A robotic gripping device for automatic palletizing of cigarette boxes

Abstract

This utility model relates to the field of gripping device technology, and in particular to a gripping device for an automatic cigarette box palletizing robot. It includes a mounting base, on the outer wall of which a six-axis robotic arm is mounted. A connector is mounted at one end of the six-axis robotic arm, and a dynamic balancing component is mounted at the other end of the connector. A gripping component is mounted on the outer wall of the dynamic balancing component. This utility model achieves dual angle adjustment by setting up a dynamic balancing and gripping system that uses a gyroscope to monitor posture data in real time and a controller to coordinate the control of an electronically controlled cylinder and the six-axis robotic arm. This allows for adjustment of the gripping posture. The electronically controlled cylinder tilts the mounting housing via a linkage mechanism, while the robotic arm directly adjusts the component's posture via the connector. Simultaneously, the gripping component uses a multi-chamber vacuum suction cup to adapt to different cigarette box sizes, and a built-in pressure sensor provides real-time feedback of the gripping force to the controller, which monitors the gripping force in real time.

Description

Technical Field

[0001] This utility model relates to the field of gripping device technology, specifically a gripping device for an automatic cigarette box palletizing robot. Background Technology

[0002] When transporting tobacco products on a production line, automated palletizing robots are used to grab and stack cigarette cartons. However, due to the possibility of the cigarette cartons being bumped and deformed, the subsequent gripping may not be firm enough, causing the cigarette cartons to slip off, resulting in poor practicality of the device.

[0003] Therefore, an automatic cigarette box palletizing robot gripping device is needed to improve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide an automatic cigarette box palletizing robot gripping device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] An automatic cigarette box palletizing robot gripping device includes a mounting base, a six-axis robotic arm mounted on the outer wall of the mounting base, a connector mounted on one end of the six-axis robotic arm, a dynamic balancing component mounted on one end of the connector, and a gripping component mounted on the outer wall of the dynamic balancing component.

[0007] The dynamic balancing assembly includes a mounting bracket, which is mounted on the bottom outer wall of the connector. An electrically controlled cylinder is rotatably connected to the inner wall of the mounting bracket. One end of the electrically controlled cylinder is rotatably connected to a limit bracket. A rotating rod is mounted on the opposite outer wall of the limit bracket, wherein the rotating rod is rotatably connected to the opposite inner wall of the mounting bracket. A rotating shaft is mounted on one end of the limit bracket, a fixing block is mounted on one end of the rotating shaft, and a mounting housing is mounted on one end of the fixing block.

[0008] As a preferred embodiment of this utility model, the gripping component includes a suction cup and a gyroscope. Multiple sets of suction cups are provided and are respectively located on the inner wall of the mounting housing. A pressure sensor is installed on the inner wall of the suction cup.

[0009] As a preferred embodiment of this utility model, the gyroscope is mounted on the outer wall of the mounting housing, and a controller is mounted on the side wall of the gyroscope.

[0010] As a preferred embodiment of this utility model, the cross-section of the mounting bracket is a concave shape, and multiple sets of the electrically controlled cylinders are provided, each located on the opposing inner wall of the mounting bracket.

[0011] As a preferred embodiment of this utility model, the rotating rod is provided in two sets and is located on the inner wall opposite to the mounting bracket, and the limiting bracket is provided in multiple sets and is located on the outer wall of the rotating rod.

[0012] As a preferred embodiment of this utility model, the fixing blocks are provided in multiple sets and are respectively located on the opposite outer walls of the mounting housing; the pressure sensors are provided in multiple sets and are respectively located on the inner wall of the suction cup component; the controller is connected to the six-axis robotic arm, the electric cylinder, the suction cup component, the gyroscope and the pressure sensors via wires, and the connection method is electrical connection.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. In this utility model, the dynamic balancing component and gripping component in the automatic cigarette box palletizing robot gripping device are used. The dynamic balancing and gripping system uses a gyroscope to monitor the posture data in real time and the controller coordinates the control of the electric cylinder and the six-axis robotic arm to achieve dual angle adjustment, thereby adjusting the gripping posture. The electric cylinder pushes the mounting housing to tilt through the linkage mechanism, and the robotic arm directly adjusts the posture of the component through the connecting parts. At the same time, the gripping component adopts a multi-chamber vacuum suction cup to adapt to different cigarette box sizes. The built-in pressure sensor feeds back the gripping force to the controller in real time. The controller monitors the gripping force in real time, which helps to solve the problem that when the automatic palletizing robot grips and stacks cigarette boxes, the subsequent gripping is not firm enough due to the impact and deformation of the cigarette boxes, which leads to the cigarette boxes slipping and the poor practicality of the device. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a side view of the structure of this utility model;

[0017] Figure 3 This utility model Figure 2 An enlarged schematic diagram of the A structure.

[0018] In the diagram: 1. Mounting base; 2. Six-axis robotic arm; 3. Connector; 4. Dynamic balancing assembly; 401. Mounting bracket; 402. Electric cylinder; 403. Limiting bracket; 404. Rotating rod; 405. Rotating shaft; 406. Fixing block; 407. Mounting housing; 5. Gripping assembly; 501. Suction cup; 502. Gyroscope; 503. Pressure sensor; 504. Controller. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0020] For examples, please refer to Figure 1-3 This utility model provides a technical solution:

[0021] An automatic cigarette box palletizing robot gripping device includes a mounting base 1, a six-axis robotic arm 2 mounted on the outer wall of the mounting base 1, a connector 3 mounted on one end of the six-axis robotic arm 2, a dynamic balancing component 4 mounted on one end of the connector 3, and a gripping component 5 mounted on the outer wall of the dynamic balancing component 4.

[0022] In this embodiment, please refer to Figure 1 , Figure 2 and Figure 3 The dynamic balancing component 4 includes a mounting bracket 401, which is mounted on the bottom outer wall of the connector 3. An electric control cylinder 402 is rotatably connected to the inner wall of the mounting bracket 401. One end of the electric control cylinder 402 is rotatably connected to a limit bracket 403. A rotating rod 404 is mounted on the opposite outer wall of the limit bracket 403. The rotating rod 404 is rotatably connected to the opposite inner wall of the mounting bracket 401. A rotating shaft 405 is mounted on one end of the limit bracket 403. A fixing block 406 is mounted on one end of the rotating shaft 405. A mounting housing 407 is mounted on one end of the fixing block 406.

[0023] In this embodiment, please refer to Figure 1 , Figure 2 and Figure 3 The gripping component 5 includes a suction cup 501 and a gyroscope 502. Multiple suction cups 501 are provided and are located on the inner wall of the mounting housing 407 respectively. A pressure sensor 503 is installed on the inner wall of the suction cup 501. The gyroscope 502 is installed on the outer wall of the mounting housing 407, and a controller 504 is installed on the side wall of the gyroscope 502.

[0024] Furthermore, the mounting bracket 401 has a concave cross-section. Multiple sets of electrically controlled cylinders 402 are provided and are located on opposite inner walls of the mounting bracket 401. Two sets of rotating rods 404 are provided and are located on opposite inner walls of the mounting bracket 401. Multiple sets of limiting brackets 403 are provided and are located on the outer walls of the rotating rods 404. Multiple sets of fixing blocks 406 are provided and are located on opposite outer walls of the mounting housing 407. Multiple sets of pressure sensors 503 are provided and are located on the inner walls of the suction cup component 501. The controller 504 is electrically connected to the six-axis robotic arm 2, electrically controlled cylinders 402, suction cup component 501, gyroscope 502, and pressure sensors 503 via wires, thereby energizing the device and enabling the controller 504 to control the six-axis robotic arm 2, electrically controlled cylinders 402, suction cup component 501, gyroscope 502, and pressure sensors 503 to operate.

[0025] The working process of this utility model is as follows: When the automatic cigarette box palletizing robot gripping device designed in this solution is working, the controller 504 is electrically connected to the six-axis robotic arm 2, the electric cylinder 402, the suction cup 501, the gyroscope 502, and the pressure sensor 503 via wires. This connection enables the device to be powered on, thereby causing the controller 504 to control the six-axis robotic arm 2, the electric cylinder 402, the suction cup 501, the gyroscope 502, and the pressure sensor 503 to operate.

[0026] The cigarette boxes are moved to the stacking device via the production line. Then, controller 504 controls the six-axis robotic arm 2 to operate. Multiple suction cups 501 are located on the inner wall of the mounting housing 407. Pressure sensors 503 are installed on the inner wall of the suction cups 501. A gyroscope 502 is installed on the outer wall of the mounting housing 407, and a controller 504 is installed on the side wall of the gyroscope 502. Under the control of the controller 504, the gyroscope 502 generates data on the attitude of the dynamic balancing component 4, causing it to generate an electrical signal that is transmitted to the controller 504 via wires. The controller 504, based on internally set parameters, controls the electronically controlled cylinder 402. When the six-axis robotic arm 2 operates, the electric cylinder 402 will apply a thrust to the limit bracket 403 at one end, causing the limit bracket 403 to rotate on the outer wall of the rotating rod 404. The limit bracket 403 will drive the fixed block 406 to move through the rotating shaft 405. When the fixed block 406 moves, it will apply a thrust to one side of the mounting housing 407. By simply operating the electric cylinder 402, thrust can be applied to both sides of the mounting housing 407 to adjust the tilt angle of the mounting housing 407. At the same time, the six-axis robotic arm 2 adjusts the tilt angle of the dynamic balance component 4 through the connecting piece 3.

[0027] The six-axis robotic arm 2 moves one end via the connector 3, driving the dynamic balancing component 4 to move. This, in turn, moves the gripping component 5, causing the suction cup 501 in the gripping component 5 to grasp the cigarette box. The suction cup 501 employs a multi-chamber vacuum design, adaptable to cigarette boxes of different sizes. When the suction cup 501 vacuum-adheres the cigarette box, the pressure sensor 503 on the inner wall of the suction cup 501 contacts the cigarette box, generating data. This data, in turn, causes the pressure sensor 503 to generate an electrical signal, which is transmitted through wires to the controller 504. The controller 504 then monitors the gripping force in real time. This helps solve the problem of the automatic palletizing robot's gripping and palletizing of cigarette boxes, where the cigarette box may be bumped and deformed, leading to insufficient gripping and the cigarette box slipping, resulting in poor device practicality.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A bale automatic stacking robot gripping device, comprising a mounting base (1), characterized in that: A six-axis robotic arm (2) is installed on the outer wall of the mounting base (1). A connector (3) is installed at one end of the six-axis robotic arm (2). A dynamic balancing component (4) is installed at one end of the connector (3). A gripping component (5) is installed on the outer wall of the dynamic balancing component (4). The dynamic balancing component (4) includes a mounting bracket (401) mounted on the bottom outer wall of the connector (3). An electric control cylinder (402) is rotatably connected to the inner wall of the mounting bracket (401). One end of the electric control cylinder (402) is rotatably connected to a limit bracket (403). A rotating rod (404) is mounted on the opposite outer wall of the limit bracket (403). The rotating rod (404) is rotatably connected to the opposite inner wall of the mounting bracket (401). A rotating shaft (405) is mounted on one end of the limit bracket (403). A fixing block (406) is mounted on one end of the rotating shaft (405). A mounting housing (407) is mounted on one end of the fixing block (406).

2. The automatic palletizing robot gripping device for cigarette boxes according to claim 1, characterized in that: The gripping component (5) includes a suction cup (501) and a gyroscope (502). Multiple suction cups (501) are provided and are located on the inner wall of the mounting housing (407). A pressure sensor (503) is installed on the inner wall of the suction cup (501).

3. The automatic cigarette box palletizing robot gripping device according to claim 2, characterized in that: The gyroscope (502) is mounted on the outer wall of the mounting housing (407), and a controller (504) is mounted on the side wall of the gyroscope (502).

4. The automatic cigarette box palletizing robot gripping device according to claim 3, characterized in that: The mounting bracket (401) has a concave cross-section, and multiple sets of the electrically controlled cylinders (402) are provided and located on the opposing inner walls of the mounting bracket (401).

5. The automatic palletizing robot gripping device for cigarette boxes according to claim 4, characterized in that: Two sets of rotating rods (404) are provided and are located on the inner walls of the mounting brackets (401) respectively. Multiple sets of limiting brackets (403) are provided and are located on the outer walls of the rotating rods (404) respectively.

6. The automatic cigarette box palletizing robot gripping device according to claim 5, characterized in that: The fixing blocks (406) are provided in multiple sets and are respectively located on the opposite outer walls of the mounting housing (407). The pressure sensors (503) are provided in multiple sets and are respectively located on the inner wall of the suction cup (501). The controller (504) is connected to the six-axis robotic arm (2), the electric cylinder (402), the suction cup (501), the gyroscope (502), and the pressure sensors (503) via wires, and the connection method is electrical connection.

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