End execution device

Abstract

The utility model relates to an end executive device which comprises a base arranged in a flat shape; the mounting frame is arranged on one side of the base; the nozzle is arranged on the mounting frame, a spraying hole is formed in the nozzle, and the spraying direction of the spraying hole can be adjusted; the image acquisition assembly is arranged on the base, and the image acquisition assembly and the mounting frame are located on the same side of the base. According to the end executive device provided by the embodiment of the invention, the image acquisition assembly and the mounting frame are arranged on the same side of the base, and the nozzle can be connected to the water supply pipe or the air supply pipeline, so that the spraying holes in the nozzle can spray water or spray air to clean the interior of the turnover box, and the spraying direction of the spraying holes can be adjusted; and under the action of the image collecting assembly, the spraying area of the spraying hole in the nozzle can be observed, the interior of the turnover box is cleaned while being observed, the cleaning process is more visual, operation is more convenient, and the work intensity of operators is lowered.

Description

Technical Field

[0001] This application relates to the field of turnover box cleaning technology, and in particular to an end effector. Background Technology

[0002] During the tobacco leaf processing process, cigarette factories need to use turnover boxes to hold and transport tobacco leaves. Currently used turnover boxes are relatively large, typically holding 400 kg of leaves. After long-term operation, dirt accumulates inside the turnover boxes, requiring operators to clean them regularly. Usually, operators use water hoses to rinse and clean the inside of the turnover boxes. However, the cleaning openings on the turnover boxes are narrow, making it inconvenient for operators to observe the inside while cleaning, resulting in incomplete cleaning, high operational difficulty, and significant labor intensity for the operators. Utility Model Content

[0003] The purpose of this application is to provide an end effector that can simultaneously observe and clean the interior of a turnover box, thereby improving the convenience of cleaning the turnover box and effectively solving the shortcomings of the prior art.

[0004] Therefore, this application provides an end effector, comprising:

[0005] The base is flat.

[0006] A mounting bracket is provided on one side of the base;

[0007] A nozzle is disposed on the mounting bracket, and the nozzle is provided with a spray hole, the spray direction of which is adjustable;

[0008] An image acquisition component is disposed on the base, and the image acquisition component and the mounting bracket are located on the same side of the base.

[0009] In some possible implementations, the mounting bracket includes a first section and a second section, which are vertically connected, with the second section connected to the base and the nozzle connected to the first section.

[0010] In some possible implementations, the first segment has a length along a direction away from the base, and the nozzle on the first segment is adjustable along the length of the first segment.

[0011] In some possible implementations, the nozzle is rotatably adjustable in the first section.

[0012] In some possible implementations, the nozzle includes a base connected to a base, the base having an injection inlet and an injection outlet, the base having a channel for connecting the injection inlet and the injection outlet, and an injection pipe being provided at the injection outlet.

[0013] In some possible implementations, the injection pipe includes an upstream section and multiple downstream sections, one end of the upstream section being connected to the injection outlet, and one end of each downstream section being connected to the other end of the upstream section.

[0014] In some possible implementations, one end of each downstream segment is connected to the upstream segment, and the other end of each downstream segment faces a different direction.

[0015] In some possible implementations, the image acquisition component includes a camera mounted on a base, with the camera and mounting bracket located on the same side of the base.

[0016] In some possible implementations, the base includes a fixing plate with an annular flange on one side. The flange protrudes from the fixing plate, and the image acquisition component and the mounting bracket are both mounted on the fixing plate and located within the annular area of ​​the flange.

[0017] In some possible implementations, a light source is provided on one side of the flange of the fixing plate, and the light source is located within the annular region of the flange.

[0018] According to the end-effector provided in the embodiments of this application, the image acquisition component and the mounting bracket are arranged on the same side of the base. The nozzle can be connected to a water supply pipe or an air supply pipe so that the nozzle orifice can spray water or air to clean the inside of the turnover box. The spray direction of the nozzle orifice can be adjusted, thereby making the cleaning of the inside of the turnover box more thorough. With the action of the image acquisition component, the spray area of ​​the nozzle orifice can be observed. The inside of the turnover box can be cleaned while observing it. The cleaning process is more intuitive and the operation is more convenient, which helps to reduce the workload of the operator. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the end effector provided in the embodiments of this application;

[0020] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0021] Figure 3 This is a schematic diagram of the nozzle structure provided in an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] like Figures 1-3 As shown in the figure, this application provides an end-effector device for cleaning turnover boxes in cigarette factories. During the tobacco processing, cigarette factories need to use turnover boxes to hold and transport tobacco leaves. Over time, dirt accumulates inside the turnover boxes, requiring operators to clean them regularly. While the turnover boxes are equipped with cleaning ports for rinsing with water, these ports are small, making it inconvenient for operators to observe the interior. Operators must awkwardly insert water into the port while simultaneously rinsing the box, increasing their workload and making thorough cleaning difficult. The end-effector device provided in this application aims to improve the convenience of cleaning the interior of turnover boxes, reducing cleaning difficulty and operator workload.

[0024] The end effector includes a base 100, which is flat and has two opposing sides. A mounting bracket is provided on one of the flat sides of the base 100, and a nozzle is provided on the mounting bracket. The nozzle is used to connect to a water supply pipe or an air supply pipe. A spray hole is provided on one side of the nozzle. After the nozzle is connected to the water supply pipe or air supply pipe, the spray hole on the nozzle is connected to the water supply pipe or air supply pipe, and water or air is sprayed outward through the spray hole to clean the inside of the turnover box. Preferably, the direction of the spray hole of the nozzle can be adjusted, thereby changing the spray direction of the water or air, and improving the convenience of cleaning the inside of the turnover box. In this embodiment, an image acquisition component is also included. The image acquisition component is provided on the base 100, and the image acquisition component and the mounting bracket are located on the same side of the base 100. Thus, during the process of the nozzle spraying and cleaning the inside of the turnover box, the area near the nozzle spray can be observed under the action of the image acquisition component.

[0025] In some embodiments, the image acquisition component includes a camera 201, which is mounted on a base 100. The camera 201 and the mounting bracket are located on the same side of the base 100. A display can also be provided, and the camera 201 is connected to the display via a signal cable, so that the video information acquired by the camera 201 is displayed on the display. In actual operation, the operator can mount the base 100 on one end of a long rod, and use the long rod to extend the base 100 into the interior of the turnover box. The display is set in a position that is convenient for the operator to observe, so that the operator can observe the real-time cleaning status inside the turnover box from the outside, making the operation more convenient, reducing the labor intensity of the operator, and making the cleaning more thorough. The operator can also adjust the direction of the spray holes on the nozzle according to the structure inside the turnover box, making the cleaning more comprehensive. In some embodiments, a support bracket 202 can be provided on the base 100, and the camera 201 is mounted on the base 100 through the support bracket 202.

[0026] Preferably, the mounting frame includes a first section 301 and a second section 302, which are connected to each other. The first section 301 and the second section 302 are perpendicularly connected to the second section 302, which is connected to the base 100. The nozzle is connected to the first section 301. In this embodiment, both the first section 301 and the second section 302 are flat structures, forming an L-shaped folded plate structure. The second section 302 is fitted to the flat side of the base 100. The first section 301 and the second section 302 are perpendicular to each other, so that the first section 301 and the flat base 100 are perpendicular to each other, which makes it easy for the nozzle to extend out of the base 100 for thorough cleaning of the inside of the turnover box.

[0027] In some embodiments, the first segment 301 has a length along the direction away from the base 100. The first segment 301 is a long plate-like structure. The nozzle on the first segment 301 can be adjusted along the direction of the first segment 301. Thus, the nozzle can be adjusted along the direction away from or closer to the base 100, so that the nozzle is further away from or closer to the base 100. Combined with the flat base 100, the water flow or air flow splashed during the nozzle cleaning process can be blocked to prevent splashing onto the operator. By adjusting the nozzle to be further away from or closer to the base 100, a better blocking effect on the splashed air flow or air flow can be achieved.

[0028] More preferably, the adjustment of the nozzle orifice direction can be achieved by rotatably adjusting the nozzle on the first section 301. For example, a waist-shaped groove can be provided on the first section 301 along the length of the first section 301, and a threaded hole can be provided on the nozzle. Then, the nozzle can be installed in the waist-shaped groove by screws. In this way, the nozzle can be adjusted along the length of the first section 301 and the nozzle can be rotated, thereby adjusting the spray direction of the nozzle orifice.

[0029] In this embodiment, the nozzle includes a base 401, which is a block-shaped structure connected to the base 100. The base 401 has a spray inlet and a spray outlet. A channel connecting the spray inlet and outlet is provided inside the base 401. A spray pipe is provided at the spray outlet, which is used to spray water or air outwards. The spray inlet of the base 401 is connected to a water supply pipe or an air supply pipe. Preferably, the spray pipe includes an upstream section 501 and multiple downstream sections 502. One end of the upstream section 501 is connected to the spray outlet, and one end of each downstream section 502 is connected to... The other end of the upstream section 501 is connected to the upstream section 501. Along the direction of water or air flow, the spray pipe is bifurcated. The upstream end of the downstream section 502 is connected to the downstream end of the upstream section 501. More preferably, one end of the downstream section 502 is connected to the upstream section 501. The other ends of each downstream section 502 have different orientations. That is, the upstream end of the downstream section 502 is connected to the downstream end of the upstream section 501. The downstream ends of each downstream section 502 have different orientations. The opening at the downstream end of the downstream section 502 constitutes the spray hole of the nozzle, so that the spray hole has multiple orientations. In this way, the internal cleaning of the turnover box is more comprehensive.

[0030] In this embodiment, two downstream sections 502 are preferably provided. One downstream section 502 is oriented perpendicular to the flat direction of the base 100, and the other downstream section 502 is oriented parallel to the flat direction of the base 100, so that the spraying directions of the two downstream sections 502 are perpendicular to each other. The downstream ends of the two downstream sections 502 can be opened selectively, and the operator decides which one to open according to the actual situation. Both the downstream section 502 and the upstream section 501 are long tubular structures, and the downstream end of the downstream section 502 can be closed by screws. When it is necessary to open the corresponding downstream section 502, the screws can be removed. In this way, the nozzle spray direction can be adjusted to deal with the cleaning of different positions in the turnover box, so as to make the cleaning of the inside of the turnover box more comprehensive and thorough.

[0031] More preferably, the base 100 includes a fixing plate 101, and an annular flange 102 is provided on one side of the fixing plate 101. The flange 102 protrudes from one side of the fixing plate 101. The image acquisition component and the mounting bracket are both disposed on the fixing plate 101 and located within the annular enclosure area of ​​the flange 102. In this way, the flange 102 can provide a certain degree of protection for the image acquisition component and the nozzle, avoiding serious collisions with the internal structure of the turnover box, which helps to extend the service life of the equipment. In this embodiment, the fixing plate 101 can be provided with through-holes such as windows and notches to reduce the counterweight and facilitate cleaning operations by operators.

[0032] More preferably, a light source 600 is provided on one side of the flange 102 of the fixing plate 101. The light source 600 is located in the annular area of ​​the flange 102, which facilitates the illumination of the inside of the turnover box, further improving the convenience of cleaning the turnover box, and also facilitates the image acquisition component to acquire images, making it clearer for the operator to observe.

[0033] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0034] It should be readily understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0035] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90 degrees or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An end effector, characterized in that, include: The base is flat. A mounting bracket is provided on one side of the base; A nozzle is disposed on the mounting bracket, and the nozzle is provided with a spray hole, the spray direction of which is adjustable; An image acquisition component is disposed on the base, and the image acquisition component and the mounting bracket are located on the same side of the base.

2. The end effector according to claim 1, characterized in that: The mounting bracket includes a first section and a second section, which are vertically connected. The second section is connected to the base, and the nozzle is connected to the first section.

3. The end effector according to claim 2, characterized in that: The first section has a length along a direction away from the base, and the nozzle on the first section is adjustable along the length of the first section.

4. The end effector according to claim 3, characterized in that: The nozzle is rotatably adjustable in the first section.

5. The end effector according to claim 1, characterized in that: The nozzle includes a base connected to a base. The base is provided with a spray inlet and a spray outlet. The base is provided with a channel for connecting the spray inlet and the spray outlet. A spray pipe is provided at the spray outlet.

6. An end effector according to claim 5, characterized in that: The injection pipe includes an upstream section and multiple downstream sections. One end of the upstream section is connected to the injection outlet, and one end of each downstream section is connected to the other end of the upstream section.

7. An end effector according to claim 6, characterized in that: Each downstream segment is connected to an upstream segment at one end, and the other end of each downstream segment faces a different direction.

8. The end effector according to claim 1, characterized in that: The image acquisition component includes a camera, which is mounted on a base, with the camera and the mounting bracket located on the same side of the base.

9. An end effector according to claim 1, characterized in that: The base includes a fixing plate, and a circular flange is provided on one side of the fixing plate. The flange protrudes from the fixing plate, and the image acquisition component and the mounting bracket are both disposed on the fixing plate and located within the circular area of ​​the flange.

10. An end effector according to claim 9, characterized in that: A light source is provided on one side of the flange of the fixing plate, and the light source is located within the annular area of ​​the flange.

Images