 and the mounting plate 21 and the mechanical arm 23 is parallel to the rotation axis of the mechanical arm 23. The mechanical arm 23 in this embodiment is connected with a protruding hinge plate 232, and is hinged to the piston rod of the tensioning cylinder 214 through the hinge plate 232. In actual design and production, it should be noted that the piston rod axis of the tensioning cylinder 214 and the rotation axis of the mechanical arm 23 cannot intersect, so as not to affect the driving effect of the tensioning cylinder 214 on the mechanical arm 23.

[0058] When opening the frame, since the side frame plate 33 is rotated from a horizontal state to a vertical state, the plug-in structure 242 of the mechanical arm 23 is responsible for pulling the side frame plate 33 to rotate. The torque applied to the mechanical arm 23 is relatively large. If the tensioning cylinder 214 is not configured, a larger power drive motor 222 and a reducer are required to smoothly perform the frame opening work. The hinge point between the hinge plate 232 and the tensioning cylinder 214 and the plug-in structure 242 in this embodiment are respectively located on both sides of the rotation axis of the mechanical arm 23. In the process of the mechanical arm 23 driving the side frame plate 33 to open through the plug-in structure 242, the tension of the tensioning cylinder 214 on the mechanical arm 23 can be used to pull the mechanical arm 23 to rotate. It can also be understood that after the tensioning cylinder 214 is configured, the tension of the tensioning cylinder 214 on the mechanical arm 23 is equivalent to adding a counterweight to the mechanical arm 23, which can reduce the rotation resistance of the mechanical arm 23 when opening the frame, facilitate the driving motor 222 to drive the mechanical arm 23 to rotate, complete the frame opening action, reduce the configuration cost of the driving motor 222, and the driving motor 222 has a small load when working and is not prone to failure. In the process of closing the cigarette frame 3, the tensioning cylinder 214 can be set to be freely retractable, which will not hinder the closing of the cigarette frame 3.

[0059] In addition, a limit rod 233 is fixedly connected to the free end of the robotic arm 23. The limit rod 233 is located on the side of the robotic arm 23 facing the cigarette frame 3. The length direction of the limit rod 233 is parallel to the rotation axis of the robotic arm 23. There is a certain distance between the limit rod 233 and the robotic arm 23. Short rods 234 are welded between the two ends of the limit rod 233 and the free end of the robotic arm 23. The limit rod 233, the short rod 234 and the free end of the robotic arm 23 are combined to form a frame structure.

[0060] In this solution, two plug-in mechanisms 24 are provided, and the two plug-in mechanisms 24 are respectively installed at the two ends of the limit rod 233, and the two plug-in mechanisms 24 are respectively matched with the side columns 331 on both sides of the side frame plate 33 of the cigarette frame 3. The plug-in structure 242 includes a plug-in cylinder 241 bolted to the limit rod 233, and the piston rod of the plug-in cylinder 241 is parallel to the rotation axis of the mechanical arm 23, and is connected to the plug-in structure 242 matched with the side opening of the side column 331.

[0061] In addition, an internal tightening mechanism 25 cooperating with the plug-in mechanism 24 is installed on the short rod 234, and the internal tightening mechanism 25 includes an internal tightening cylinder 251 bolted to the short rod 234, and the piston rod axis of the internal tightening cylinder 251 is parallel to the piston rod axis of the plug-in cylinder 241, and the distance between the piston rod axis of the internal tightening cylinder 251 and the piston rod axis of the plug-in cylinder 241 is kept constant, and the piston rod of the internal tightening cylinder 251 is connected to the internal tightening structure 252, and the position of the internal tightening structure 252 corresponds to the position of the side column 331 of the side frame plate 33 of the cigarette frame 3. When the free end of the mechanical arm 23 rotates toward the cigarette frame 3 of the opening and closing station, the inner tightening structure 252 rotates with the mechanical arm 23 to abut against the corresponding side column 331, so that the mechanical arm 23 stops rotating. The inner tightening structure 252 plays a positioning role, so that the mechanical arm 23 stops at a position close to the side column 331. When the mechanical arm 23 stops rotating, the plug-in structure 242 is aligned with the side opening of the side column 331. Then, the plug-in cylinder 241 is controlled to extend and retract, and the plug-in structure 242 is inserted into the side opening of the side column 331, so that the side frame plate 33 and the mechanical arm 23 can be connected. When the mechanical arm 23 rotates, it will drive the side frame plate 33 to rotate at the same time.

[0062] In this embodiment, rollers are used for both the plug-in structure 242 and the inner tightening structure 252. The plug-in structure 242 is rotatably connected to the piston rod of the plug-in cylinder 241, and the inner tightening structure 252 is rotatably connected to the piston rod of the inner tightening cylinder 251. Moreover, the rotation axes of the plug-in structure 242 and the inner tightening structure 252 are parallel to the rotation axis of the mechanical arm 23. This is because when the mechanical arm 23 drives the side frame plate 33 to rotate, the plug-in structure 242 and the inner tightening structure 252 will move relative to the side column 331. The use of rollers can reduce the friction between the plug-in structure 242, the inner tightening structure 252 and the side column 331, thereby extending the service life of the plug-in structure 242, the inner tightening structure 252 and the side column 331. In addition, for the two inner tightening structures 252 on the same robot arm 23, a limiting ring is formed on the side of the two inner tightening structures 252 that are away from each other, and the diameter of the limiting ring is larger than the diameter of the inner tightening structure 252. When the inner tightening structure 252 abuts against the side column 331, the inner tightening cylinder 251 is controlled to extend and retract, and the position of the inner tightening structure 252 is adjusted so that the end faces of the two limiting rings abut against the side faces of the side columns 331 on both sides of the side frame plate 33 opposite to each other, which can lock the position of the side frame plate 33 and align the two inner tightening structures 252 with the two columns of the side frame plate 33 to prevent the side frame plate 33 from shifting in a direction parallel to the rotation axis of the robot arm 23.

[0063] In the process of establishing a connection between the side frame plate 33 of the cigarette frame 3 and the robotic arm 23, the robotic arm 23 rotates toward the cigarette frame 3 until the inner tightening structure 252 stops when it abuts against the side column 331. At this time, the plug-in structure 242 is aligned with the side opening of the side column 331; then the plug-in cylinder 241 is controlled to operate to insert the plug-in structure 242 into the side opening of the side column 331, so that the side frame plate 33 can be connected to the robotic arm 23, and the side frame plate 33 can rotate with the rotation of the robotic arm 23. In the process of the side frame plate 33 rotating with the robotic arm 23, the plug-in structure 242 can slide and cooperate with the side column 331 along the length direction of the side column 331.

[0064] Specifically, the lifting cylinder 261 of the lifting mechanism 26 is connected to the side of the mechanical arm 23 facing the cigarette frame 3, the cylinder body of the lifting cylinder 261 is hinged to the mechanical arm 23, and the hinge axis between the cylinder body and the mechanical arm 23 is parallel to the rotation axis of the mechanical arm 23; the piston rod of the lifting cylinder 261 extends in a direction away from the rotation axis of the mechanical arm 23 through the frame structure composed of the limit rod 233, the short rod 234 and the mechanical arm 23, and can swing within the range surrounded by the frame structure, and the end of the piston rod is connected to the lifting structure. When the robotic arm 23 opens and closes the side frame plate 33, the robotic arm 23 is deflected as a whole toward the cigarette frame 3 on the cigarette frame 3 assembly line, and the lifting cylinder 261 is also deflected toward the cigarette frame 3 on the cigarette frame 3 assembly line due to its own weight, until the inner tightening structure 252 abuts against the side column 331 or the lifting cylinder 261 abuts against the limit rod 233 and stops, and then the lifting cylinder 261 is controlled to extend, so that the lifting structure can be abutted against the side of the mesh structure 334 of the corresponding side frame plate 33. If the lifting cylinder 261 is extended, the lifting structure will slide on the mesh structure 334 of the side frame plate 33 along the length direction of the side column 331, gradually away from the rotation axis of the robotic arm 23, and at the same time, the lifting cylinder 261 as a whole will also rotate relative to the robotic arm 23. Therefore, the above-mentioned frame structure should leave enough margin distance for the lifting cylinder 261 to swing. When the lifting structure moves away from the cylinder body of the lifting cylinder 261 along the side frame plate 33, the lifting structure will eventually abut the crossbeam 333 of the side frame plate 33 away from the hinge structure 32. If the lifting cylinder 261 continues to extend, the side frame plate 33 can be pushed to move.

[0065] Specifically, the lifting structure includes a lifting plate 262 connected to the piston rod of the lifting cylinder 261, the plate surface of the lifting plate 262 is parallel to the rotation axis of the mechanical arm 23 and the axis of the lifting cylinder 261, and the plate surface of the lifting plate 262 facing the cigarette frame 3 assembly line is integrally formed with a lifting block 263. When the lifting structure rotates until the lifting plate 262 abuts against the side frame plate 33, as the lifting cylinder 261 extends, the lifting plate 262 slides on the side frame plate 33 until the lifting plate 262 is facing away from the edge of the mounting platform 22 or the lifting block 263 abuts against the side frame plate 33 away from the crossbeam 333 of the hinged structure 32, thereby pushing the side frame plate 33 to move. The side of the lifting block 263 away from the rotation axis of the mechanical arm 23 is perpendicular to the plate surface of the lifting plate 262. The lifting block 263 is provided because the plate surface of the lifting plate 262 maintains a nearly parallel angle with the side frame plate 33 of the cigarette frame 3 during the swinging of the mechanical arm 23. The edge of the lifting plate 262 is not easy to stably abut against the crossbeam 333 of the side frame plate 33. The lifting block 263 extends in a direction perpendicular to the plate surface of the lifting plate 262, and the side of the lifting block 263 away from the lifting cylinder 261 abuts against the crossbeam 333 of the side frame plate 33, which is not easy to slip.

[0066] It should be noted that when pushing the side frame plate to slide relative to the hinge structure 32, the pin shaft of the side column 331 can only slide within the length range of the oblong hole 321 of the hinge structure 32. Therefore, the side frame plate 33 needs to be rotated to a vertical state or a near-vertical state, that is, parallel to the length direction of the oblong hole 321, in order to smoothly push the side frame plate 33 to slide relative to the hinge structure 32.

[0067] In the present embodiment, the lifting structure is rotatably connected to the mechanical arm 23 through the lifting cylinder 261, which is to adapt to cigarette frames 3 of different specifications. When opening and closing cigarette frames 3 of different specifications or opening and closing side frame plates 33 of different angles, the rotation angle of the mechanical arm 23 is different, and the spacing between the mechanical arm 23 and the side frame plates 33 is also different. In order to ensure that the lifting plate 262 / lifting block 263 of the lifting structure can contact the side frame plates 33, the lifting cylinder 261 needs to swing a certain angle relative to the mechanical arm 23 so that the lifting structure can be rotated to abut against the side frame plates 33. The role of the above-mentioned limit rod 233 in this solution is to limit the rotation angle of the lifting cylinder 261 and constrain the rotation range of the lifting cylinder 261, so as to prevent the lifting structure from falling directly to a low place when the mechanical arm 23 swings.

[0068] Furthermore, the pneumatic circuit of the lifting cylinder 261 is equipped with a constant pressure valve (not shown in the figure). In the process of controlling the expansion of the cigarette frame 3, the lifting cylinder 261 is gradually compressed, and the constant pressure valve can keep the lifting pressure of the cylinder stable, but will not increase the rotation torque too much, so as not to hinder the expansion of the cigarette frame 3. If the pressure in the pneumatic circuit is too large, it means that the movement of the lifting cylinder 261 is blocked, and the constant pressure valve will release the pressure of the pneumatic circuit, thereby preventing the lifting cylinder 261 from continuing to increase the output lifting force after the movement of the lifting cylinder 261 is blocked, so as to avoid damaging the lifting cylinder 261 or the side frame plate 33 of the cigarette frame 3.

[0069] When the cigarette frame 3 arrives between the two frame opening and folding manipulators 2, there is a certain distance between the rotation axis of the mechanical arm 23 and the rotation axis of the side frame plate 33 of the cigarette frame 3, which is to ensure that the mechanical arm 23 will not be hindered by the cigarette frame 3 when rotating close to the side frame plate 33. In addition, in the horizontal direction, the position where the lifting structure contacts the side frame plate 33 is higher than the hinge axis of the lifting cylinder 261, and is always located on the side of the hinge axis of the lifting cylinder 261 facing the other frame opening and folding manipulator 2, so as to ensure that the lifting cylinder 261 always has a tendency to swing toward the limit rod 233. When the mechanical arm 23 rotates toward the side frame plate 33, the lifting structure will swing toward the side frame plate 33 and contact the net structure 334 of the side frame plate 33.

[0070] When the side frame plates 33 of the cigarette frame 3 are in the unfolded state, the side frame plates 33 remain vertical. If the cigarette frame 3 is to be closed, the lifting mechanism 26 needs to be controlled to operate, and the lifting structure is used to push the side frame plates 33 to move upward, so that the positioning protrusions 332 are disengaged from the positioning grooves 322, and then the side frame plates 33 can be driven to rotate. When the side frame plates 33 of the cigarette frame 3 are in the closed state, the two side frame plates 33 are stacked horizontally on the bottom plate 31 of the cigarette frame 3 in sequence. If the cigarette frame 3 is to be unfolded, the mechanical arm 23 needs to be used to drive the side frame plates 33 to rotate to a state close to the vertical state, and then the lifting mechanism 26 is used to drive the side frame plates 33 to move upward to ensure that when the side frame plates 33 are rotated to the vertical state, the positioning protrusions 332 will not collide with the side of the hinge structure 32, otherwise the side frame plates 33 will be blocked and unable to rotate to the vertical state. The frame opening and folding robot 2 in this solution can realize automatic opening and closing of the cigarette frame 3, and the staff no longer need to manually open and close the cigarette frame 3, which reduces the workload and work fatigue of the staff, reduces manpower requirements, and improves work efficiency.

[0071] It should be noted that when the side frame panels 33 of the cigarette frame 3 are expanded or closed, the two side frame panels 33 need to be operated in sequence. For example, when closing, the two side frame panels 33 need to be stacked on the bottom plate 31 of the cigarette frame 3 in sequence; when expanding the side frame panels 33, the side frame panel 33 stacked on top needs to be expanded first, and then the side frame panel 33 placed on the bottom plate 31 needs to be expanded.

[0072] Embodiment 2:

[0073] Reference Fig. 9 The difference between this embodiment and the first embodiment is that the lifting structure includes a lifting plate 262 connected to the piston rod of the lifting cylinder 261 and a plurality of lifting rods 264. The lifting rods 264 are welded and fixed to the lifting plate 262. The lifting rods 264 extend in a direction perpendicular to the plate surface of the lifting plate 262. Each lifting rod 264 is arranged in sequence along the rotation axis of the mechanical arm 23. In the process of the mechanical arm 23 rotating to the side frame plate 33 close to the cigarette frame 3, the mechanical arm 23 stops rotating when the inner tightening structure 252 abuts against the side column 331 of the side frame plate 33. At this time, each lifting rod 264 is respectively inserted into a mesh of the net structure 334 of the side frame plate 33. When the side frame plate 33 is driven by the mechanical arm 23 to rotate to a nearly vertical state, the lifting cylinder 261 is controlled to extend and retract, and the lifting rod 264 directly drives the side frame plate 33 to rise and fall through the net structure 334.

[0074] Since the lifting rod 264 is inserted into the mesh of the net structure 334, there is no need to pre-control the extension of the lifting cylinder 261. When the lifting rod 264 moves, it can directly drive the side frame plate 33 to move through the net structure 334. Moreover, when the side frame plate 33 rotates to a nearly vertical state, the length change of the extension and contraction of the lifting cylinder 261 and the lifting and lowering height of the side frame plate 33 can be relatively stably maintained corresponding. When opening and closing cigarette frames 3 of different specifications, the actual lifting and lowering height of the side frame plate 33 can be conveniently controlled, and there is no need to consider the pre-extension length of the lifting cylinder 261 before the lifting structure drives the side frame plate 33 to rise and fall.

[0075] It should be noted that since the lifting rod 264 abuts against the mesh of the net structure 334, driving the side frame plate 33 to move, it is necessary to ensure that the strength of the contact position between the net structure 334 and the lifting rod 264 is sufficient to support the side frame plate 33. In addition, more lifting rods 264 can be provided, and the net structure 334 is also designed to be more dense, so the contact position between the net structure 334 and the lifting rod 264 should also be more, and the pressure of the net structure 334 can be dispersed to multiple meshes to prevent the net structure 334 from being deformed and damaged due to excessive concentration of force, thereby extending the service life of the side frame plate 33.

[0076] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A frame opening and folding robot, characterized in that: The frame opening and folding manipulators are provided with two, and the two frame opening and folding manipulators are respectively located on both sides of the cigarette frame, and the cigarette frame includes a bottom plate supporting tobacco leaves and two side frame plates respectively hinged on both sides of the bottom plate, and the rotation axes of the two side frame plates are horizontal and parallel, and the side frame plate includes two side columns located on both sides and two cross beams connected between the two side columns, and a net structure is fixedly connected between the side columns and the cross beams, and the side columns are formed with a pin shaft that cooperates with the bottom plate, and the top surface of the bottom plate is formed with a hinge structure that rotates with the side frame plate, and the hinge structure is provided with an oblong hole for the pin shaft to pass through, and the oblong hole extends in the vertical direction. The cam is connected to the frame assembly by a plurality of means for folding the frame members, and the plurality of means for folding the frame members are connected to the frame assembly by a plurality of means for folding the frame members. The lifting structure includes at least two lifting rods connected to the lifting cylinder piston rod, and the lifting rods extend along a direction perpendicular to the rotation axis of the robot arm and close to the cigarette frame. Multiple lifting rods are arranged along a direction parallel to the rotation axis of the robot arm, and each lifting rod is inserted into a mesh of the net structure.

2. A frame opening and folding robot as claimed in claim 1, characterized in that: The lifting mechanism also includes a lifting cylinder for pushing the lifting structure to move. The lifting cylinder is hinged to the mechanical arm, and the hinge axis is parallel to the rotation axis of the mechanical arm. The mechanical arm is also connected to a limit rod for preventing the lifting cylinder from rotating toward the cigarette frame. The limit rod is arranged in a direction parallel to the rotation axis of the mechanical arm, and a spacing is left between the limit rod and the mechanical arm for the lifting cylinder to swing. The plug-in mechanism is arranged on the limit rod.

3. A frame opening and folding robot as claimed in claim 2, characterized in that: The jacking structure comprises a jacking block connected to the piston rod of the jacking cylinder, the jacking block abuts against the side surface of the net structure of the side frame plate, and the jacking structure abuts against the crossbeam of the side frame plate through the jacking block.

4. A frame opening and folding robot as claimed in claim 2, characterized in that: The pneumatic circuit of the lifting cylinder is also equipped with a constant pressure valve.

5. A frame opening and folding robot as claimed in claim 1, characterized in that: The frame opening and folding robot includes two plug-in mechanisms, which respectively cooperate with the two side columns of the side frame plate. The plug-in mechanism also includes a plug-in cylinder connected to the robot arm. The piston rod of the plug-in cylinder is arranged in a direction parallel to the rotation axis of the robot arm and is connected to the plug-in structure.

6. A frame opening and folding robot as claimed in claim 5, characterized in that: The mechanical arm is also connected to an inner tightening cylinder, the piston rod of the inner tightening cylinder is parallel to the piston rod axis of the plug-in cylinder, and is connected to an inner tightening structure. When the mechanical arm rotates close to the side frame plate, the inner tightening structure stops rotating after it abuts against the outer side surface of the side column of the side frame plate.

7. A frame opening and folding robot as claimed in claim 6, characterized in that: The inner tightening structure and the plugging and pulling structure are both rollers, the inner tightening structure is rotatably connected to the piston rod of the inner tightening cylinder, the plugging and pulling structure is rotatably connected to the piston rod of the plugging and pulling cylinder, and the rotation axes of the plugging and pulling structure and the inner tightening structure are parallel to the rotation axis of the robot arm.

8. A frame opening and folding robot as claimed in claim 7, characterized in that: The inner tightening cylinder and the inner tightening structure constitute an inner tightening mechanism. The robotic arm is provided with two inner tightening mechanisms, which respectively cooperate with the two side columns of the side frame plate. The inner tightening structure is also formed with a limiting ring, and the diameter of the limiting ring is larger than the diameter of the inner tightening structure. For the two inner tightening mechanisms on the same robotic arm, the limiting ring is located at the end of the inner tightening structure away from the other inner tightening structure.

9. A frame opening and folding robot as claimed in claim 1, characterized in that: The mounting platform is provided with two shaft seats with overlapping axes, with one end of the robotic arm connected to the mounting platform as the connecting end and the other end as the free end. The connecting end of the robotic arm is provided with a shaft body, and the two ends of the shaft body are respectively inserted into the two shaft seats and rotatably cooperate with the shaft seats. The driving mechanism includes a driving motor transmission-connected to the shaft body.

10. The frame opening and folding robot according to claim 1, characterized in that: The frame opening and folding robot also includes a mounting plate arranged in the vertical direction, the mounting plate is provided with a slide rail extending vertically, a screw pair and a lifting motor for driving the screw pair, the mounting platform is slidably matched with the mounting plate through the slide rail, the screw pair includes a screw rotatably connected to the mounting plate and a nut threadedly matched with the screw, the screw is transmission-connected to the lifting motor, and the nut is connected to the mounting platform.

11. A frame opening and folding robot as claimed in claim 10, characterized in that: The driving mechanism also includes a tensioning cylinder connected between the mounting plate and the robotic arm, the cylinder body of the tensioning cylinder is hinged to the mounting plate, the piston rod is hinged to the robotic arm, the hinge point between the tensioning cylinder and the robotic arm and the plug-in structure are respectively located on both sides of the rotation axis of the robotic arm, the hinge axes between the tensioning cylinder and the mounting plate and the robotic arm are parallel to the rotation axis of the robotic arm, and the piston rod axis of the tensioning cylinder does not intersect with the rotation axis of the robotic arm.

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