Tobacco bale carrying robot

Abstract

The utility model relates to the technical field of tobacco equipment, and discloses a tobacco bale carrying robot which comprises a mechanical arm and a tobacco bale shifting manipulator arranged at the tail end of the mechanical arm, the tobacco bale shifting manipulator comprises a base, a first suction cup, a second suction cup and a lifting driving part, and the base is installed at the tail end of the mechanical arm; the first suction cup is fixed to the bottom of the base, and a plurality of first adsorption holes used for adsorbing cigarette packets are formed in the bottom face of the first suction cup. The second suction cups are arranged on the base in a vertically movable mode and arranged on one side of the first suction cup side by side, and a plurality of second suction holes used for sucking cigarette packets are formed in the bottom faces of the second suction cups. The lifting driving part is fixed to the base, and the output end of the lifting driving part is fixedly connected with the second suction cup and used for driving the second suction cup to move up and down. The lifting driving piece drives the second suction cup to move up and down, sequential boxing operation of two cigarette packets can be achieved, and the cigarette packet boxing device is suitable for boxing operation of special cartons; and the two cigarette packets are sucked at the same time, and the working efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of tobacco equipment, in particular to a cigarette packet handling robot. Background Art

[0002] In the mechanized production of cigarette packets, robots are often used for the handling operation of cigarette packets. The existing cigarette packet handling robots pick up one or more cigarette packets each time, then transport them to a designated position, and then release all the cigarette packets simultaneously, thus completing the handling of the cigarette packets.

[0003] However, for a strip box provided with partition strips to separate adjacent cigarette packets, the existing cigarette packet handling robots cannot complete the operation of loading the cigarette packets into the box.

[0004] Therefore, there is an urgent need for a cigarette packet handling robot to solve the above technical problems. Summary of the Utility Model

[0005] Based on the above, the purpose of the utility model is to provide a cigarette packet handling robot, which is applicable to the operation of loading cigarette packets into a special strip box and has a high working efficiency.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] A cigarette packet handling robot includes a robotic arm and a cigarette packet shifting manipulator arranged at the end of the robotic arm. The cigarette packet shifting manipulator includes:

[0008] A base, installed at the end of the robotic arm;

[0009] A first suction cup, fixed to the bottom of the base. A plurality of first suction holes for adsorbing cigarette packets are arranged on the bottom surface of the first suction cup. The first suction holes are connected to an external negative pressure device through a first air flow channel in the first suction cup;

[0010] A second suction cup, movably arranged up and down on the base. The second suction cup is arranged side by side with the first suction cup. A plurality of second suction holes for adsorbing cigarette packets are arranged on the bottom surface of the second suction cup. The second suction holes are connected to an external negative pressure device through a second air flow channel in the second suction cup;

[0011] A lifting driving member, fixed to the base. The output end of the lifting driving member is fixedly connected to the second suction cup, and is used for driving the second suction cup to move up and down.

[0012] In some possible implementation manners, the lifting driving member is a cylinder, a hydraulic cylinder or an electric cylinder. The output end of the lifting driving member is a telescopic rod, and the telescopic rod is fixedly connected to the top end of the second suction cup.

[0013] In some possible embodiments, the cigarette pack handling robot further includes a rotation driving member, which is fixedly installed at the end of the robotic arm, and the output end of the rotation driving member is fixedly connected to the upper end of the base.

[0014] In some possible embodiments, the rotation driving member is a rotation motor, and the output shaft of the rotation motor is fixedly connected to the top of the base.

[0015] In some possible embodiments, the rotation driving member can drive the base to rotate 180 degrees.

[0016] In some possible embodiments, the base includes a vertical portion, a first horizontal portion provided at the upper end of the vertical portion, and a second horizontal portion provided at the lower end of the vertical portion. The first horizontal portion is used for fixedly connecting to the output end of the rotation driving member, and the second horizontal portion is used for fixedly connecting to the first suction cup.

[0017] In some possible embodiments, a plurality of first connection holes are annularly arranged on the first horizontal portion for fixedly connecting to the output end of the rotation driving member through fasteners; a plurality of second connection holes are provided on the second horizontal portion for fixedly connecting to the top of the first suction cup through fasteners.

[0018] In some possible embodiments, the size of the bottom surface of the first suction cup and the size of the bottom surface of the second suction cup both match the size of the cigarette pack.

[0019] In some possible embodiments, a first adapter is connected to the side of the first suction cup. The first adapter is communicated with the first air flow channel, and the first adapter is used for connecting to an external negative pressure device through a pipeline.

[0020] In some possible embodiments, a second adapter is connected to the side of the second suction cup. The second adapter is communicated with the second air flow channel, and the second adapter is used for connecting to an external negative pressure device through a pipeline.

[0021] Advantages of the present utility model:

[0022] The cigarette pack handling robot provided by the present utility model sucks two cigarette packs through the first suction cup and the second suction cup, and drives the cigarette pack displacement manipulator to move through the robotic arm, thereby realizing the suction and transfer of the cigarette packs; when it is necessary to pack the cigarette boxes, the second suction cup is driven to move up and down by the lifting driving member, so that the two cigarette packs are vertically offset, so that one cigarette pack can be placed into the strip box first, and then the other cigarette pack can be placed into the strip box, realizing the sequential boxing of the two cigarette packs, effectively solving the problem that the existing cigarette pack handling robot cannot be applied to the boxing operation of special strip boxes (such as strip boxes provided with grid strips). At the same time, compared with the robot that takes one cigarette pack for boxing each time, the present utility model sucks two cigarette packs each time, and has higher working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of the cigarette pack handling robot provided by an embodiment of the present utility model;

[0024] Figure 2 is a schematic structural diagram of the cigarette pack displacement manipulator involved in an embodiment of the present utility model;

[0025] Figure 3 is a schematic structural diagram of the base involved in an embodiment of the present utility model.

[0026] In the figure:

[0027] 1, robotic arm; 2, cigarette pack displacement manipulator; 21, base; 211, vertical part; 212, first horizontal part; 213, second horizontal part; 214, first connection hole; 215, second connection hole; 22, first suction cup; 221, first adsorption hole; 222, first adapter; 23, second suction cup; 231, second adsorption hole; 232, second adapter; 24, lifting driving member; 3, rotation driving member. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The present utility model will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present utility model, rather than limiting the present utility model. In addition, it should be noted that for the convenience of description, only the parts related to the present utility model are shown in the drawings, rather than all the structures.

[0029] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0030] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the first feature and the second feature being in direct contact, or may include the first feature and the second feature not being in direct contact but being in contact through additional features therebetween. Moreover, the first feature being "above", "over", and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "under", and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0031] In the description of the present utility model, the orientation or positional relationship such as "above", "below", "left", and "right" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0032] This embodiment provides a cigarette pack handling robot for handling and boxing cigarette packs to solve the problem that existing robots cannot be applied to the boxing operation of special-shaped strip boxes.

[0033] Such as Figures 1 to 3As shown in the figure, the cigarette pack handling robot provided in this embodiment includes a robotic arm 1 and a cigarette pack shifting manipulator 2 disposed at the end of the robotic arm 1. The cigarette pack shifting manipulator 2 is used to adsorb cigarette packs, and the robotic arm 1 is used to drive the cigarette pack shifting manipulator 2 to move, so as to realize the transfer of cigarette packs. Specifically, the robotic arm 1 can be a multi-axis robotic arm, such as a five-axis robotic arm, a three-axis robotic arm, etc., so as to be able to realize movements within a range of multiple degrees of freedom. The cigarette pack shifting manipulator 2 of this embodiment includes a base 21, a first suction cup 22, a second suction cup 23, and a lifting drive member 24. The base 21 is installed at the end of the robotic arm 1. The first suction cup 22 is fixed to the bottom of the base 21. A plurality of first suction holes 221 for adsorbing cigarette packs are provided on the bottom surface of the first suction cup 22. The first suction holes 221 are connected to an external negative pressure device through a first air flow channel in the first suction cup 22. By means of the external negative pressure device, the first suction cup 22 can generate suction force, thereby sucking the cigarette pack. The second suction cup 23 is movably arranged up and down on the base 21. The second suction cup 23 is arranged side by side with the first suction cup 22. A plurality of second suction holes 231 for adsorbing cigarette packs are provided on the bottom surface of the second suction cup 23. The second suction holes 231 are connected to an external negative pressure device through a second air flow channel in the second suction cup 23. By means of the external negative pressure device, the second suction cup 23 can generate suction force, thereby sucking the cigarette pack. The lifting drive member 24 is fixed to the side surface of the base 21. The output end of the lifting drive member 24 is fixedly connected to the second suction cup 23 and is used to drive the second suction cup 23 to move up and down.

[0034] The working process of the cigarette pack handling robot of this embodiment is as follows: When sucking the cigarette pack, the cigarette packs are neatly arranged in the cigarette pack frame. The robotic arm 1 drives the cigarette pack shifting manipulator 2 to move to a position corresponding to the cigarette pack frame. At this time, the bottoms of the first suction cup 22 and the second suction cup 23 are flush, and then two cigarette packs are simultaneously adsorbed; then the robotic arm 1 moves the cigarette pack shifting manipulator 2 to a position corresponding to the strip carton. At this time, the lifting drive member 24 acts to drive the second suction cup 23 to move downward, and then the second suction cup 23 releases the cigarette pack, so as to place the corresponding cigarette pack at a set position in the strip carton; then the lifting drive member 24 acts to drive the second suction cup 23 to move upward and reset. At this time, the cigarette pack on the first suction cup 22 protrudes outward; then the robotic arm 1 acts to drive the cigarette pack on the first suction cup 22 to align with another placement position in the strip carton, and the first suction cup 22 releases the cigarette pack on it, thus completing the packing of two cigarette packs.

[0035] In this embodiment, two cigarette packs are simultaneously sucked by the first suction cup 22 and the second suction cup 23, and the robotic arm 1 drives the cigarette pack shifting manipulator 2 to move, thereby realizing the suction and transfer of the cigarette packs. When it is necessary to pack the cigarette packs into a carton, the lifting driving member 24 drives the second suction cup 23 to move up and down, so that the two cigarette packs are offset vertically. Thus, one cigarette pack can be placed into the carton first, and then the other cigarette pack can be placed into the carton, realizing the sequential packing of the two cigarette packs, and effectively solving the problem that the existing cigarette pack handling robots cannot be applied to the packing operation of special cartons (such as cartons provided with grid bars). At the same time, compared with the robots that pick up one cigarette pack for packing each time, this embodiment sucks two cigarette packs each time, with higher working efficiency.

[0036] Optionally, in this embodiment, a first adapter 222 is connected to the side of the first suction cup 22. One end of the first adapter 222 is hermetically connected to the first air flow channel, and the other end of the first adapter 222 is hermetically connected to a pipeline. The pipeline is connected to an external negative pressure device, thus realizing the connection between the external negative pressure device and the first adsorption hole 221, and achieving the function of controlling the first suction cup 22 to adsorb and release the cigarette pack. The above-mentioned first adapter 222 has a simple structure, convenient connection and good sealing performance, ensuring the reliability of the adsorption of the first suction cup 22 on the cigarette pack.

[0037] Similarly, in this embodiment, a second adapter 232 is connected to the side of the second suction cup 23. One end of the second adapter 232 is hermetically connected to the second air flow channel, and the other end of the second adapter 232 is hermetically connected to a pipeline. The pipeline is connected to an external negative pressure device, thus realizing the connection between the external negative pressure device and the second adsorption hole 231, and achieving the function of controlling the second suction cup 23 to adsorb and release the cigarette pack. The above-mentioned second adapter 232 has a simple structure, convenient connection and good sealing performance, ensuring the reliability of the adsorption of the second suction cup 23 on the cigarette pack.

[0038] In this embodiment, the size of the bottom surface of the first suction cup 22 is adapted to the size of the cigarette pack it adsorbs, and the two are approximately equal; at the same time, the size of the bottom surface of the second suction cup 23 is adapted to the size of the cigarette pack it adsorbs, and the two are approximately equal. Such a setting not only ensures the reliability of the suction cup in adsorbing the corresponding cigarette pack, but also helps to reduce the size of the suction cup and save costs. Of course, in other embodiments, the size of the bottom surface of the first suction cup 22 and the size of the bottom surface of the second suction cup 23 can also be set to be larger or smaller than the size of the corresponding cigarette pack, and the adsorption effect on the cigarette pack can also be achieved. Further, in this embodiment, the size of the first suction cup 22 is equal to the size of the second suction cup 23, and they are used to adsorb cigarette packs of the same specification. In other embodiments, the sizes of the first suction cup 22 and the second suction cup 23 can also be set to be different, where the first suction cup 22 adsorbs cigarette packs of one size specification, and the second suction cup 23 adsorbs cigarette packs of another size specification, making the use more flexible. Optionally, in this embodiment, the multiple first suction holes 221 on the first suction cup 22 are evenly spaced on its bottom surface, and the multiple second suction holes 231 on the second suction cup 23 are evenly spaced on its bottom surface. Such a setting can improve the balance of the force when the cigarette pack is adsorbed, and avoid the displacement or accidental drop of the cigarette pack.

[0039] In this embodiment, the lifting drive member 24 can be a cylinder, a hydraulic cylinder or an electric cylinder. The output end of the lifting drive member 24 is a telescopic rod (such as the piston rod of a cylinder or a hydraulic cylinder, the push rod of an electric cylinder), and one end of the telescopic rod is fixedly connected to the top end of the second suction cup 23. The above-mentioned lifting drive member 24 has a simple structure, is convenient to install, has a stable drive and precise control. Preferably, the lifting drive member 24 in this embodiment adopts a cylinder, which is safe to use, has a low cost and good reliability.

[0040] There are different situations in the stacking forms of cigarette packs on the existing cigarette pack stack. For example: the cigarette packs on some cigarette pack stacks are all arranged in the same direction, and the two horizontally adjacent cigarette packs on some cigarette pack stacks are arranged in opposite directions. For the latter form of cigarette pack stack, when the cigarette pack transfer manipulator 2 picks up the cigarette pack, the arrangement directions of the cigarette pack adsorbed by the first suction cup 22 and the cigarette pack adsorbed by the second suction cup 23 are opposite, which brings inconvenience to the subsequent boxing or stacking of the cigarette packs.

[0041] To solve the above problems, the cigarette packet handling robot of this embodiment further includes a rotation driving member 3. The rotation driving member 3 is fixedly installed at the end of the robotic arm 1, and the output end of the rotation driving member 3 is fixedly connected to the upper end of the base 21. In this way, the cigarette packet shifting manipulator 2 can be driven by the rotation driving member 3 to rotate, so as to realize loading the cigarette packets adsorbed on the first suction cup 22 and the second suction cup 23 into a box or stacking them in the same direction. Specifically, the rotation driving member 3 of this embodiment can drive the base 21 to rotate 180 degrees, so as to realize a 180-degree turn of the cigarette packets on the first suction cup 22 or the second suction cup 23. Optionally, the rotation driving member 3 of this embodiment is a rotation motor, and the output shaft of the rotation motor is fixedly connected to the top of the base 21, and its structure is simple and the control is convenient.

[0042] For the case where the horizontally adjacent cigarette packets on the cigarette packet stack are arranged in opposite directions, the working process of the cigarette packet handling robot of this embodiment is as follows: First, two cigarette packets are simultaneously adsorbed by the first suction cup 22 and the second suction cup 23; then the robotic arm 1 moves, driving the cigarette packet shifting manipulator 2 to move to the designated placement position of the cigarette packet; then the first suction cup 22 places the cigarette packet on it first; then the robotic arm 1 drives the cigarette packet shifting manipulator 2 to lift, and the rotation driving member 3 acts to drive the cigarette packet shifting manipulator 2 to rotate 180 degrees; then the lifting driving member 24 acts to make the second suction cup 23 move downward. At this time, the cigarette packet on the second suction cup 23 bulges downward, so as to place the cigarette packet on the second suction cup 23 at the designated placement position.

[0043] Optionally, the base 21 of this embodiment includes a vertical portion 211, a first horizontal portion 212 provided at the upper end of the vertical portion 211, and a second horizontal portion 213 provided at the lower end of the vertical portion 211. The first horizontal portion 212 is used for fixedly connecting with the output shaft of the rotation motor, and the second horizontal portion 213 is used for fixedly connecting with the top of the first suction cup 22. In this embodiment, both the first horizontal portion 212 and the second horizontal portion 213 are perpendicular to the vertical portion 211, and the first horizontal portion 212 and the second horizontal portion 213 are located on the same side of the vertical portion 211, and its structure is reasonable and compact. Further, a plurality of first connection holes 214 are arranged in a circular array on the first horizontal portion 212, and a plurality of first threaded holes are provided at the end of the output shaft of the rotation motor. The threaded fasteners pass through the first connection holes 214 and are connected to the first threaded holes, so as to realize the fixation between the first horizontal portion 212 and the output shaft of the rotation motor; at the same time, a plurality of second connection holes 215 are arranged in a rectangular array on the second horizontal portion 213, and a plurality of second threaded holes are provided at the top of the first suction cup 22. The threaded fasteners pass through the second connection holes 215 and are connected to the second threaded holes, so as to realize the fixation between the second horizontal portion 213 and the first suction cup 22. The base 21 provided in this embodiment has a simple structure, convenient connection, and is firmly fixed to the rotation motor and the first suction cup 22.

[0044] Obviously, the above embodiments of the present utility model are merely examples for clearly illustrating the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present utility model. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims

1. A cigarette pack handling robot, characterized in that: The invention comprises a mechanical arm (1) and a cigarette pack shifting mechanical arm (2) arranged at the end of the mechanical arm (1), wherein the cigarette pack shifting mechanical arm (2) comprises: A base (21) mounted on the end of the mechanical arm (1); A first suction cup (22) is fixed to the bottom of the base (21), and a plurality of first suction holes (221) for adsorbing cigarette packets are provided on the bottom surface of the first suction cup (22), and the first suction holes (221) are connected to an external negative pressure device through a first airflow channel in the first suction cup (22); A second suction cup (23) is movably disposed on the base (21) up and down, the second suction cup (23) is arranged side by side on one side of the first suction cup (22), a bottom surface of the second suction cup (23) is provided with a plurality of second suction holes (231) for adsorbing cigarette packets, and the second suction holes (231) are connected to an external negative pressure device through a second air flow channel in the second suction cup (23); A lifting drive member (24) is fixed on the base (21); an output end of the lifting drive member (24) is fixedly connected to the second suction cup (23) and is used to drive the second suction cup (23) to move up and down.

2. The cigarette pack handling robot according to claim 1, characterized in that: The lifting drive member (24) is a pneumatic cylinder, a hydraulic cylinder or an electric cylinder, and the output end of the lifting drive member (24) is a telescopic rod, and the telescopic rod is fixedly connected to the top end of the second suction cup (23).

3. The cigarette pack handling robot according to claim 1, characterized in that: The cigarette pack handling robot further comprises a rotary drive member (3), wherein the rotary drive member (3) is fixedly mounted on the end of the mechanical arm (1), and the output end of the rotary drive member (3) is fixedly connected to the upper end of the base (21).

4. The cigarette pack handling robot according to claim 3, characterized in that: The rotary drive member (3) is a rotary motor, and the output shaft of the rotary motor is fixedly connected to the top of the base (21).

5. The cigarette pack handling robot according to claim 3, characterized in that: The rotary drive member (3) can drive the base (21) to rotate 180 degrees.

6. The cigarette pack handling robot according to claim 3, characterized in that: The base (21) comprises a vertical portion (211), a first horizontal portion (212) arranged at the upper end of the vertical portion (211), and a second horizontal portion (213) arranged at the lower end of the vertical portion (211), wherein the first horizontal portion (212) is used for being fixedly connected to the output end of the rotating drive member (3), and the second horizontal portion (213) is used for being fixedly connected to the first suction cup (22).

7. The cigarette pack handling robot according to claim 6, characterized in that: A plurality of first connection holes (214) are provided in a circular array on the first horizontal portion (212) for fixedly connecting with the output end of the rotating drive member (3) via a fastener; and a plurality of second connection holes (215) are provided on the second horizontal portion (213) for fixedly connecting with the top of the first suction cup (22) via a fastener.

8. The cigarette pack handling robot according to any one of claims 1 to 7, characterized in that: The size of the bottom surface of the first suction cup (22) and the size of the bottom surface of the second suction cup (23) both match the size of the cigarette pack.

9. The cigarette pack handling robot according to any one of claims 1 to 7, characterized in that: A first adapter (222) is connected to the side of the first suction cup (22), the first adapter (222) is in communication with the first air flow channel, and the first adapter (222) is used to be connected to an external negative pressure device through a pipeline.

10. The cigarette pack handling robot according to any one of claims 1 to 7, characterized in that: A second adapter (232) is connected to the side of the second suction cup (23), the second adapter (232) is in communication with the second air flow channel, and the second adapter (232) is used to be connected to an external negative pressure device through a pipeline.

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