Automatic tray matching workstation for multi-specification cigarette auxiliary material robot

Abstract

The utility model discloses a multi-specification cigarette auxiliary material robot automatic tray matching work station, and relates to the technical field of cigarette production equipment, in particular to a multi-specification cigarette auxiliary material robot automatic tray matching work station which comprises a work station body. The work station body comprises a multi-joint robot system, a 3D visual system, a distribution tray station, an auxiliary raw material tray station and the like. The multi-robot cooperative operation and the automatic process remarkably improve the tray distribution efficiency, compared with a traditional manual mode, the efficiency is improved by 100%, the large-scale cigarette production requirement is met, the robot tooling is provided with the multi-station chucks, a servo automatic pitch changing structure is adopted, the distance between the chucks is automatically adjusted according to 3D visual guidance, and the tray distribution efficiency is greatly improved. The robot tooling is integrated with an automatic grabbing device for auxiliary material waste (paper partition plates) at the same time, a vacuum suction cup structure is adopted, the paper partition plates of the raw material auxiliary materials are automatically grabbed and placed according to 3D visual guidance, the work station is provided with multiple sets of raw material trays, and the work station is provided with multiple sets of auxiliary material trays. And the requirement for completing the tray matching process of various auxiliary materials at a time is met.

Description

Technical Field

[0001] This utility model relates to the technical field of cigarette production equipment, specifically to a multi-specification cigarette auxiliary material robot automatic tray-dispensing workstation. Background Technology

[0002] Cigarette auxiliary materials include various specifications and varieties of materials such as cigarette paper, frame paper, tipping paper, inner lining paper, and small and large liner paper. In actual cigarette production, the demand for various auxiliary materials is diversified due to different cigarette specifications and production capacity allocation. Current production processes mainly rely on manual sorting and stacking of auxiliary materials onto designated pallets based on production demand information, with some simple mechanical labor-saving devices used to assist in stacking. Overall, this process is labor-intensive, inefficient, and prone to sorting and stacking errors. Using customized machinery also faces challenges in meeting complex pallet requirements, lacking flexibility and adaptability to diverse pallet combinations.

[0003] To address the limitations in process and productivity of existing cigarette accessory tray assembly, we propose a technical solution for a robotic automated tray assembly workstation for multi-specification cigarette accessories. This solution primarily utilizes a multi-joint robot, combined with an intelligent control system and 3D vision technology, to achieve a fully automated, unmanned operation mode encompassing automatic identification, positioning, grasping, sorting, allocation, and stacking of accessories. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this utility model provides a multi-specification cigarette auxiliary material robot automatic tray-dispensing workstation, which solves the problems mentioned in the background technology.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this utility model provides the following technical solution: a multi-specification cigarette auxiliary material robot automatic tray-dispensing workstation, comprising a workstation body, which includes a multi-joint robot system, a 3D vision system, a tray-dispensing station, an auxiliary material raw material tray station, an auxiliary material waste (partition paper) station, a robot-specific gripper, an electrical control system, an AGV handling system, and an end effector. The vision system includes a gantry frame, a top beam, a first servo motor, a reducer, a servo module, a camera bracket, and a 3D camera. A load-bearing beam is mounted on the top of the gantry frame, and a servo module is mounted on the beam. A reducer and the first servo motor are mounted at the end of the servo module. The first servo motor transmits torque to the synchronous pulley of the servo module through the reducer. The synchronous pulley drives the synchronous belt to move linearly. A camera bracket is mounted on a slider connected to the synchronous belt, and a 3D camera is mounted on the top of the camera bracket. The robot-specific gripper includes a chuck and a material / waste suction cup. A second servo motor is mounted on the top of the end effector. A double-helix ball screw is mounted inside the end effector via bearings. Synchronous pulleys are mounted on the end of the double-helix ball screw and the output end of the second servo motor. The threaded drive of the double-helix ball screw is connected to a nut seat, and a chuck is located at the bottom of the nut seat. Material / waste suction cups are located at both the front and rear of the end effector.

[0008] Optionally, there are two synchronous pulleys, which are connected by a synchronous belt drive.

[0009] Optionally, the location of the auxiliary material waste (partition paper) station corresponds to the location of the auxiliary material waste suction cup, and there are several clamps.

[0010] Optionally, four auxiliary material pallets are provided at the auxiliary material pallet station, and a waste bin is provided at the auxiliary material waste (partition paper) station. The gantry is installed on the workstation body.

[0011] This utility model provides a multi-specification cigarette auxiliary material robotic automatic tray-dispensing workstation, which has the following beneficial effects:

[0012] 1. This multi-specification cigarette auxiliary material robot automatic tray-dispensing workstation, with multi-robot collaborative operation and automated process, significantly improves tray-dispensing efficiency, increasing efficiency by 100% compared to traditional manual methods, meeting the needs of large-scale cigarette production. The robot end effector is equipped with multi-station grippers and adopts a servo automatic pitch-changing structure. Guided by 3D vision, it automatically adjusts the spacing of the grippers to accommodate the simultaneous gripping of multiple auxiliary materials of different spacing in the same stack. The robot end effector also integrates an automatic gripping device for auxiliary material waste (paper partitions), which adopts a vacuum suction cup structure and automatically grips and places the paper partitions of raw material auxiliary materials according to 3D vision guidance.

[0013] 2. This multi-specification cigarette auxiliary material robot automatic tray-dispensing workstation is equipped with multiple sets of raw material trays to meet the requirements of completing the tray-dispensing process of multiple auxiliary materials at one time. The robot is equipped with a 3D vision system, which performs image acquisition, image processing and image positioning on multiple sets of raw material trays, and calculates the precise position of the auxiliary materials on the trays, providing visual guidance for the robot to identify and accurately grasp the auxiliary materials.

[0014] 3. This multi-specification cigarette auxiliary material robot automatic tray-dispensing workstation is equipped with an AGV handling system, which is uniformly scheduled and allocated by the control system to realize unmanned operation in the tray-dispensing area. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the end effector of this utility model;

[0016] Figure 2 This is a top view of the workstation body of this utility model.

[0017] Figure 3 This is a front view structural diagram of the gantry frame of this utility model;

[0018] Figure 4 This is a side view of the gantry frame of this utility model.

[0019] Figure 5 This is a front view of the end effector of this utility model;

[0020] Figure 6 This is a side view of the end effector of this utility model.

[0021] Figure 7 This is a top view of the end effector of this utility model.

[0022] In the diagram: 1. Workstation body; 2. Gantry frame; 3. Camera bracket; 4. 3D camera; 5. Synchronous pulley; 6. Chuck; 7. Auxiliary material and waste suction cup; 8. Second servo motor; 9. Double helical ball screw; 10. Nut seat; 11. Auxiliary material and raw material tray; 12. Waste bin. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] Example 1

[0025] Please see Figures 1 to 7This utility model provides a technical solution: a multi-specification cigarette auxiliary material robot automatic tray-dispensing workstation, including a workstation body 1. The workstation body 1 includes a multi-joint robot system, a 3D vision system, a tray-dispensing station, an auxiliary material raw material tray station, an auxiliary material waste (partition paper) station, a robot-specific gripper, an electrical control system, an AGV handling system, and an end effector. The 3D vision system includes a gantry frame 2, a crossbeam, a first servo motor, a reducer, a servo module, a camera bracket 3, and a 3D camera 4. A load-bearing crossbeam is installed on the top of the gantry frame 2, and a servo module is installed on the crossbeam. A reducer and a first servo motor are installed at the end of the servo module. The first servo motor is connected to the reducer. The torque is transmitted to the synchronous pulley 5 of the servo module, which drives the synchronous belt to move linearly. A camera bracket 3 is installed on the slider connected to the synchronous belt, and a 3D camera 4 is installed on the top of the camera bracket 3. The robot-specific gripper includes a chuck 6 and a material suction cup 7. A second servo motor 8 is installed on the top of the end effector. A double helical ball screw 9 is rotatably connected to the end effector through a bearing. The end shaft of the double helical ball screw 9 and the output end of the second servo motor 8 are both equipped with synchronous pulleys 5. The threaded drive of the double helical ball screw 9 is connected to a nut seat 10. A chuck 6 is set at the bottom of the nut seat 10. Material suction cups 7 are set at the front and rear of the end effector.

[0026] Specifically, it facilitates the synchronous rotation of the two synchronous pulleys 5, which in turn facilitates the rotation of the double helical ball screw 9, thereby facilitating the driving of the position adjustment chuck 6.

[0027] Please see Figures 1 to 7 There are two synchronous pulleys 5, which are connected by a synchronous belt drive.

[0028] Specifically, the auxiliary waste suction cup 7 can be used to pick up waste materials and put them into the waste bin 11 on the auxiliary waste (partition paper) station. The auxiliary waste (partition paper) station provides temporary storage space for these waste materials, which is convenient for centralized processing and avoids the waste materials from being scattered randomly in the work area, affecting the operation of equipment or causing safety hazards.

[0029] Please see Figure 2 The position of the auxiliary material waste (partition paper) station corresponds to the position of the auxiliary material waste suction cup 7, and there are several chucks 6.

[0030] Specifically, the gantry 2 is designed to facilitate the movement and adjustment of the visual recognition position of the 3D camera 4 on the gantry 2.

[0031] Please see Figure 2 The auxiliary material pallet station is equipped with four auxiliary material pallets 12, the auxiliary material waste (partition paper) station is equipped with a waste bin 11, and the gantry frame 2 is installed on the workstation body 1.

[0032] Before starting the workstation, place all kinds of cigarette auxiliary materials on the corresponding auxiliary material tray 12 at the corresponding auxiliary material tray station, ensuring that the 3D vision system, robot system, electrical control system, and AGV handling system are all in normal standby mode. The 3D vision system starts, and the 3D camera 4 adjusts its position under the drive of the servo module. When adjusting the position of the 3D camera 4, the first servo motor drives the reducer to rotate. The first servo motor transmits torque to the servo module synchronous pulley 5 through the reducer. The synchronous pulley 5 drives the synchronous belt to move linearly, thereby moving the camera bracket 3 and the 3D camera 4 to cyclically scan above the auxiliary material trays on both sides of the multi-joint robotic arm. During the scanning process, images of the auxiliary materials on the trays are acquired, obtaining information on the placement, shape, and spacing of the materials. The vision system automatically calculates the optimal gripping combination for the current layer of materials based on the gripping algorithm and transmits the relevant data to the PLC system. The PLC system converts the visual data into control signals and transmits them to the second servo motor 8 on the end effector. The second servo motor 8 drives one of the synchronous pulleys 5 to rotate. The two synchronous pulleys 5 are connected by a synchronous belt drive, causing them to rotate synchronously. This drives the double helical ball screw 9 to rotate in both directions. The double helical ball screw 9 is connected to the nut seat 10, and the side of the nut seat 10 is located on the linear guide rail on the end effector. This causes the two nut seats 10 to move the inner support chuck 6 left and right, completing the chuck pitch change. Based on the position information provided by the vision system, the multi-joint robot drives the robotic arm to move the end effector to the target auxiliary material position. The pneumatic inner support chuck 6 clamps the auxiliary material, completing the grasping action. During the grasping of auxiliary materials, if a paper partition is encountered, the vacuum suction cup (i.e., the auxiliary material waste suction cup 7) on the robot's end effector automatically grasps the paper partition under 3D vision guidance and places it into the waste bin 11 on the auxiliary material waste station. The grabbed auxiliary materials are transported by the robot to the palletizing station for stacking. During stacking, the 3D vision system continuously monitors the palletizing process to ensure that the auxiliary materials are stacked neatly and meet the palletizing requirements. The end effector is installed on the end flange of the robotic arm, forming an integral part with the robot's end shaft. In actual operation, the movement of the robotic arm positions the end effector at the location where materials need to be grabbed or released. The movement of the pneumatic internal support chuck 6 on the end effector is controlled by a PLC-controlled pneumatic solenoid valve to achieve the internal clamping and retraction release of the materials. After palletizing is completed, the AGV handling system, under the scheduling of the control system, transports the palletized material to the designated location and simultaneously transports a new empty pallet to the palletizing station, preparing for the next round of palletizing operations.

[0033] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A multi-specification cigarette auxiliary material robot automatic dispensing work station, comprising a work station body, characterized in that: The workstation itself includes a multi-joint robot system, a 3D vision system, a palletizing station, a raw material / auxiliary material palletizing station, a scrap material / auxiliary material station, robot-specific grippers, an electrical control system, an AGV handling system, and an end effector. The vision system includes a gantry frame, a crossbeam, a first servo motor, a reducer, a servo module, a camera bracket, and a 3D camera. A load-bearing crossbeam is mounted on the top of the gantry frame, and a servo module is mounted on the crossbeam. A reducer and the first servo motor are mounted at the end of the servo module. The first servo motor transmits torque to the synchronous pulley of the servo module through the reducer. The synchronous pulley drives the synchronous belt to move linearly. A camera bracket is mounted on the slider connected to the synchronous belt, and a 3D camera is mounted on the top of the camera bracket. The robot-specific gripper includes a chuck and a material / waste suction cup. A second servo motor is mounted on the top of the end effector. A double-helix ball screw is mounted inside the end effector via bearings. Synchronous pulleys are mounted on the end of the double-helix ball screw and the output end of the second servo motor. The threaded drive of the double-helix ball screw is connected to a nut seat, and a chuck is located at the bottom of the nut seat. Material / waste suction cups are located at the front and rear of the end effector.

2. The multi-specification cigarette auxiliary material robot automatic tray matching work station according to claim 1, characterized in that: There are two synchronous pulleys, which are connected by a synchronous belt drive.

3. The multi-specification cigarette auxiliary material robot automatic tray matching work station according to claim 1, characterized in that: The location of the auxiliary material waste station corresponds to the location of the auxiliary material waste suction cup, and there are several chucks.

4. The multi-specification cigarette auxiliary material robot automatic tray distributing station according to claim 1, characterized in that: The auxiliary material and raw material pallet station is equipped with four auxiliary material and raw material pallets, and the auxiliary material waste station is equipped with a waste bin. The gantry frame is installed on the workstation body.

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