A reference point correction auxiliary device for a cigarette finished product unstacking robot

Abstract

The utility model relates to tobacco manufacturing technical field especially relates to a cigarette finished product unstacking robot reference point correction auxiliary device. Among them, first positioning member is installed in the center of first base, and the center of second base is installed in the center of second positioning member, and second base can be adsorbed by robot sucking disc, and first positioning member can be aligned with second positioning member. Compared with prior art, the device sets first base in the center of pick-up point, and uses first positioning member as contrast point, robot sucking disc is adsorbed on second base, first positioning member is aligned with second positioning member by moving robot, and then the coordinate value of robot reference point is modified, the reference point correction of robot is completed, the installation-free setting of robot sucking disc center sign assembly and robot sucking disc is quick and efficient, and the steps such as carrying tray and repeated measurement are saved, and the correction efficiency is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of tobacco manufacturing technology, and in particular to an auxiliary device for calibrating reference points of a cigarette finished product unpacking and palletizing robot. Background Technology

[0002] In standard box material palletizing and depalletizing logistics solutions, AGVs (Automated Guided Vehicles) are commonly used to transport pallets to the robot's workstation, where the robot then depalletizes and depalletizes the standard boxes. In this solution, the AGV pick-up point, the robot's pallet reference point, and the robot's depalletizing reference point must be aligned to ensure accurate depalletizing of the standard boxes from the pallet. If these three points are not aligned, the robot's pallet reference point and depalletizing reference point must be adjusted using the AGV pick-up point as a reference.

[0003] The existing calibration method requires placing the pallet on the workstation, aligning the center of the pallet with the AGV pick-up point, using the center of the pallet as a reference point for the robot pallet. Then, the robot's TCP (suction cup center point) is moved to the pallet reference point, and the actual position of the robot is observed and judged to see if it coincides with the center of the pallet. The method of determining the center point of the suction cup is to measure the distance of the robot suction cup on the pallet in all directions with a ruler, and continuously adjust the robot suction cup until the center point of the suction cup is aligned with the center of the pallet. The repeated dimensional measurements greatly reduce the calibration efficiency.

[0004] Therefore, there is an urgent need for a reference point correction auxiliary device for cigarette finished product depalletizing and palletizing robots to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of this invention is to provide an auxiliary device for calibrating reference points in a cigarette finished product unpacking and palletizing robot, which can improve calibration efficiency.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A reference point correction auxiliary device for a cigarette finished product depalletizing robot includes: a pick-up and drop-off point marking component and a robot suction cup center marking component. The pick-up and drop-off point marking component includes a first base and a first positioning component. The first positioning component is installed at the center of the first base, and the first base is located at the exact center of the pick-up and drop-off point. The robot suction cup center marking component includes a second base and a second positioning component. The second positioning component is installed at the center of the second base, and the second base can be attracted by the robot suction cup. The first positioning component can be aligned with the second positioning component.

[0008] As a preferred technical solution of the above-mentioned auxiliary device for calibrating reference points of a cigarette finished product depalletizing robot, the pick-up and delivery point marking component further includes a bracket, which is connected between the first base and the first positioning member.

[0009] As a preferred technical solution of the above-mentioned auxiliary device for calibrating reference points of a cigarette finished product depalletizing robot, the bracket includes a first connector and a second connector. One end of the first connector is fixed to the first base, one end of the second connector is slidably connected to the other end of the first connector, and the first positioning member is fixed to the other end of the second connector.

[0010] As a preferred technical solution of the above-mentioned auxiliary device for calibrating reference points of a cigarette finished product depalletizing robot, the second connecting member is slidably inserted through the first connecting member.

[0011] As a preferred technical solution of the above-mentioned auxiliary device for calibrating the reference point of a cigarette finished product depalletizing robot, the second connecting member is provided with a first scale.

[0012] As a preferred technical solution of the above-mentioned auxiliary device for calibrating reference points of a cigarette finished product depalletizing robot, the cross-sections of the first connecting member and the second connecting member are both circular.

[0013] As a preferred technical solution of the above-mentioned auxiliary device for calibrating the reference point of the cigarette finished product depalletizing robot, the first base is provided with a second scale, and the first base is set at the exact center of the receiving point through the second scale.

[0014] As a preferred technical solution of the above-mentioned auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot, the second scale is located on the outer periphery of the first positioning member.

[0015] As a preferred technical solution of the above-mentioned auxiliary device for calibrating the reference point of a cigarette finished product depalletizing robot, the first positioning element is a first pointed cone.

[0016] As a preferred technical solution of the above-mentioned auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot, the second base is a flat plate.

[0017] The beneficial effects of this utility model are:

[0018] This invention provides an auxiliary device for calibrating the reference point of a cigarette depalletizing and palletizing robot. The auxiliary device includes a pick-up point marker assembly and a robot suction cup center marker assembly. The pick-up point marker assembly includes a first base and a first positioning element, with the first positioning element installed at the center of the first base, which is located at the exact center of the pick-up point. The robot suction cup center marker assembly includes a second base and a second positioning element, with the second positioning element installed at the center of the second base. The second base can be attracted by the robot suction cup, and the first positioning element can be aligned with the second positioning element. Compared to existing technologies, this device, by placing the first base at the exact center of the pick-up point and using the first positioning element as a reference point, and with the robot suction cup attached to the second base, allows the robot to move, aligning the first and second positioning elements, thereby modifying the coordinate values ​​of the robot's reference point and completing the robot's reference point calibration. The robot suction cup center marker assembly and robot suction cup require no installation, making it quick and efficient to use, eliminating the need for pallet handling and repeated measurements, and significantly improving calibration efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the pick-up and drop-off point sign component provided in this embodiment of the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the robot suction cup center marker component provided in this embodiment of the utility model.

[0022] In the picture:

[0023] 1. First base; 2. First positioning component; 3. Second base; 4. Second positioning component; 5. Bracket; 51. First connecting component; 52. Second connecting component. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0025] 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.

[0026] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0028] like Figure 1 and Figure 2 As shown, this utility model provides a reference point calibration auxiliary device for a cigarette depalletizing and palletizing robot. The reference point calibration auxiliary device for the cigarette depalletizing and palletizing robot includes: a pick-up and drop-off point marker assembly and a robot suction cup center marker assembly.

[0029] Specifically, the pick-up and drop-off point marker assembly includes a first base 1 and a first positioning element 2. The first positioning element 2 is installed at the center of the first base 1, which is located at the exact center of the pick-up and drop-off point. The robot suction cup center marker assembly includes a second base 3 and a second positioning element 4. The second positioning element 4 is installed at the center of the second base 3, which can be attracted by the robot suction cup. The first positioning element 2 can be aligned with the second positioning element 4. Compared to existing technologies, this device, by setting the first base 1 at the exact center of the pick-up and drop-off point and using the first positioning element 2 as a reference point, allows the robot suction cup to be attracted to the second base 3. By moving the robot, the first positioning element 2 and the second positioning element 4 are aligned, thereby modifying the coordinate values ​​of the robot's reference point and completing the robot's reference point correction. The robot suction cup center marker assembly and the robot suction cup can be set up without installation, making it quick and efficient to use. This eliminates the need for handling pallets and repeated measurements, greatly improving correction efficiency.

[0030] Optionally, the pick-up and drop-off point marker assembly also includes a bracket 5, which is connected between the first base 1 and the first positioning member 2. This arrangement raises the height of the first positioning member 2, making it easier to observe the first positioning member 2.

[0031] Furthermore, the support 5 includes a first connecting member 51 and a second connecting member 52. One end of the first connecting member 51 is fixed to the first base 1, and one end of the second connecting member 52 is slidably connected to the other end of the first connecting member 51. The first positioning member 2 is fixed to the other end of the second connecting member 52. Specifically, the second connecting member 52 slides through the first connecting member 51. The cross-sections of both the first connecting member 51 and the second connecting member 52 are circular. The support 5 adopts a telescopic rod design, which can adjust the height according to different scenarios, improving the versatility of the reference point correction auxiliary device for the cigarette finished product unpacking and palletizing robot. Furthermore, the second connecting member 52 is provided with a first scale, which can improve the accuracy of the extension and retraction of the second connecting member 52.

[0032] Optionally, the first base 1 is provided with a second scale, and the first base 1 is positioned at the exact center of the pick-up and drop-off point via the second scale. Specifically, the second scale is located on the outer periphery of the first positioning member 2, which facilitates alignment with the pick-up and drop-off point of the AGV.

[0033] Optionally, the first positioning element 2 is a first pointed cone. Specifically, the second positioning element 4 is a second pointed cone. This arrangement facilitates visual observation of the reference point.

[0034] Optionally, the second base 3 is a flat plate. With this configuration, the second base 3 adopts a flat plate design, which can be directly suctioned by the robot's own suction cup, allowing the second base 3 to be directly attached to the suction cup. The second base 3 has a second positioning element 4 in the center, which is easy to observe with the naked eye.

[0035] The usage process of the reference point calibration auxiliary device for the cigarette finished product unpacking and palletizing robot provided by this utility model is as follows:

[0036] 1. Place the first base 1 of the pick-up and drop-off point marker assembly on the pick-up and drop-off point of the AGV, and align the second scale on the first base 1 with the center of the pick-up and drop-off point.

[0037] 2. Place the second base 3 of the robot suction cup center mark component in the center of the robot suction cup and press it down. At the same time, turn on the robot suction cup, and the second base 3 will be automatically installed on the robot suction cup.

[0038] 3. Move the center point of the robot's suction cup to the calibration reference point;

[0039] 4. After the operation is completed, observe whether the tips of the first positioning component 2 and the second positioning component 4 can be aligned. If they are not aligned, move the center point of the robot suction cup to align the tips. After alignment, modify the coordinate value of the robot reference point to complete the robot reference point correction.

[0040] Furthermore, the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A reference point calibration auxiliary device for a cigarette finished product depalletizing and palletizing robot, characterized in that, include: The pickup point marking assembly and the robot suction cup center marking assembly are provided. The pickup point marking assembly includes a first base (1) and a first positioning element (2). The first positioning element (2) is installed at the center of the first base (1). The first base (1) is located at the exact center of the pickup point. The robot suction cup center marking assembly includes a second base (3) and a second positioning element (4). The second positioning element (4) is installed at the center of the second base (3). The second base (3) can be attracted by the robot suction cup. The first positioning element (2) can be aligned with the second positioning element (4).

2. The auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot according to claim 1, characterized in that, The pick-up and drop-off point marker assembly also includes a bracket (5), which is connected between the first base (1) and the first positioning member (2).

3. The auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot according to claim 2, characterized in that, The bracket (5) includes a first connector (51) and a second connector (52). One end of the first connector (51) is fixed to the first base (1), and one end of the second connector (52) is slidably connected to the other end of the first connector (51). The first positioning member (2) is fixed to the other end of the second connector (52).

4. The auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot according to claim 3, characterized in that, The second connector (52) slides through the first connector (51).

5. The auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot according to claim 3, characterized in that, The second connector (52) is provided with a first scale.

6. The auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot according to claim 3, characterized in that, The cross-sections of the first connector (51) and the second connector (52) are both circular.

7. The auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot according to claim 1, characterized in that, The first base (1) is provided with a second scale, and the first base (1) is set at the exact center of the receiving point through the second scale.

8. The auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot according to claim 7, characterized in that, The second scale is located on the outer periphery of the first positioning member (2).

9. The auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot according to any one of claims 1-8, characterized in that, The first positioning element (2) is a first pointed cone.

10. The auxiliary device for calibrating reference points of a cigarette finished product depalletizing and palletizing robot according to any one of claims 1-8, characterized in that, The second base (3) is a flat plate.

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