An automated cigarette case transfer robot

Abstract

The utility model discloses an automatic cigarette box transfer robot relates to the technical field of transfer robot, including rotary disc, first mechanical arm and second mechanical arm, the second mechanical arm is rotatably connected with clamping subassembly, is equipped with main clamping plate and vice clamping plate on it, be equipped with buffer assembly on the vice clamping plate, the buffer assembly includes the buffer column with the vice clamping plate sliding connection, the vice clamping plate is equipped with a plurality of with the buffer column corresponding installation cylinder on the side away from main clamping plate, the installation cylinder is rotatably connected with the rotary drum of the guide groove with arc, the buffer column is fixed with the insertion rod with the guide groove sliding connection on, the vice clamping plate is equipped with annular air bag on the side close to main clamping plate, the installation cylinder is equipped with two all with corresponding air bag intercommunication air cylinder, the air cylinder is slidably connected with push rod, the rotary drum both sides are equipped with the arc block can with push rod contact respectively, the utility model discloses can improve the stability to the cigarette box clamping.

Description

Technical Field

[0001] This utility model relates to the field of transfer robot technology, and in particular to an automated cigarette box transfer robot. Background Technology

[0002] In tobacco production, cigarette cartons often need to be transferred multiple times. This process necessitates the use of transfer robots to alleviate the workload of manual transfer. A transfer robot is an automated device that mimics certain movements of a human hand and arm, used to grasp, move objects, or operate tools according to a fixed program. It can be controlled by humans, run pre-programmed sequences, or act according to principles established by artificial intelligence technology. Its task is to assist or replace human work. Currently, the most commonly used robot in tobacco production is the robotic arm, which grasps items quickly, safely, and efficiently to achieve the transfer work.

[0003] Current transfer robots generally use bidirectional clamping plates to clamp and transfer cigarette boxes. However, when using clamping plates to transfer cigarette boxes, the clamping plates rigidly clamp the cigarette boxes without any cushioning measures, which can easily lead to damage to the cigarette boxes. At the same time, the lack of flexible fixation during the clamping process is not conducive to increasing the contact friction between the clamping plates and the cigarette boxes, which can easily lead to poor clamping effect.

[0004] Therefore, an automated cigarette box transfer robot was invented to solve the above problems. Summary of the Invention

[0005] The main objective of this invention is to provide an automated cigarette box transfer robot, which can effectively solve the technical problems in the background art.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: an automated cigarette box transfer robot, comprising a rotating disk, a first robotic arm, and a second robotic arm. A clamping assembly is rotatably connected to the second robotic arm, which is provided with a main clamping plate and a secondary clamping plate. A buffer assembly is provided on the secondary clamping plate, which includes a buffer column slidably connected to the secondary clamping plate. A plurality of mounting cylinders corresponding to the buffer columns are provided on the side of the secondary clamping plate away from the main clamping plate. A rotating cylinder with an arc-shaped guide groove is rotatably connected inside the mounting cylinder. An insert rod slidably connected to the guide groove is fixed on the buffer column. An annular airbag is provided on the side of the secondary clamping plate near the main clamping plate. Two air cylinders, each communicating with the corresponding airbag, are provided inside the mounting cylinder. A push rod is slidably connected inside the air cylinder. Arc-shaped blocks capable of contacting the push rods are provided on both sides of the rotating cylinder.

[0007] Preferably, the clamping assembly includes a mounting plate rotatably connected to the free end of the second robotic arm, a mounting frame is fixed on the mounting plate, the main clamping plate is fixedly connected to the mounting frame, and the secondary clamping plate is slidably connected to the mounting frame.

[0008] Preferably, the sub-clamp plate has a plurality of through slots corresponding to the buffer posts, and the buffer posts are located in the corresponding through slots and are slidably connected to the through slots.

[0009] Preferably, the auxiliary clamping plate has a relief groove on the side near the main clamping plate that is coaxial with the corresponding through groove and has the same shape as the airbag, and the airbag is located in the relief groove on the corresponding side.

[0010] Preferably, the end of the rotating cylinder away from the buffer post is rotatably connected to the mounting cylinder via a rotating shaft, and a torsion spring coaxially connected to the mounting cylinder is provided on the rotating shaft.

[0011] Preferably, the thickness of the arc-shaped block gradually increases in a clockwise direction, the end of the push rod near the mounting cylinder contacts the end face of the arc-shaped block, and the air cylinder is connected to the push rod through an elastic element.

[0012] Preferably, a first cylinder is fixed on the main clamping plate, and the output end of the first cylinder is fixedly connected to the auxiliary clamping plate. The first cylinder can drive the auxiliary clamping plate to slide towards the main clamping plate.

[0013] Preferably, a second cylinder is fixed on the side of the auxiliary clamping plate away from the main clamping plate, and the output end of the second cylinder is provided with multiple L-shaped fixing plates spaced apart through a connecting plate for constraining the bottom of the cigarette box.

[0014] Preferably, both the first robotic arm and the second robotic arm are equipped with a drive motor at the end near the rotary disk, and the drive motor is used to drive the first robotic arm and the second robotic arm to change angle.

[0015] Preferably, the end of the rotary disk away from the first robotic arm is rotatably connected to a base, and the base is provided with a power mechanism for driving the rotary disk to rotate.

[0016] The technical effects and advantages of this utility model are as follows:

[0017] This invention utilizes a coordinated arrangement of a buffer column, a rotating drum, an insert rod, a guide groove, a push rod, an arc-shaped block, an air cylinder, and an air bladder. This not only buffers the clamping force when the auxiliary clamping plate holds the side wall of the cigarette box by rotating the drum via the buffer column, preventing damage to the cigarette box, but also, during the rotation of the drum, the arc-shaped block pushes the air cylinder through the push rod to inject gas into the air bladder. This causes the air bladder to inflate and flexibly contact and fix the cigarette box, increasing the friction between the auxiliary clamping plate and the cigarette box, further improving the stability of the cigarette box clamping and transport. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the clamping component in this utility model;

[0020] Figure 3 This is a schematic diagram of the overall structure of the buffer assembly in this utility model;

[0021] Figure 4 This is a cross-sectional view of the buffer component in this utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the arc-shaped block and the airbag in this utility model;

[0023] Figure 6 This is a schematic diagram of the structure of the transfer cylinder and buffer column in this utility model;

[0024] Figure 7 This is a cross-sectional view of the structure of the transfer cylinder and buffer column in this utility model.

[0025] In the diagram: 1. Rotary disk; 2. First robotic arm; 3. Second robotic arm; 4. Clamping assembly; 401. Mounting plate; 402. Main clamping plate; 403. Secondary clamping plate; 404. Mounting bracket; 405. Through slot; 406. Clearance slot; 407. First cylinder; 408. Second cylinder; 409. Connecting plate; 410. Fixing plate; 5. Buffer assembly; 501. Buffer column; 502. Mounting cylinder; 503. Guide slot; 504. Rotary cylinder; 505. Insert rod; 506. Airbag; 507. Air cylinder; 508. Push rod; 509. Arc block; 510. Rotating shaft; 511. Torsion spring; 512. Elastic element; 6. Drive motor; 7. Base; 8. Power mechanism. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Example 1

[0028] like Figure 1 and Figure 2 As shown, this embodiment provides an automated cigarette box transfer robot, including a rotating disk 1, a first robotic arm 2 and a second robotic arm 3. A clamping assembly 4 is rotatably connected to the second robotic arm 3, which is provided with a main clamping plate 402 and a secondary clamping plate 403. A buffer assembly 5 is provided on the secondary clamping plate 403.

[0029] A first cylinder 407 is fixed on the main clamping plate 402. The output end of the first cylinder 407 is fixedly connected to the auxiliary clamping plate 403. The first cylinder 407 can drive the auxiliary clamping plate 403 to slide towards the main clamping plate 402.

[0030] The clamping assembly 4 includes a mounting plate 401 that is rotatably connected to the free end of the second robotic arm 3. A mounting frame 404 is fixed on the mounting plate 401. The main clamping plate 402 is fixedly connected to the mounting frame 404, and the auxiliary clamping plate 403 is slidably connected to the mounting frame 404.

[0031] A second cylinder 408 is fixed on the side of the auxiliary clamping plate 403 away from the main clamping plate 402. The output end of the second cylinder 408 is provided with multiple L-shaped fixing plates 410 that are spaced apart through the connecting plate 409, which are used to constrain the bottom of the tobacco box.

[0032] The first robotic arm 2 and the second robotic arm 3 are each equipped with a drive motor 6 at one end near the rotating disk 1. The drive motor 6 is used to drive the first robotic arm 2 and the second robotic arm 3 to change angles.

[0033] The end of the rotating disk 1 away from the first robotic arm 2 is rotatably connected to a base 7, and the base 7 is equipped with a power mechanism 8 for driving the rotating disk 1 to rotate.

[0034] In use, the drive motor 6 is first controlled to drive the first robotic arm 2 and the second robotic arm 3 to swing according to the set trajectory and angle. This causes the second robotic arm 3 to move the main clamping plate 402 and the auxiliary clamping plate 403 towards the tobacco box via the mounting plate 401 and the mounting frame 404. This causes the main clamping plate 402 to contact the side wall of the tobacco box first. Then, the first cylinder 407 is controlled to drive the auxiliary clamping plate 403 to slide along the mounting frame 404 towards the main clamping plate 402. The auxiliary clamping plate 403 gradually contacts the side wall of the tobacco box for clamping. After the tobacco box is clamped and fixed by the main clamping plate 402 and the auxiliary clamping plate 403, the second cylinder 408 is then activated to drive the L-shaped fixing plate 410 towards the tobacco box via the connecting plate 409. This allows the fixing plate 410 to provide local constraint on the bottom of the tobacco box.

[0035] Then, the rotating disk 1 is controlled by the power mechanism 8 to rotate, so that the rotating disk 1 drives the tobacco box to rotate and transfer through the first robotic arm 2, the second robotic arm 3 and the clamping assembly 4. When the tobacco box is lowered, the second cylinder 408 is first controlled to drive the fixing plate 410 to slide away from the tobacco box through the connecting plate 409, so that it is no longer fixed to the bottom of the tobacco box. Then, the first cylinder 407 is controlled to drive the auxiliary clamping plate 403 to slide away from the main clamping plate 402, so that the auxiliary clamping plate 403 and the main clamping plate 402 no longer clamp the tobacco box. Finally, the first robotic arm 2 and the second robotic arm 3 are controlled to drive the clamping assembly 4 to detach from the tobacco box. The control of the first robotic arm 2, the second robotic arm 3 and the power mechanism 8 are all existing technologies, and the specific structure and connection method will not be described in detail.

[0036] Example 2

[0037] During use, it was found that when the side wall of the cigarette box is clamped and fixed by the main clamping plate 402 and the auxiliary clamping plate 403, the lack of clamping buffer easily causes the cigarette box to be subjected to great compressive force, resulting in damage and deformation. In addition, the cigarette box is directly fixed by the main clamping plate 402 and the auxiliary clamping plate 403 without any flexible fixation, which is not conducive to increasing the friction between the auxiliary clamping plate 403 and the side wall of the cigarette box, making it easy for the cigarette box to be not firmly clamped and fixed. Therefore, further improvements were made based on the above embodiment.

[0038] like Figures 2 to 7As shown, the buffer assembly 5 includes a buffer column 501 slidably connected to the sub-clamping plate 403. On the side of the sub-clamping plate 403 away from the main clamping plate 402, there are multiple mounting cylinders 502 corresponding to the buffer column 501. A rotating cylinder 504 with an arc-shaped guide groove 503 is rotatably connected inside the mounting cylinder 502. An insert rod 505 slidably connected to the guide groove 503 is fixed on the buffer column 501. An annular airbag 506 is provided on the side of the sub-clamping plate 403 near the main clamping plate 402. Two air cylinders 507, each communicating with the corresponding airbag 506, are provided inside the mounting cylinder 502. A push rod 508 is slidably connected inside the air cylinder 507. Arc-shaped blocks 509 that can contact the push rod 508 are provided on both sides of the rotating cylinder 504.

[0039] The secondary clamping plate 403 has multiple through slots 405 corresponding to the buffer post 501. The buffer post 501 is located in the corresponding through slot 405 and is slidably connected to the through slot 405.

[0040] The auxiliary clamping plate 403 has a relief groove 406 on the side near the main clamping plate 402, which is coaxial with the corresponding through groove 405 and has the same shape as the airbag 506. The airbag 506 is located in the relief groove 406 on the corresponding side.

[0041] One end of the rotating cylinder 504 away from the buffer column 501 is rotatably connected to the mounting cylinder 502 via a rotating shaft 510. A torsion spring 511 connected to the mounting cylinder 502 is coaxially mounted on the rotating shaft 510.

[0042] The thickness of the arc-shaped block 509 gradually increases in the clockwise direction. The end of the push rod 508 near the mounting cylinder 502 contacts the end face of the arc-shaped block 509. The air cylinder 507 is connected to the push rod 508 through the elastic element 512.

[0043] In use, when the secondary clamping plate 403 moves toward the tobacco box, the secondary clamping plate 403 causes the buffer column 501 to first contact the side wall of the tobacco box, so that the buffer column 501 slides along the through groove 405 on the secondary clamping plate 403 toward the mounting cylinder 502. The buffer column 501 drives the rotating cylinder 504 to rotate through the insert rod 505 and the guide groove 503. The rotating cylinder 504 drives the rotating shaft 510 to rotate along the mounting cylinder 502, and the torsion spring 511 tightens. At this time, during the rotation of the torsion spring 511 and the rotating cylinder 504, the secondary clamping plate 403 can play a certain buffering role when it contacts the tobacco box.

[0044] Simultaneously, the rotating drum 504 drives the two arc-shaped blocks 509 to rotate. As the thickness of the arc-shaped blocks 509 gradually increases in the clockwise direction, when the arc-shaped blocks 509 rotate, their end faces push the push rod 508 to slide along the air cylinder 507 towards the air bag 506. The elastic element 512 is compressed, and the push rod 508 drives the gas in the air cylinder 507 to be injected into the air bag 506. The air bag 506 inflates and gradually contacts the side wall of the tobacco box. When the buffer column 501 completely slides into the through groove 405, the auxiliary clamping plate 403 is in close contact with the side wall of the tobacco box and fixed. The inflated air bag 506 is squeezed and in close contact with the side wall of the tobacco box for flexible clamping. This increases the friction between the auxiliary clamping plate 403 and the side wall of the tobacco box through the air bag 506, improving the clamping effect on the tobacco box.

[0045] When the cigarette box is no longer clamped, the auxiliary clamping plate 403 causes the buffer column 501 to gradually detach and contact the side wall of the cigarette box. At this time, under the action of the torsion spring 511, the torsion spring 511 drives the rotating cylinder 504 to rotate along the mounting cylinder 502 through the rotating shaft 510. The rotating cylinder 504 drives the buffer column 501 to slide along the through groove 405 towards the cigarette box through the guide groove 503 and the insertion rod 505. At the same time, the rotating cylinder 504 causes the two arc-shaped blocks 509 to stop pressing the push rod 508. Under the action of the airbag 506 and the elastic element 512, the push rod 508 slides towards the arc-shaped block 509. The airbag 506 deflates and retracts into the relief groove 406 to facilitate the next clamping action.

[0046] In summary, the coordinated arrangement of the buffer column 501, rotating drum 504, insertion rod 505, guide groove 503, push rod 508, arc block 509, air cylinder 507, and airbag 506 not only buffers the clamping force to a certain extent when the auxiliary clamping plate 403 clamps the side wall of the cigarette box, preventing damage to the cigarette box, but also, during the rotation of the rotating drum 504, the arc block 509 pushes the air cylinder 507 into the airbag 506 via the push rod 508, causing the airbag 506 to inflate and flexibly contact and fix the cigarette box, and increases the friction between the auxiliary clamping plate 403 and the cigarette box, further improving the stability of the cigarette box clamping and transportation.

[0047] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An automated cigarette box transfer robot, comprising a rotating disk, a first robotic arm, and a second robotic arm, characterized in that, The second robotic arm is rotatably connected to a clamping assembly, which has a main clamping plate and a secondary clamping plate. The secondary clamping plate has a buffer assembly, which includes a buffer column slidably connected to the secondary clamping plate. On the side of the secondary clamping plate away from the main clamping plate, there are multiple mounting cylinders corresponding to the buffer columns. A rotating cylinder with an arc-shaped guide groove is rotatably connected inside the mounting cylinder. An insert rod slidably connected to the guide groove is fixed on the buffer column. An annular airbag is provided on the side of the secondary clamping plate near the main clamping plate. Two air cylinders, each communicating with the corresponding airbag, are provided inside the mounting cylinder. A push rod is slidably connected inside the air cylinder. Arc-shaped blocks that can contact the push rod are provided on both sides of the rotating cylinder.

2. The automated cigarette box transfer robot according to claim 1, characterized in that: The clamping assembly includes a mounting plate rotatably connected to the free end of the second robotic arm, a mounting frame is fixed on the mounting plate, the main clamping plate is fixedly connected to the mounting frame, and the secondary clamping plate is slidably connected to the mounting frame.

3. The automated cigarette box transfer robot according to claim 2, characterized in that: The auxiliary clamp is provided with multiple through slots corresponding to the buffer posts, and the buffer posts are located in the corresponding through slots and are slidably connected to the through slots.

4. The automated cigarette box transfer robot according to claim 3, characterized in that: The auxiliary clamping plate has a clearance groove on the side near the main clamping plate that is coaxial with the corresponding through groove and has the same shape as the airbag, and the airbag is located in the clearance groove on the corresponding side.

5. An automated cigarette box transfer robot according to claim 4, characterized in that: The end of the rotating cylinder away from the buffer column is rotatably connected to the mounting cylinder via a rotating shaft, and a torsion spring coaxially connected to the mounting cylinder is provided on the rotating shaft.

6. An automated cigarette box transfer robot according to claim 5, characterized in that: The thickness of the arc-shaped block gradually increases in a clockwise direction. The end of the push rod near the mounting cylinder contacts the end face of the arc-shaped block. The air cylinder is connected to the push rod through an elastic element.

7. An automated cigarette box transfer robot according to claim 6, characterized in that: A first cylinder is fixed on the main clamping plate, and the output end of the first cylinder is fixedly connected to the auxiliary clamping plate. The first cylinder can drive the auxiliary clamping plate to slide towards the main clamping plate.

8. An automated cigarette box transfer robot according to claim 7, characterized in that: A second cylinder is fixed on the side of the auxiliary clamping plate away from the main clamping plate. The output end of the second cylinder is provided with multiple L-shaped fixing plates that are spaced apart through a connecting plate, which are used to constrain the bottom of the cigarette box.

9. An automated cigarette box transfer robot according to claim 8, characterized in that: The first robotic arm and the second robotic arm are each equipped with a drive motor at one end near the rotary disk. The drive motor is used to drive the first robotic arm and the second robotic arm to change angles.

10. An automated cigarette box transfer robot according to claim 9, characterized in that: The end of the rotating disk away from the first robotic arm is rotatably connected to a base, and the base is provided with a power mechanism for driving the rotating disk to rotate.

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