Anti-material-belt device for cigarette case unpacking manipulator and cigarette case unpacking manipulator

Abstract

The utility model discloses a kind of anti-material device and cigarette packet unpacking manipulator for cigarette packet unpacking manipulator, it is related to cigarette manufacturing technical field.Cigarette packet unpacking manipulator is used to grab cigarette carton, and inner liner is provided above cigarette piece in cigarette carton, and the anti-material device includes mounting plate, push rod and driving part, and mounting plate is equipped on cigarette packet unpacking manipulator.Push rod is rotatably installed on mounting plate, and push rod has push state and reset state, and push rod is configured to push the top of cigarette carton in push state, so that inner liner is separated from carton;Reset state is parallel to mounting plate and close to mounting plate.Driving part is installed on mounting plate, and the driving end of driving part is drivingly connected with push rod, for driving push rod to switch between push state and reset state.The anti-material device for cigarette packet unpacking manipulator actively prevents the occurrence of material phenomenon, and guarantees the automation, continuity and reliability of production line.

Description

Technical Field

[0001] This utility model relates to the field of cigarette manufacturing technology, and in particular to an anti-material-carrying device for a cigarette pack unpacking robot and a cigarette pack unpacking robot. Background Technology

[0002] In the pre-processing stage of tobacco processing workshops, automated unpacking robots are widely used to efficiently remove the outer and middle layers of cardboard boxes from cigarette packs. A typical cigarette pack structure usually consists of an outer cardboard box, a middle cardboard box, and an innermost moisture-proof liner paper covering the tobacco sheets. In actual operation, after the robot's grippers successfully grasp and remove the middle cardboard box, due to the rapid movement, a local vacuum is often created between the grippers and the cardboard box or between the cardboard box and the liner paper. Alternatively, due to the clamping force, the upper tobacco sheets or liner paper may be stuck together and lifted up.

[0003] This "carrying material" phenomenon has caused multiple production problems: First, it causes direct loss of tobacco sheet material, affecting product yield; second, the tobacco sheets or inner lining paper carried up from a height may fall and get stuck in the shuttle track, conveyor chain, or equipment support below, causing equipment malfunctions, jams, or even shutdowns, creating secondary pollution and potential malfunctions; finally, to ensure continuous production, there is currently a heavy reliance on manual inspection and intervention, which not only increases labor costs but also results in delayed processing, failing to fundamentally guarantee the automation, continuity, and reliability of the production line.

[0004] Existing solutions to this problem mainly focus on two aspects: first, optimizing the gripping parameters of the robotic arm (such as clamping force and lifting speed) to reduce the amount of material stuck in the workpiece; and second, arranging for manual inspection and handling at subsequent workstations. However, these methods have obvious drawbacks: parameter adjustment only addresses the symptoms, not the root cause, and the effect is unstable and cannot completely eliminate material stuck in the workpiece; manual intervention is inefficient, slow to respond, and cannot prevent secondary equipment failures caused by falling debris.

[0005] Therefore, there is an urgent need to design an anti-material-carrying device for a cigarette pack unpacking robot and a cigarette pack unpacking robot to solve the above-mentioned technical problems. Utility Model Content

[0006] The purpose of this invention is to propose an anti-material-carrying device for a cigarette pack unpacking robot and a cigarette pack unpacking robot, so as to actively prevent material-carrying phenomena and ensure the automation, continuity and reliability of the production line.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] An anti-material-carrying device for a cigarette pack unpacking robot, the cigarette pack unpacking robot being used to grasp cigarette pack cartons, wherein an inner lining paper is provided above the cigarette sheets inside the cigarette pack cartons, and the anti-material-carrying device includes:

[0009] The mounting plate is mounted on the cigarette pack unpacking robot arm;

[0010] A push rod is rotatably mounted on the mounting plate. The push rod has a pushing state and a reset state. The push rod is configured to push the top of the cigarette carton in the pushing state to separate the inner lining paper from the cigarette carton; and to be parallel to and close to the mounting plate in the reset state.

[0011] A driving component is mounted on the mounting plate, and the driving end of the driving component is driven to be connected to the push rod, which is used to drive the push rod to switch between the pushing state and the reset state.

[0012] As an optional solution for the anti-material-carrying device for the cigarette pack unpacking robot, the end of the push rod is provided with a push part that abuts against the top of the cigarette pack carton.

[0013] As an optional solution for the anti-material-carrying device for the cigarette pack unpacking robot, the pushing part is configured as a flat-head blunt surface structure or a toothed structure.

[0014] As an optional solution for the anti-material-carrying device for the cigarette pack unpacking robot, the length of the push rod is adjustable.

[0015] As an optional solution for the anti-material-carrying device for the cigarette pack unpacking robot, the push rod is rotatably mounted on the mounting plate via a first fixed seat; the end of the push rod away from the push part is connected to the first fixed seat via a first hinge shaft, forming the rotation fulcrum of the push rod;

[0016] The driving end of the driving member is hinged to the middle part of the push rod or the end away from the push part via a second hinge shaft.

[0017] As an optional solution for the anti-material-carrying device for the cigarette pack unpacking robot, the fixed end of the drive component is mounted on the mounting plate via a second fixed seat, and the fixed end of the drive component is hinged to the second fixed seat via a third hinge shaft.

[0018] As an optional embodiment of the anti-material-carrying device for the cigarette pack unpacking robot, the mounting positions of the first fixing seat and / or the second fixing seat on the mounting plate are adjustable.

[0019] As an optional solution for the anti-material-carrying device for the cigarette pack unpacking robot, the drive component includes a double-acting cylinder, which is electrically connected to the control unit of the cigarette pack unpacking robot via a solenoid valve.

[0020] A cigarette pack unpacking robot includes an anti-material-carrying device as described in any of the above embodiments for the cigarette pack unpacking robot.

[0021] As an optional solution for the cigarette pack unpacking robot, the end of the cigarette pack unpacking robot is provided with a gripper assembly for gripping the cigarette pack carton. The gripper assembly is provided in two sets, and the anti-material-carrying device is located between the two sets of gripper assemblies.

[0022] The beneficial effects of this utility model are:

[0023] This utility model provides an anti-material-carrying device and a cigarette pack unpacking robot. When the robot removes the cigarette pack carton, a drive unit drives a push rod to a pushing position, causing the push rod to push against the top of the carton. This disrupts any vacuum adhesion or bonding that may exist between the carton and the inner lining paper, or between the inner lining paper and the tobacco sheets, thus proactively intervening before material carry-over occurs. Compared to simply adjusting motion parameters, this mechanical intervention is more direct and powerful, effectively preventing material carry-over at its source and eliminating the risk of inner lining paper and tobacco sheets falling from a height. Simultaneously, the drive unit replaces inefficient manual inspection, saving labor costs, ensuring continuous and efficient operation of the unpacking process, and improving the automation level and operational efficiency of the production line. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the cigarette pack unpacking robot provided in a specific embodiment of the present invention when the push rod is in the pushing state when it grabs the cigarette pack carton;

[0025] Figure 2 This is a schematic diagram of the structure of the anti-material-slip device provided in a specific embodiment of the present invention when the push rod is in the pushing state;

[0026] Figure 3 This is a schematic diagram of the structure of the anti-material-slip device provided in a specific embodiment of the present invention when the push rod is in the reset state.

[0027] In the picture:

[0028] 100. Cigarette carton; 200. Inner lining paper; 300. Cigarette sheets; 400. Gripper assembly; 500. Base plate;

[0029] 1. Push rod; 11. Pushing part;

[0030] 2. Driving components;

[0031] 3. First fixed seat;

[0032] 4. Second fixing seat;

[0033] 5. First hinge shaft;

[0034] 6. Second hinge shaft;

[0035] 7. Third hinge axis. Detailed Implementation

[0036] To make the technical problem solved by this utility model, the technical solution adopted, and the technical effect achieved clearer, the technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0037] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] In cigarette manufacturing, packing is typically completed on a single production line, from loose tobacco leaves to finished, neatly stacked and transported cigarette packs. Loose tobacco leaves are fed into a metering feeder via conveyor belt. The equipment precisely measures the weight according to a preset schedule and then feeds a fixed quantity of tobacco leaves into a pre-packaging "packing trough" or "packing box" mold. A pressure head above the packing trough, filled with loose tobacco leaves, descends to apply the first low-to-medium pressure compression. A robotic arm or a forming unit then places a large moisture-proof liner (usually aluminum foil composite paper or thick plastic film) over the pre-compressed tobacco block and folds it to form an inner, sealed moisture barrier. Next, a pre-folded, open-bottomed kraft paper box is placed over the entire liner-wrapped tobacco block. With the box and liner in place, the packing machine applies significantly greater pressure than the first compression, giving the tobacco block a final compaction; the pressure can reach tens of tons. After compression, the tobacco blocks remain compacted inside the cardboard box.

[0039] like Figures 1-3As shown, this embodiment provides a cigarette pack unpacking robot, which is used to grasp the cigarette pack carton 100. The cigarette pack carton 100 has an inner lining paper 200 above the tobacco sheets 300. After the cigarette packs are transferred to the tobacco processing workshop, they are used for automatic unpacking. The end of the cigarette pack unpacking robot is equipped with a base plate 500 and a gripper assembly 400 for gripping the cigarette pack carton 100. There are two sets of gripper assemblies 400, which are spaced apart on the base plate 500. Each set of gripper assemblies 400 includes two grippers that slide relative to each other. A telescopic cylinder with double telescopic rods is provided between the two grippers. The two telescopic rods of the telescopic cylinder drive the two grippers to move towards each other, which can grip the opposite sides of the cigarette pack carton 100. The two sets of gripper assemblies 400 can achieve stable gripping of the cigarette pack carton 100. When the cigarette pack carton 100 is stably gripped, the cigarette pack unpacking robot moves upward past the top of the cigarette pack and then moves horizontally to remove the cigarette pack carton 100, thus removing the cigarette pack carton 100. During the removal of the cigarette pack carton 100, a local vacuum often occurs between the gripper and the cigarette pack carton 100 or between the cigarette pack carton 100 and the inner lining paper 200. Due to the clamping force, the upper tobacco sheet 300 or the inner lining paper 200 may be stuck together and lifted up.

[0040] To prevent multiple production problems caused by this material carrying phenomenon, this embodiment provides an anti-material carrying device for the above-mentioned cigarette pack unpacking robot. The anti-material carrying device is located between two sets of gripper assemblies 400. After the cigarette pack unpacking robot clamps and stabilizes the cigarette pack carton 100, it moves the cigarette pack carton 100 upward while controlling the anti-material carrying device to actively prevent the occurrence of material carrying phenomenon and ensure the automation, continuity and reliability of the production line.

[0041] The anti-cargo-carrying device includes a mounting plate, a push rod 1, and a drive component 2. The mounting plate is located on the cigarette pack unpacking robot, and both the push rod 1 and the drive component 2 are mounted on the mounting plate. The push rod 1 is rotatably mounted on the mounting plate. The mounting plate is fixed to the base plate 500 of the cigarette pack unpacking robot, or the base plate 500 of the cigarette pack unpacking robot can be used directly as the mounting plate.

[0042] The push rod 1 has a pushing state and a reset state. In the pushing state, the push rod 1 is configured to push the top of the cigarette pack carton 100 to separate the inner lining paper 200 from the cigarette pack carton 100; in the reset state, it is parallel to and close to the mounting plate. The drive end of the drive unit 2 is drivenly connected to the push rod 1, used to drive the push rod 1 to switch between the pushing state and the reset state. During the process of the cigarette pack unpacking robot lifting the cigarette pack carton 100, the drive unit 2 drives the push rod 1 to rotate to push the top of the cigarette pack carton 100, breaking any vacuum adsorption or adhesion that may form between the cigarette pack carton 100 and the inner lining paper 200, or between the inner lining paper 200 and the tobacco sheet 300, thus actively intervening before material spillage occurs. Compared to simply adjusting motion parameters, this mechanical intervention method is more direct and powerful, effectively preventing material spillage from the source and eliminating the risk of the inner lining paper 200 and tobacco sheet 300 falling from a height. Meanwhile, the installation of drive component 2 replaces inefficient manual inspection, saves labor costs, ensures continuous and efficient operation of the unpacking process, and improves the automation level and operational efficiency of the production line.

[0043] When the cigarette pack unpacking robot stops its upward movement or begins to move to the next workstation, the drive unit 2 drives the push rod 1 to move to the reset state to avoid interference between the anti-material-carrying device and surrounding equipment.

[0044] In one embodiment, the drive unit 2 includes a double-acting cylinder, which is electrically connected to the control unit of the cigarette pack unpacking robot via a solenoid valve. The double-acting cylinder is controlled in both directions. When the cylinder rod is extended, the push rod 1 is in the reset state; when the cylinder rod retracts, the push rod 1 pulls the push rod 1 to rotate until it abuts against the top of the cigarette pack carton 100, generating a stable pushing force sufficient to overcome the deformation resistance of the cigarette pack carton 100 and the adhesion force with the inner lining paper 200. The solenoid valve has a short switching time, allowing the double-acting cylinder to start and stop quickly under high-pressure gas drive. Since the cylinder rod extension and retraction are actively driven, the switching between the pushing and reset states is very rapid, matching the high-frequency operation of the cigarette pack unpacking robot performing multiple unpacking operations.

[0045] The control unit of the cigarette pack unpacking robot can synchronously control the retraction of the cylinder rod of the double-acting cylinder during the upward movement, driving the pusher 11 to move away from the mounting plate, and promptly pushing down any cigarette sheets 300 or inner lining paper 200 that may be lifted. When the cigarette pack unpacking robot stops its upward movement or begins to move to the next workstation, the control unit extends the cylinder rod of the double-acting cylinder, causing the pusher 1 to return to its hidden position, thus avoiding interference with surrounding equipment.

[0046] Regarding the electrical connection method and working principle of the double-acting cylinder to the control unit of the cigarette pack unpacking robot via the solenoid valve, existing technology can be referenced, and will not be elaborated here.

[0047] In one embodiment, the end of the push rod 1 is provided with a push part 11 that abuts against the top of the cigarette pack carton 100. By providing the push part 11, the push part 11 abuts against the top of the cigarette pack carton 100 to form a fulcrum. When the cigarette pack unpacking robot continues to lift the cigarette pack carton 100, the relative movement between the cigarette pack carton 100 and the inner lining paper 200 will produce a slight peeling or tearing effect between them, thereby causing them to separate. In addition, the impact energy of the push operation is transmitted through the cigarette pack carton 100 to the surface of the inner lining paper 200 and the tobacco sheet 300, forming a mechanical disturbance that is sufficient to break their original static equilibrium state, causing the lifted material to fall back under the action of gravity.

[0048] In one embodiment, the pushing part 11 is configured as a flat, blunt-surfaced structure or a toothed structure. The flat, blunt-surfaced pushing part 11 provides a relatively large contact area with the cigarette pack carton 100. Under the same pushing force, the larger contact area results in lower pressure acting on the cigarette pack carton 100, avoiding the problem that sharp structures might puncture or scratch the cigarette pack carton 100. There is also a certain amount of friction between the flat, blunt surface and the cigarette pack carton 100. This friction helps to "grip" the cigarette pack carton 100 during relative movement, thereby more effectively transmitting the separation action to the interface between the cigarette pack carton 100 and the inner liner paper 200.

[0049] The toothed structure abuts against and moves relative to the top of the cigarette pack 100. After the toothed structure of the push rod 1 abuts against the top of the cigarette pack 100 and moves relative to it, it can scrape off the inner lining paper 200 adhering to the inside of the cigarette pack 100. The toothed structure is not intended to peel off the entire surface, but rather acts like a comb or rake, "hooking" and breaking through the adhesive layer by locally pressing or piercing the surface of the cigarette pack 100 at multiple points. Once separation is formed at several points, this separation gap can easily and rapidly expand during subsequent relative movements, eventually leading to the separation of the entire adhesive surface. After the tips of the toothed structure slightly pierce the cigarette pack 100, they produce a slight "prying" effect during relative movement, which is fundamentally different from the "pushing" of a flat head and is more effective in breaking strong adhesions.

[0050] In one embodiment, the length of the push rod 1 is adjustable. By statically adjusting the length of the push rod 1 (such as a telescopic rod), the same anti-slip device can precisely match cigarette cartons 100 of different heights, ensuring that the push part 11 effectively contacts the bottom of the cigarette cartons 100 at the correct time, significantly improving the versatility and adaptability of the anti-slip device. Furthermore, during dynamic operation, when the push part 11 contacts the top of the cigarette cartons 100 and continues to drive the push rod 1 to rotate, the adjustable length structure of the push rod 1 (such as a damped threaded or spring-loaded buffer mechanism) allows the push rod 1 to produce a slight passive extension or "yield" in its axial direction, thereby converting a purely rigid collision into a "flexible push." ​​This slight relative movement not only buffers the impact force, protecting the anti-slip device and the material, but also achieves a more thorough and gentler peeling of the adhesion between the cigarette cartons 100 and the inner lining paper 200 by maintaining continuous push contact pressure.

[0051] In one embodiment, the push rod 1 is rotatably mounted on the mounting plate via the first fixed seat 3. The end of the push rod 1 away from the push part 11 is hinged to the first fixed seat 3 via the first hinge shaft 5, forming the rotation fulcrum of the push rod 1. The driving end of the driving member 2 is hinged to the middle part or the end away from the push part 11 of the push rod 1 via the second hinge shaft 6, thereby converting the linear reciprocating motion of the driving member 2 into the rotation of the push rod 1. The fixed end of the driving member 2 is mounted on the mounting plate via the second fixed seat 4, and the fixed end of the driving member 2 is hinged to the second fixed seat 4 via the third hinge shaft 7. The stable mounting base provided by the first fixed seat 3 and the second fixed seat 4, combined with the stable rotating joint and linkage mechanism formed by the three hinge points of the first hinge shaft 5, the second hinge shaft 6 and the third hinge shaft 7, effectively constrains the degree of freedom of the push rod 1 and the drive component 2 during the movement process, ensuring the accuracy and repeatability of the action trajectory, and fundamentally avoiding push failure, mechanism jamming or interference caused by component shaking or positional deviation.

[0052] For example, both the first fixing base 3 and the second fixing base 4 adopt L-shaped or similar structural components, which include a mounting base plate fixed to the mounting plate by fasteners (such as bolts), and a hinged upright plate perpendicularly connected to the mounting base plate. The hinged upright plate is provided with a hinge hole for accommodating the hinge shaft.

[0053] In one embodiment, the mounting positions of the first fixing seat 3 and / or the second fixing seat 4 on the mounting plate are adjustable. This design allows the anti-material-carrying device to be adapted to different models of cigarette pack unpacking robots, thereby further improving the versatility of the anti-material-carrying device.

[0054] For example, a series of adjusting elongated holes or multiple equally spaced positioning threaded holes are provided on the mounting base plates of the first fixed seat 3 and the second fixed seat 4 along a preset direction. By selecting different hole positions to connect with the mounting plate, or by moving along the adjusting elongated holes and locking the fixed seat, continuous or segmented precise adjustment of the position of the rotation fulcrum of the push rod 1 and / or the installation position of the drive component 2 can be achieved.

[0055] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. A device for preventing material spillage in a cigarette pack unpacking robot, the cigarette pack unpacking robot being used to grip a cigarette pack carton (100), wherein an inner lining paper (200) is provided above the cigarette sheets (300) inside the cigarette pack carton (100), characterized in that, The anti-material-slipping device includes: The mounting plate is mounted on the cigarette pack unpacking robot arm; A push rod (1) is rotatably mounted on the mounting plate. The push rod (1) has a pushing state and a reset state. The push rod (1) is configured to push the top of the cigarette pack carton (100) in the pushing state to separate the inner lining paper (200) from the cigarette pack carton (100); and to be parallel to and close to the mounting plate in the reset state. A driving component (2) is installed on the mounting plate. The driving end of the driving component (2) is driven to be connected to the push rod (1) and is used to drive the push rod (1) to switch between the push state and the reset state.

2. The anti-material-carrying device for a cigarette pack unpacking robot according to claim 1, characterized in that, The end of the push rod (1) is provided with a push part (11) that abuts against the top of the cigarette pack carton (100).

3. The anti-material-carrying device for a cigarette pack unpacking robot according to claim 2, characterized in that, The pusher (11) is configured as a flat-head blunt surface structure or a toothed structure.

4. The anti-material-carrying device for a cigarette pack unpacking robot according to claim 3, characterized in that, The length of the push rod (1) is adjustable.

5. The anti-material-carrying device for a cigarette pack unpacking robot according to claim 2, characterized in that, The push rod (1) is rotatably mounted on the mounting plate via the first fixed seat (3); the end of the push rod (1) away from the push part (11) is connected to the first fixed seat (3) via the first hinge shaft (5) to form the rotation fulcrum of the push rod (1); The driving end of the driving member (2) is hinged to the middle part of the push rod (1) or the end away from the push part (11) via the second hinge shaft (6).

6. The anti-material-carrying device for a cigarette pack unpacking robot according to claim 5, characterized in that, The fixed end of the driving member (2) is mounted on the mounting plate via the second fixing seat (4), and the fixed end of the driving member (2) is hinged to the second fixing seat (4) via the third hinge shaft (7).

7. The anti-material-carrying device for a cigarette pack unpacking robot according to claim 6, characterized in that, The mounting positions of the first fixing seat (3) and / or the second fixing seat (4) on the mounting plate are adjustable.

8. The anti-material-carrying device for a cigarette pack unpacking robot according to any one of claims 1-7, characterized in that, The drive unit (2) includes a double-acting cylinder, which is electrically connected to the control unit of the cigarette pack unpacking robot via a solenoid valve.

9. A robotic arm for unpacking cigarette packs, characterized in that, Including the anti-material-carrying device for a cigarette pack unpacking robot as described in any one of claims 1-8.

10. The cigarette pack unpacking robot according to claim 9, characterized in that, The end of the cigarette pack unpacking robot is equipped with a gripper assembly (400) for gripping the cigarette pack carton (100). There are two sets of gripper assemblies (400), and the anti-material-carrying device is located between the two sets of gripper assemblies (400).

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