Tobacco stream robotic palletizing apparatus

Abstract

The utility model discloses a kind of tobacco logistics mechanical arm stacking equipment, including truss (1), the top of the truss (1) is equipped with stacking assembly (4), the front and back sides of the top upper surface of the truss (1) are fixedly installed with I-shaped slide rail (5), the lower of the truss (1) is provided with carrying mechanism (2) and material conveying mechanism (3), the material conveying mechanism (3) is located at the left side below the truss (1), the carrying mechanism (2) is located at the right side below the truss (1).The utility model can stack tobacco in a larger range, and can effectively prevent tobacco box body from deforming or outer package from being damaged.

Description

Technical Field

[0001] This utility model relates to a palletizing device, and more particularly to a tobacco logistics robotic arm palletizing device. Background Technology

[0002] Tobacco logistics robotic palletizing equipment is a highly efficient, intelligent, and labor-saving automated device widely used in the logistics and warehousing processes of the tobacco industry. During the production, packaging, and transportation of tobacco products, this equipment effectively improves palletizing efficiency, reduces manual labor, and lowers production costs. Furthermore, it can seamlessly integrate with other automated equipment to achieve automated and intelligent management of the entire production line.

[0003] Chinese patent document CN211768778U discloses a robotic arm palletizing device with multiple clamping structures. The device utilizes a rotating mechanism at the top of the protective housing to adjust the clamping position of the clamping mechanism. The rotating mechanism works by controlling a servo motor via a control box, which in turn drives a drive shaft to rotate an externally threaded rotor. An angle adjustment mechanism at the top of the rotating mechanism adjusts the height of the clamping mechanism. This angle adjustment mechanism works by controlling a flat vibration motor via the control box, which drives a second transmission turbine. The second transmission turbine, via a transmission belt, drives a first transmission turbine. The first transmission turbine then drives a connecting plate fixed to one side to rotate along its axis. A clamping mechanism on one side of the connecting plate clamps the object. The clamping mechanism works by controlling a high-frequency vibration motor via the control box, which drives a transmission worm gear. This worm gear drives a transmission gear on one side, which in turn drives a gripper at the bottom to clamp the object.

[0004] The existing technology has the following problems: During the palletizing process, the above-mentioned palletizing equipment moves the clamping mechanism through the rotating mechanism to clamp the goods, and then rotates the rotating mechanism to allow the goods on the clamping mechanism to be palletized. Since the position of the clamping mechanism on the connecting plate is fixed, the clamping mechanism can only palletize the goods within a small range, which is limited in use. In addition, the method of using transmission gears to drive the clamps to grip the items will cause mechanical compression to the tobacco box, resulting in box deformation or damage to the outer packaging, and the integrity of the product cannot be guaranteed. Utility Model Content

[0005] The purpose of this utility model is to provide a tobacco logistics robotic arm palletizing device to solve the technical problems in the prior art. It can palletize tobacco over a large range and effectively prevent tobacco box deformation or outer packaging damage.

[0006] This utility model provides a tobacco logistics robotic arm palletizing device, including a truss. A palletizing assembly is installed on the top of the truss. I-shaped slide rails are fixedly installed on the front and rear sides of the upper surface of the top of the truss. A handling mechanism and a material conveying mechanism are arranged below the truss. The material conveying mechanism is located on the left side below the truss, and the handling mechanism is located on the right side below the truss.

[0007] In the aforementioned tobacco logistics robotic arm palletizing equipment, preferably, the palletizing assembly includes a motor, a screw, a moving frame, and a gripping assembly. The motor is fixedly installed on the right rear side of the top of the truss. The screw is rotatably installed between the left and right end plates of the top of the truss, and the right end of the screw passes through the truss and is fixedly installed to the output end of the motor. The screw is threadedly connected to the moving frame, and the gripping assembly is installed on the moving frame.

[0008] In the aforementioned tobacco logistics robotic arm palletizing equipment, preferably, the movable frame includes a front frame plate, a rear frame plate, and a movable frame base plate. The front frame plate and the rear frame plate are fixed at the front and rear ends of the movable frame base plate, and the three form a U-shaped structure. The rear frame plate has a threaded hole along the horizontal direction, and the rear frame plate is threadedly connected to the screw.

[0009] In the aforementioned tobacco logistics robotic arm palletizing equipment, preferably, the gripping component includes a connecting frame, a hydraulic cylinder, and a vacuum suction cup robotic arm. The top of the connecting frame is fixedly connected to the top of the front frame plate and the rear frame plate, and the bottom of the connecting frame is fixedly connected to the base plate of the movable frame. The hydraulic cylinder is fixedly installed on the top surface of the base plate of the movable frame, and the output end of the hydraulic cylinder passes through the base plate of the movable frame and is fixedly connected to the vacuum suction cup robotic arm.

[0010] In the aforementioned tobacco logistics robotic arm palletizing equipment, preferably, a guide rod is fixedly installed between the left and right end plates at the top of the truss, and the guide rod is located in front of the screw. A through hole is opened in the horizontal direction on the front frame plate, and the guide rod is inserted into and slidably connected to the through hole on the front frame plate.

[0011] In the aforementioned tobacco logistics robotic arm palletizing equipment, preferably, a T-shaped slider is fixedly installed on the lower surface of the top of the connecting frame, and the inner cavity at the bottom of the slider is slidably connected to the slide rail, and the number of sliders is four.

[0012] In the aforementioned tobacco logistics robotic arm palletizing equipment, preferably, guide sleeves are fixedly installed on the front and rear sides of the bottom upper surface of the connecting frame, and a sliding rod is slidably connected to the inner cavity of each guide sleeve, and the lower end of the sliding rod is fixedly connected to the upper surface of the vacuum suction cup robotic arm.

[0013] In the aforementioned tobacco logistics robotic arm palletizing equipment, preferably, the number of slide bars is four, and they are located at the four corners of the upper surface of the vacuum suction cup robotic arm.

[0014] Compared with the prior art, this utility model uses a motor to drive the screw to rotate, causing the moving frame to move left and right. This allows the vacuum suction cup robot to stack tobacco boxes at any position, thus placing the tobacco boxes on the handling mechanism for transport. This increases the stacking range of goods and improves the flexibility of the stacking equipment. The sliding cooperation between the slider and the slide rail reduces the resistance when the connecting frame moves left and right.

[0015] The vacuum suction cup robot is pushed downward by a hydraulic cylinder. The vacuum suction cup robot uses negative pressure to adsorb the tobacco box, which can grasp the tobacco box without damage. This avoids the mechanical squeezing of traditional clamps, prevents the box from deforming or the outer packaging from being damaged, and ensures the integrity of the product. The sliding of the slide rod and the guide sleeve can reduce the resistance when the hydraulic cylinder pushes the vacuum suction cup robot to move up and down, ensuring that the vacuum suction cup robot can perform lifting and lowering operations stably. Attached Figure Description

[0016] Figure 1 This is an isometric view of the present invention;

[0017] Figure 2 This is an isometric view of the present invention from another angle;

[0018] Figure 3 for Figure 2 A magnified structural diagram at point A;

[0019] Figure 4 This is a schematic diagram of the palletizing component structure of this utility model;

[0020] Figure 5 This is a schematic diagram of the gripping component structure of this utility model.

[0021] Explanation of reference numerals in the attached drawings: 1. Truss; 11. Support leg; 12. Front side plate; 13. Rear side plate; 14. Left end plate; 15. Right end plate; 16. Truss base plate; 2. Handling mechanism; 21. Traveling track; 22. Support 1; 23. GAV handling trolley; 3. Material conveying mechanism; 31. Drive motor; 32. Roller shaft; 33. Conveyor belt; 34. Support 2; 4. Palletizing assembly; 41. Motor; 42. Screw; 43. Guide rod; 44. Moving frame; 441. Front frame plate; 442. Rear frame plate; 443. Moving frame base plate; 45. Gripping assembly; 451. Connecting frame; 452. Slider; 453. Hydraulic cylinder; 454. Slide rod; 455. Guide sleeve; 46. Vacuum suction cup manipulator; 5. Slide rail. Detailed Implementation

[0022] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0023] Embodiments of this utility model: such as Figures 1-5 As shown, a tobacco logistics robotic arm palletizing device includes a truss 1, a palletizing assembly 4 is installed on the top of the truss 1, and I-shaped slide rails 5 are fixedly installed on the front and rear sides of the top surface of the truss 1. A handling mechanism 2 and a material conveying mechanism 3 are arranged below the truss 1. The material conveying mechanism 3 is located on the left side below the truss 1, and the handling mechanism 2 is located on the right side below the truss 1.

[0024] Specifically, the truss 1 includes a support leg 11, a front side plate 12, a rear side plate 13, a left end plate 14, a right end plate 15, and a truss base plate 16. The front side plate 12 and the rear side plate 13 are arranged opposite to each other. The front side plate 12 is fixed to the front side of the truss base plate 16, and the rear side plate 13 is fixed to the rear side of the truss base plate 16. The left end plate 14 and the right end plate 15 are arranged opposite to each other. The left end plate 14 is fixed to the left side of the truss base plate 16, and the right end plate 15 is fixed to the right side of the truss base plate 16.

[0025] The left end plate 14 is also fixedly connected to the left end of the front side plate 12 and the rear side plate 13, and the right end plate 15 is also fixedly connected to the right end of the front side plate 12 and the rear side plate 13. The front side plate 12 and the rear side plate 13 have the same length, and their length can be set according to actual needs. Their length determines the working range of the palletizing assembly 4.

[0026] The handling mechanism 2 and the material conveying mechanism 3 are existing equipment that can be purchased directly. The handling mechanism 2 includes components such as a walking track 21, a support 22, and a GAV handling trolley 23; the material conveying mechanism 3 includes components such as a drive motor 31, a roller shaft 32, a conveyor belt 33, and a support 34. The detailed structure and principle of the handling mechanism 2 and the material conveying mechanism 3 will not be described in this embodiment.

[0027] Furthermore, the palletizing assembly 4 includes a motor 41, a screw 42, a moving frame 44, and a gripping assembly 45. The motor 41 is fixedly installed on the right rear side of the right end plate 15 on the truss 1. The screw 42 is rotatably installed between the left end plate 14 and the right end plate 15, and the right end of the screw 42 passes through the right end plate 15 and is fixedly installed with the output end of the motor 41. The left end of the screw 42 is rotatably connected to the left end plate 14 through a bearing. The screw 42 is threadedly connected to the moving frame 44, and the gripping assembly 45 is installed on the moving frame 44.

[0028] The movable frame 44 specifically includes a front frame plate 441, a rear frame plate 442, and a movable frame base plate 443. The front frame plate 441 and the rear frame plate 442 are fixed at the front and rear ends of the movable frame base plate 443, and the three form a U-shaped structure. The rear frame plate 442 has a threaded hole along the horizontal direction, and the rear frame plate 442 is threadedly connected to the screw 42.

[0029] A guide rod 43 is fixedly installed between the left end plate 14 and the right end plate 15 on the truss 1, and the guide rod 43 is located in front of the screw 42. A through hole is opened on the front frame plate 441 along the horizontal direction, and the guide rod 43 is inserted into and slidably connected to the through hole on the front frame plate 441.

[0030] When the motor 41 drives the screw 42 to rotate, the screw 42, through its engagement with the threaded hole on the rear frame plate 442, causes the moving frame 44 to move horizontally as a whole, thereby changing the position of the vacuum suction cup robot 46.

[0031] The gripping component 45 includes a connecting frame 451, a hydraulic cylinder 453, and a vacuum suction cup manipulator 46. The top of the connecting frame 451 is fixedly connected to the top of the front frame plate 441 and the rear frame plate 442, and the bottom of the connecting frame 451 is fixedly connected to the base plate 443 of the moving frame. The hydraulic cylinder 453 is fixedly installed on the top surface of the base plate 443 of the moving frame, and the output end of the hydraulic cylinder 453 passes through the base plate 443 of the moving frame and is fixedly connected to the vacuum suction cup manipulator 46.

[0032] The vacuum suction cup robotic arm 46 is a commercially available product that can be purchased directly. The vacuum suction cup robotic arm 46 includes components such as a suction cup body, a suction cup base, and a vacuum generator.

[0033] During the stacking of tobacco, the tobacco boxes are conveyed from left to right by the material conveying mechanism 3. When the box moves to the right end of the material conveying mechanism 3, the moving frame 44 is positioned above the right end of the material conveying mechanism 3. The hydraulic cylinder 453 pushes the vacuum suction cup robot 46 downward until the vacuum suction cup robot 46 is in contact with the upper surface of the box. At this time, the vacuum suction cup robot 46 generates negative pressure to hold the tobacco box in place. The vacuum suction cup robot 46 performs non-destructive gripping of the tobacco box, avoiding the mechanical squeezing of traditional clamps, preventing box deformation or damage to the outer packaging, and ensuring product integrity. After stable adsorption and gripping, the hydraulic cylinder 453 retracts, causing the vacuum suction cup manipulator 46 to move upward. The motor 41 drives the screw 42 to rotate, causing the moving frame 44 to move to the right inside the truss 1 until the vacuum suction cup manipulator 46 moves above the handling mechanism 2. At this time, the hydraulic cylinder 453 extends and pushes the vacuum suction cup manipulator 46 downward, placing the tobacco box on the handling mechanism 2. Then, the hydraulic cylinder 453 retracts, causing the vacuum suction cup manipulator 46 to move upward. The motor 41 reverses, causing the moving frame 44 to move to the left. The above operation is repeated to stack the tobacco boxes on the handling mechanism 2 for handling, thus realizing the palletizing operation of tobacco logistics.

[0034] Furthermore, a T-shaped slider 452 is fixedly installed on the lower surface of the top of the connecting frame 451. The inner cavity at the bottom of the slider 452 is slidably connected to the slide rail 5. There are four sliders 452. By sliding the sliders 452 against the slide rail 5, the resistance when the connecting frame 451 moves left and right is reduced.

[0035] Guide sleeves 455 are fixedly installed on the front and rear sides of the bottom upper surface of the connecting frame 451. Each guide sleeve 455 has a sliding rod 454 slidably connected to its inner cavity, and the lower end of the sliding rod 454 is fixedly connected to the upper surface of the vacuum suction cup manipulator 46. There are four sliding rods 454, which are located at the four corners of the upper surface of the vacuum suction cup manipulator 46.

[0036] When the vacuum suction cup manipulator 46 moves up and down, the slide bar 454 on the vacuum suction cup manipulator 46 will slide up and down along the guide sleeve 455 to reduce the resistance when the hydraulic cylinder 453 pushes the vacuum suction cup manipulator 46 up and down, ensuring that the vacuum suction cup manipulator 46 can perform lifting and lowering operations stably. It can also effectively prevent the vacuum suction cup manipulator 46 from rotating.

[0037] The working principle of this utility model is as follows: When stacking tobacco, the tobacco box is conveyed from left to right by the material conveying mechanism 3. When the box moves to the right side of the material conveying mechanism 3, the moving frame 44 is located above the right side of the material conveying mechanism 3. The hydraulic cylinder 453 pushes the vacuum suction cup robot 46 downward until the vacuum suction cup robot 46 is in contact with the upper surface of the box. At this time, the vacuum suction cup robot 46 generates negative pressure to adsorb the tobacco box. The vacuum suction cup robot 46 performs non-destructive gripping of the tobacco box, avoiding the mechanical squeezing of traditional clamps, preventing box deformation or damage to the outer packaging, and ensuring the integrity of the product. After stable adsorption and gripping, the hydraulic cylinder 453 pulls the vacuum suction cup robot 46 upward. The slide rod 454 on the vacuum suction cup robot 46 slides upward along the guide sleeve 455 to reduce the pressure of the hydraulic cylinder 453 pushing the vacuum suction cup robot. The resistance during the vertical movement of the vacuum suction cup robot 46 ensures that the vacuum suction cup robot 46 can stably perform lifting operations. The motor 41 drives the screw 42 to rotate. Through the sliding of the moving frame 44 and the guide rod 43, the moving frame 44 can only move left and right, so that the moving frame 44 moves to the right inside the truss 1 until the vacuum suction cup robot 46 moves above the handling mechanism 2. At this time, the hydraulic cylinder 453 pushes the vacuum suction cup robot 46 down to place the tobacco box on the handling mechanism 2. Then the hydraulic cylinder 453 retracts and pulls the vacuum suction cup robot 46 up. The motor 41 reverses to make the moving frame 44 move to the left. Repeat the above operation to stack the tobacco box on the handling mechanism 2 for handling, thus realizing the stacking operation of tobacco logistics. Through the sliding of the slider 452 and the slide rail 5, the connecting frame 451 moves left and right on the outside of the top of the truss 1, thereby reducing the resistance when the connecting frame 451 moves left and right.

[0038] The above description, based on the embodiments shown in the drawings, details the structure, features, and effects of this utility model. The above description is only a preferred embodiment of this utility model, but the scope of implementation of this utility model is not limited to what is shown in the drawings. Any changes made in accordance with the concept of this utility model, or modifications to equivalent embodiments, that do not exceed the spirit covered by the specification and drawings, shall be within the protection scope of this utility model.

Claims

1. A tobacco logistics robotic arm palletizing device, comprising a truss (1), characterized in that: The top of the truss (1) is equipped with a stacking assembly (4), and I-shaped slide rails (5) are fixedly installed on the front and rear sides of the top surface of the truss (1). A handling mechanism (2) and a material conveying mechanism (3) are provided below the truss (1). The material conveying mechanism (3) is located on the left side below the truss (1), and the handling mechanism (2) is located on the right side below the truss (1).

2. The tobacco logistics robotic arm palletizing equipment according to claim 1, characterized in that: The palletizing assembly (4) includes a motor (41), a screw (42), a moving frame (44), and a gripping assembly (45). The motor (41) is fixedly installed on the right rear side of the top of the truss (1). The screw (42) is rotatably installed between the left and right end plates of the top of the truss (1), and the right end of the screw (42) passes through the truss (1) and is fixedly installed with the output end of the motor (41). The screw (42) is threadedly connected to the moving frame (44), and the gripping assembly (45) is installed on the moving frame (44).

3. The tobacco logistics robotic arm palletizing equipment according to claim 2, characterized in that: The mobile frame (44) includes a front frame plate (441), a rear frame plate (442), and a mobile frame base plate (443). The front frame plate (441) and the rear frame plate (442) are fixed at the front and rear ends of the mobile frame base plate (443), and the three form a U-shaped structure. The rear frame plate (442) has a threaded hole along the horizontal direction, and the rear frame plate (442) is threadedly connected to the screw (42).

4. The tobacco logistics robotic arm palletizing equipment according to claim 3, characterized in that: The gripping assembly (45) includes a connecting frame (451), a hydraulic cylinder (453), and a vacuum suction cup manipulator (46). The top of the connecting frame (451) is fixedly connected to the top of the front frame plate (441) and the rear frame plate (442). The bottom of the connecting frame (451) is fixedly connected to the base plate of the moving frame (443). The hydraulic cylinder (453) is fixedly installed on the top surface of the base plate of the moving frame (443). The output end of the hydraulic cylinder (453) passes through the base plate of the moving frame (443) and is fixedly connected to the vacuum suction cup manipulator (46).

5. The tobacco logistics robotic arm palletizing equipment according to claim 4, characterized in that: A guide rod (43) is fixedly installed between the left and right end plates at the top of the truss (1), and the guide rod (43) is located in front of the screw (42). A through hole is opened on the front frame plate (441) along the horizontal direction. The guide rod (43) is inserted into and slidably connected to the through hole on the front frame plate (441).

6. The tobacco logistics robotic arm palletizing equipment according to claim 4, characterized in that: A T-shaped slider (452) is fixedly installed on the lower surface of the top of the connecting frame (451). The inner cavity at the bottom of the slider (452) is slidably connected to the slide rail (5). There are four sliders (452).

7. The tobacco logistics robotic arm palletizing equipment according to claim 6, characterized in that: Guide sleeves (455) are fixedly installed on the front and rear sides of the bottom upper surface of the connecting frame (451). Each guide sleeve (455) has a sliding rod (454) slidably connected to its inner cavity, and the lower end of the sliding rod (454) is fixedly connected to the upper surface of the vacuum suction cup manipulator (46).

8. The tobacco logistics robotic arm palletizing equipment according to claim 7, characterized in that: The number of slide bars (454) is four, and they are located at the four corners of the upper surface of the vacuum suction cup manipulator (46).

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