Carton carrying manipulator and carton carrying and filling robot

Abstract

The utility model relates to the technical field of tobacco equipment, and discloses a carton carrying manipulator and a carton carrying and filling robot. The carton carrying mechanical arm comprises a main suction cup and an auxiliary suction cup, a plurality of first adsorption holes are formed in the bottom face of the main suction cup, the first adsorption holes are connected with external negative pressure equipment through first airflow channels in the main suction cup, and the first adsorption holes are used for adsorbing the top face of a carton. The auxiliary suction cup is installed on the side of the main suction cup, a plurality of second adsorption holes are formed in the side face, close to the main suction cup, of the auxiliary suction cup, and the second adsorption holes are connected with external negative pressure equipment through a second airflow channel in the auxiliary suction cup and used for adsorbing the side face of the strip box. The included angle between the adsorption face of the main sucker and the adsorption face of the auxiliary sucker is equal to the included angle between the top face and the side face of the carton. The strip box carrying and filling robot comprises a mechanical arm and a strip box carrying manipulator. According to the utility model, the stability of sucking the strip box by the manipulator is improved, the box cover is prevented from being automatically opened in the carrying process of the strip box, and the carrying safety of the strip box is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of tobacco equipment, in particular to a carton conveying manipulator and a carton conveying and filling robot. Background Art

[0002] In mechanized cigarette packaging production, robots are often used to handle carton handling. The robot primarily consists of a robotic arm and a manipulator. The manipulator is used to pick up the carton, while the robotic arm drives the manipulator and the carton to move.

[0003] Existing suction cup manipulators pick up cigarette packs by sucking on their top surfaces and then handling them. However, during this process, the lid of the cigarette pack often opens unexpectedly, preventing smooth handling or even damaging the pack. Furthermore, conventional robots are required to handle cigarette pack handling and packing, resulting in complex and costly operations.

[0004] Therefore, there is an urgent need for a strip box handling manipulator and a strip box handling and filling robot to solve the above-mentioned technical problems. Utility Model Content

[0005] Based on the above, one purpose of the present invention is to provide a strip box handling robot, which can improve the stability of the robot in sucking the strip box, avoid the box cover from opening automatically during the handling process, and ensure the safety of the strip box during the handling process.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A box handling robot, comprising:

[0008] A main suction cup, wherein a plurality of first suction holes are provided on the bottom surface of the main suction cup, wherein the first suction holes are connected to an external negative pressure device through a first air flow channel in the main suction cup, and the first suction holes are used to adsorb the top surface of the strip box;

[0009] Auxiliary suction cup, the auxiliary suction cup is installed on the side of the main suction cup, and a plurality of second suction holes are provided on a side of the auxiliary suction cup close to the main suction cup. The second suction holes are connected to the external negative pressure equipment through the second air flow channel in the auxiliary suction cup, and the second suction holes are used to adsorb the side of the box; the angle between the adsorption surface of the main suction cup and the adsorption surface of the auxiliary suction cup is equal to the angle between the top surface and the side surface of the box.

[0010] In some possible implementations, the angle between the adsorption surface of the main suction cup and the adsorption surface of the auxiliary suction cup is 70 degrees to 110 degrees.

[0011] In some possible implementations, the angle between the adsorption surface of the main suction cup and the adsorption surface of the auxiliary suction cup is 90 degrees.

[0012] In some possible embodiments, the auxiliary suction cup is connected to the main suction cup via a first connecting member, which is L-shaped and includes a horizontal section and a vertical section. The horizontal section is fixedly connected to the top of the main suction cup, and the vertical section is fixedly connected to the side of the auxiliary suction cup that is away from its adsorption surface.

[0013] In some possible implementations, the length of the vertical section extending downward relative to the horizontal section is adjustable.

[0014] In some possible implementations, the vertical section uses a telescopic rod; or the vertical section is slidably connected to the horizontal section along the up and down directions, and the position of the vertical section relative to the horizontal section is fixed by a fastener.

[0015] In some possible embodiments, the strip box handling robot further includes a point suction cup, which is fixedly mounted on the top of the main suction cup, and the adsorption end of the point suction cup protrudes outward from one side of the main suction cup, and the point suction cup is used to adsorb the lining paper and pull tab in the strip box.

[0016] In some possible embodiments, the box handling robot also includes a second connecting member, which includes a connecting tube, a first flange arranged at the upper end of the connecting tube and a second flange arranged at the lower end of the connecting tube, the first flange is used to be fixedly connected to the end of the robot arm, and the second flange is fixedly connected to the top of the main suction cup.

[0017] In some possible implementations, the size of the bottom surface of the main suction cup matches the size of the top surface of the box.

[0018] Another object of the present invention is to provide a carton transporting and filling robot that can prevent the carton cover from being abnormally opened during the transport process; and has a simple structure and is easy to operate, and can realize automatic transport and filling of cigarette packs in the carton.

[0019] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0020] A strip box handling and filling robot comprises a robotic arm and a strip box handling robot as described in any of the above schemes, wherein the strip box handling robot is fixedly installed at the end of the robotic arm.

[0021] Beneficial effects of the utility model:

[0022] The present invention provides a box handling robot that uses a main suction cup to hold the top surface of the box and a secondary suction cup to hold the side surface of the box. This improves the stability of the robot in handling the box and, by limiting the position of the box body through the secondary suction cup, effectively prevents the box lid from automatically opening during handling, thereby ensuring safety during the handling of the box. Furthermore, the angle between the suction surface of the main suction cup and the suction surface of the secondary suction cup is set according to the shape of the box, ensuring that the main suction cup fits tightly against the top surface of the box and the secondary suction cup fits tightly against the side surface of the box, thereby improving the reliability of the box handling.

[0023] The robot for transporting and filling strip boxes provided by the utility model firmly holds the strip box by means of a main suction cup and an auxiliary suction cup, thereby preventing the box cover from being opened abnormally; the robot drives the strip box to move by means of a mechanical arm, thereby realizing the position transfer of the strip box; when the strip box moves to the filling station, the main suction cup absorbs the box cover and the mechanical arm drives the main suction cup to rotate, thereby realizing the opening of the box cover; the main suction cup absorbs the cigarette pack and the mechanical arm drives the main suction cup to move, thereby realizing the filling of the cigarette pack into the strip box; thereafter, the main suction cup absorbs the box cover and the mechanical arm drives the main suction cup to rotate in the opposite direction, thereby realizing the closing of the box cover; the utility model has a simple structure and is easy to operate, thereby realizing the automatic transport and cigarette pack filling operations of the strip boxes, thereby reducing costs and improving the degree of automation of the transport and filling of strip boxes. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of a strip box in the prior art;

[0025] Figure 2 This is a schematic diagram of the structure of the box handling robot provided by the embodiment of the utility model Figure 1 ;

[0026] Figure 3 This is a schematic diagram of the structure of the box handling robot provided by the embodiment of the utility model Figure 2 ;

[0027] Figure 4 This is a schematic diagram of the structure of the box handling robot provided by the embodiment of the utility model Figure 3 ;

[0028] Figure 5 It is a structural schematic diagram of a box transporting and filling robot provided by an embodiment of the utility model.

[0029] In the picture:

[0030] 100, robotic arm; 200, carton handling robot; 300, carton; 310, carton body; 320, carton cover; 330, lining paper; 340, pull tab;

[0031] 1. Main suction cup; 11. First suction hole; 2. Auxiliary suction cup; 21. Second suction hole; 3. First connecting piece; 31. Horizontal section; 32. Vertical section; 4. Point suction cup; 5. Second connecting piece; 51. First flange; 52. Second flange; 53. Connecting tube.

[0032] Figure 4 The middle angle α is the angle between the adsorption surface of the main suction cup and the adsorption surface of the auxiliary suction cup. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of its components.

[0034] In the description of this utility model, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0035] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0036] In the description of this utility model, the terms "upper," "lower," "left," and "right," etc., regarding orientations or positions, are based on the orientations or positions shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0037] like Figure 1As shown, a conventional art box 300 includes a box body 310 and a box cover 320, wherein the box cover 320 is reversibly connected to the upper side of the box body 310. In this embodiment, the side where the box body 310 and the box cover 320 are connected is defined as the rear side of the box body 310, and the side opposite to the rear side is defined as the front side of the box body 310. When the box cover 320 is closed, it can be in contact with the front side of the box body 310.

[0038] like Figures 2 to 4 As shown, this embodiment provides a strip box handling robot 200 for handling the above-mentioned strip box 300. The strip box handling robot 200 includes a main suction cup 1 and an auxiliary suction cup 2. The bottom surface of the main suction cup 1 is provided with a plurality of first suction holes 11, which are connected to an external negative pressure device through a first air flow channel in the main suction cup 1, and the first suction holes 11 are used to adsorb the top surface of the strip box 300; the auxiliary suction cup 2 is installed on the side of the main suction cup 1, and a side surface of the auxiliary suction cup 2 close to the main suction cup 1 is provided with a plurality of second suction holes 21, which are connected to an external negative pressure device through a second air flow channel in the auxiliary suction cup 2, and the second suction holes 21 are used to adsorb the side surface of the strip box 300; the angle α between the adsorption surface of the main suction cup 1 (i.e., the surface provided with the first suction holes 11) and the adsorption surface of the auxiliary suction cup 2 (i.e., the surface provided with the second suction holes 21) is equal to the angle between the top surface and the side surface of the strip box 300. It should be noted that, since the box cover 320 is disposed above the box body 310 , the top surface of the strip box 300 described in this embodiment refers to the top surface of the box cover 320 , and the side surfaces of the strip box 300 described in this embodiment can be considered as the side surfaces of the box body 310 .

[0039] The cassette handling robot 200 provided in this embodiment uses a main suction cup 1 to hold the top surface of the cassette 300 and a secondary suction cup 2 to hold the side surface of the cassette 300. This not only improves the stability of the robot in handling the cassette 300, but also limits the position of the cassette body 310 using the secondary suction cup 2, effectively preventing the lid 320 from automatically opening during handling, thereby ensuring safety during handling of the cassette 300. Furthermore, the angle α between the suction surfaces of the main suction cup 1 and the secondary suction cup 2 is set according to the shape of the cassette 300, ensuring that the main suction cup 1 and the top surface of the cassette 300 are in close contact, and the secondary suction cup 2 and the side surface of the cassette 300 are in close contact, thereby improving the reliability of the cassette 300 handling.

[0040] Optionally, in this embodiment, the second suction hole 21 is used to suction the front side of the box body 310. This can better prevent the box lid 320 from automatically opening during transportation of the box 300, further ensuring the safety of the box 300 during transportation. Optionally, the angle α between the suction surface of the main suction cup 1 and the suction surface of the auxiliary suction cup 2 in this embodiment ranges from 70 degrees to 110 degrees, for example, 70 degrees, 80 degrees, 85 degrees, 95 degrees, or 110 degrees. The angle α can be set according to the shape of the box 300 to be grasped, as long as the main suction cup 1 can reliably suction the top surface of the box 300 and the auxiliary suction cup 2 can reliably suction the side surface of the box 300. Preferably, the angle α between the suction surface of the main suction cup 1 and the suction surface of the auxiliary suction cup 2 in this embodiment is 90 degrees, which is suitable for use with conventional rectangular boxes.

[0041] Furthermore, the auxiliary suction cup 2 and the main suction cup 1 of this embodiment are connected by a first connecting member 3. The first connecting member 3 is "L"-shaped and includes a horizontal section 31 and a vertical section 32. The horizontal section 31 is fixedly connected to the top of the main suction cup 1, and the vertical section 32 is fixedly connected to the side of the auxiliary suction cup 2 away from its adsorption surface. In this way, a firm connection between the main suction cup 1 and the auxiliary suction cup 2 is achieved, and the structure is simple and the connection is convenient.

[0042] Optionally, the length of the vertical section 32 extending downward relative to the horizontal section 31 is adjustable. During use, the downward extension of the vertical section 32 is adjusted according to the height of the cassette 300, thereby adjusting the suction and support position of the auxiliary suction cup 2 on the cassette 300. This ensures the reliability of the auxiliary suction cup 2's suction on the side of the cassette 300, allowing the cassette handling robot 200 to be applicable to a wider range of cassettes 300 and improving its applicability. For example, the vertical section 32 can be connected to the horizontal section 31 by extending or retracting a telescopic rod, or the vertical section 32 can be connected to the horizontal section 31 in a sliding manner in the vertical direction. When the vertical section 32 slides to the appropriate position, the position of the vertical section 32 relative to the horizontal section 31 can be locked by fasteners.

[0043] Continue to refer Figure 1 The carton 300 is a special-shaped carton. A lining paper 330 and a pull tab 340 are provided in the box body 310. When filling the carton 300, the lining paper 330 and the pull tab 340 need to be pulled outwards before the cigarette packs are filled into the box body 310. However, conventional robots can only carry the carton 300 but cannot pull out the lining paper 330 and the pull tab 340. This reduces the degree of automation in cigarette pack filling and makes it difficult to adapt to the sophisticated operation requirements of special-shaped carton filling.

[0044] In order to solve the above technical problems, the box handling robot 200 of this embodiment also includes a point suction cup 4, which is fixedly installed on the top of the main suction cup 1, and the adsorption end of the point suction cup 4 protrudes outward from one side of the main suction cup 1. The point suction cup 4 is used to adsorb the backing paper 330 and the pull tab 340 in the box 300 to realize the refined operation of the robot. During operation, the main suction cup 1 and the auxiliary suction cup 2 first suck the strip box 300 and move the strip box 300 to the filling station; then the main suction cup 1 is used to open the box cover 320, and the point suction cup 4 is used to pull out the pull tab 340 and the lining paper 330 respectively; then the main suction cup 1 is used to suck the cigarette pack and fill the cigarette pack into the box body 310; then the point suction cup 4 is used to put the pull tab 340 and the lining paper 330 back into the box body 310 respectively, and the main suction cup 1 is used to close the box cover 320; finally, the main suction cup 1 and the auxiliary suction cup 2 are used to suck the strip box 300 filled with cigarette packs and move it to the next station.

[0045] Furthermore, the carton handling robot 200 of this embodiment includes a second connecting member 5, which comprises a connecting tube 53, a first flange 51 disposed at the upper end of the connecting tube 53, and a second flange 52 disposed at the lower end of the connecting tube 53. The first flange 51 is fixedly connected to the end of the robot arm 100 via fasteners, and the second flange 52 is fixedly connected to the top of the main suction cup 1 via fasteners. The second connecting member 5 has a simple structure and is easy to manufacture, thereby achieving a secure and reliable connection between the carton handling robot 200 and the robot arm 100.

[0046] Since the top surface of the cassette 300 is typically rectangular, the bottom surface of the main suction cup 1 in this embodiment is optionally also rectangular, and the size of the bottom surface of the main suction cup 1 matches the size of the top surface of the cassette 300. This arrangement ensures that the main suction cup 1 can fully adhere to the top surface of the cassette 300, improving suction stability, while also reducing the size of the main suction cup 1 and saving costs. Of course, in other embodiments, the bottom surface of the main suction cup 1 can be larger or smaller than the corresponding size of the top surface of the cassette 300 to still achieve suction to the cassette 300. In this embodiment, since the main suction cup 1 primarily holds the cassette 300, and the auxiliary suction cup 2 provides auxiliary suction and prevents the lid 320 from opening, the length of the auxiliary suction cup 2 can be adjusted as needed and can be smaller than the side dimensions of the cassette 300.

[0047] Optionally, in this embodiment, a plurality of first adsorption holes 11 are evenly spaced apart on the bottom surface of the main suction cup 1; a plurality of second adsorption holes 21 are evenly spaced apart on the side surface of the auxiliary suction cup 2. Such an arrangement can improve the balance of force applied to the box 300 when it is adsorbed, thereby preventing the box 300 from shifting or accidentally falling.

[0048] like Figure 5As shown, this embodiment further provides a carton handling and filling robot, including a robotic arm 100 and the above-mentioned carton handling robot 200 , which is fixedly connected to the end of the robotic arm 100 via a second connecting member 5 .

[0049] The carton handling and filling robot provided in this embodiment firmly holds the carton 300 by means of the main suction cup 1 and the auxiliary suction cup 2, preventing the lid 320 from being opened abnormally. The robot arm 100 drives the carton 300 to move, thereby transferring the position of the carton 300. After the carton 300 moves to the filling station, the main suction cup 1 attracts the lid 320 and the robot arm 100 drives the main suction cup 1 to rotate, thereby opening the lid of the carton 300. The main suction cup 1 absorbs the cigarette pack and the robot arm 100 drives the main suction cup 1 to move, thereby filling the cigarette pack into the carton 300. Thereafter, the main suction cup 1 attracts the lid 320 and the robot arm 100 drives the main suction cup 1 to rotate in the opposite direction, thereby closing the lid 320. The utility model has a simple structure and is easy to operate. A single robot can complete the automatic handling and filling of the carton 300 with cigarette packs, thereby reducing costs and improving the degree of automation in the handling and filling of the carton 300.

[0050] Obviously, the above-described embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the manner in which the present invention is to be implemented. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A box handling robot, characterized in that: include: A main suction cup (1), wherein a bottom surface of the main suction cup (1) is provided with a plurality of first suction holes (11), wherein the first suction holes (11) are connected to an external negative pressure device through a first air flow channel in the main suction cup (1), and the first suction holes (11) are used to adsorb the top surface of the strip box (300); A secondary suction cup (2), the secondary suction cup (2) is installed on the side of the main suction cup (1), and a plurality of second suction holes (21) are provided on a side of the secondary suction cup (2) close to the main suction cup (1), the second suction holes (21) are connected to the external negative pressure device through the second air flow channel in the secondary suction cup (2), and the second suction holes (21) are used to adsorb the side of the box (300); the angle between the adsorption surface of the main suction cup (1) and the adsorption surface of the secondary suction cup (2) is equal to the angle between the top surface and the side surface of the box (300).

2. The cartridge transport robot according to claim 1, characterized in that: The angle between the adsorption surface of the main suction cup (1) and the adsorption surface of the auxiliary suction cup (2) is 70 degrees to 110 degrees.

3. The cartridge transport robot according to claim 2, characterized in that: The angle between the adsorption surface of the main suction cup (1) and the adsorption surface of the auxiliary suction cup (2) is 90 degrees.

4. The cartridge transport robot according to claim 3, characterized in that: The auxiliary suction cup (2) is connected to the main suction cup (1) via a first connecting member (3). The first connecting member (3) is L-shaped and comprises a horizontal section (31) and a vertical section (32). The horizontal section (31) is fixedly connected to the top of the main suction cup (1), and the vertical section (32) is fixedly connected to the side of the auxiliary suction cup (2) facing away from its adsorption surface.

5. The cartridge transport robot according to claim 4, characterized in that: The length of the vertical section (32) extending downward relative to the horizontal section (31) is adjustable.

6. The cartridge transport robot according to claim 5, characterized in that: The vertical section (32) adopts a telescopic rod; or, the vertical section (32) is slidably connected to the horizontal section (31) along the up and down directions, and the position of the vertical section (32) relative to the horizontal section (31) is fixed by a fastener.

7. The cartridge transport robot according to claim 1, characterized in that: The strip box handling robot further comprises a point suction cup (4), which is fixedly mounted on the top of the main suction cup (1), and the suction end of the point suction cup (4) protrudes outward from one side of the main suction cup (1), and the point suction cup (4) is used to absorb the lining paper (330) and the pull tab (340) in the strip box (300).

8. The cartridge transport robot according to claim 1, characterized in that: The box handling robot also includes a second connecting member (5), which includes a connecting tube (53), a first flange (51) arranged at the upper end of the connecting tube (53) and a second flange (52) arranged at the lower end of the connecting tube (53), wherein the first flange (51) is used to be fixedly connected to the end of the robot arm (100), and the second flange (52) is fixedly connected to the top of the main suction cup (1).

9. The cartridge transport robot according to any one of claims 1 to 8, characterized in that: The size of the bottom surface of the main suction cup (1) matches the size of the top surface of the box (300).

10. A box handling and filling robot, comprising a robotic arm (100), characterized in that: It also comprises the cartridge transporting robot according to any one of claims 1 to 9, wherein the cartridge transporting robot is fixedly mounted at the end of the robot arm (100).

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