CN101670577A - Clamping manipulator for tobacco dedicated charging basket - Google Patents

Clamping manipulator for tobacco dedicated charging basket Download PDF

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Publication number
CN101670577A
CN101670577A CN200910196600A CN200910196600A CN101670577A CN 101670577 A CN101670577 A CN 101670577A CN 200910196600 A CN200910196600 A CN 200910196600A CN 200910196600 A CN200910196600 A CN 200910196600A CN 101670577 A CN101670577 A CN 101670577A
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CN
China
Prior art keywords
servo motor
motor
paw
riser
supporting seat
Prior art date
Application number
CN200910196600A
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Chinese (zh)
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CN101670577B (en
Inventor
朱洪武
钱肇隽
张敏
陈耀歧
夏凯
徐加贵
Original Assignee
上海烟草(集团)公司
宝应仁恒实业有限公司
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Application filed by 上海烟草(集团)公司, 宝应仁恒实业有限公司 filed Critical 上海烟草(集团)公司
Priority to CN2009101966009A priority Critical patent/CN101670577B/en
Publication of CN101670577A publication Critical patent/CN101670577A/en
Application granted granted Critical
Publication of CN101670577B publication Critical patent/CN101670577B/en

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Abstract

The invention discloses a clamping manipulator for a tobacco dedicated charging basket, comprising a paw guide rail, two paw clamping sheets, a rotary servo motor, a swinging servo motor and a three-dimensional rectangular coordinate robot, wherein two paw clamping sheets can slide along with the paw guide rail and are mutually connected via a cylinder; the rotary servo motor is fixed on the supporting seat of a first motor and can drive the paw guide rail to rotate; the swinging servo motor is fixed on the supporting seat of a second motor and can drive the supporting seat of the first motorto rotate; and the three-dimensional rectangular coordinate robot is connected with the supporting seat of the second motor. The scheme controls clamping, dumping, shaking, transporting and releasingof the charging basket by the clamping paw by controlling the components of the cylinder, the servo motor, the rectangular coordinate robot and the like, thus realizing automation control, improving feed liquor preparing efficiency, avoiding quality accident of artificially missending material, lowering raw material consumption and worker labor intensity to the utmost, and improving workshop sanitary environment.

Description

Clamping manipulator for tobacco dedicated charging basket

Technical field

The present invention relates to the production equipment that grows tobacco, particularly a kind ofly in sugar kitchen system, be used for grasping and the manipulator of the special-purpose sugar material of clamping tobacco charging basket.

Background technology

The spices kitchen is complexes of producing sugar material and spices, the tobacco leaf and the pipe tobacco that are mainly used in cigar mill's primary processing line production process the different trades mark add corresponding sugar material and spices, and inherent qualities such as its suction flavor to cigarette product, style have crucial effect.Comprise some groups of batch cans in the spices cooking apparatus, these some groups of batch cans are containers of depositing and modulating feed liquid, be divided into head tank, modulation jar, hold-up tank etc., wherein the modulation jar is used to modulate feed liquid, head tank is used to store the required raw material of modulation feed liquid, and hold-up tank is used to store the feed liquid that modulates to be used for the throwing line.

The sugar kitchen system technology of cigar mill's use at present is advanced day by day, automaticity is also more and more higher, but comes with some shortcomings on the earlier stage treatment process of raw material: unordered, the manually-operated state that is in is deposited, carried to sugar material raw material; Raw material by artificial haul, put confusion, be difficult for checking, only depend on tag recognition raw material variety and weight on the Raw material pail, automaticity and safety coefficient are low.The mode that raw material is gone into modulation jar adopts a dead lift to topple over more or the pump suction is carried, the big and inefficiency of labour intensity, and the pump suction carries that to be easy to generate pipeline residual, causes that wastage of material is serious, detergent line is inconvenient, the people is defectives such as maloperation.At the problems referred to above, full-automatic sugar kitchen system is more and more paid attention to by domestic and international tobacco circle, and how realizing that the automation of the special-purpose sugar material of tobacco charging basket is grasped, carries and toppled over becomes the problem that a lot of tobacco manufacturer pays close attention to.

Summary of the invention

At above-mentioned the deficiencies in the prior art, the technical problem to be solved in the present invention provides a kind of manipulator of realizing automatic extracting, carry and toppling over the special-purpose sugar material of tobacco charging basket.

For solving the problems of the technologies described above, the present invention adopts following technical scheme:

A kind of clamping manipulator for tobacco dedicated charging basket, it comprises: a retaining paw, comprise a paw guide rail and two retaining paw sheets, described two retaining paw sheets are positioned on the described paw guide rail and can slide along described paw guide rail, connect by a cylinder between described two retaining paw sheets; Rotating servo motor, it is fixed on the first motor supporting seat, and the motor shaft of described rotating servo motor is fixedlyed connected with described paw guide rail; The wobble servo motor, it is fixed on the second motor supporting seat, and the motor shaft of described wobble servo motor is fixedlyed connected with the described first motor supporting seat, and the motor shaft of described wobble servo motor is vertical with the motor shaft direction of described rotating servo motor; Three-dimensional rectangular coordinate robot, the described second motor supporting seat are fixed on the operation arm of described three-dimensional coordinate robot.

Further, the described first motor supporting seat comprises first transverse slat, the starting stave and second riser, described starting stave, second riser and described vertical connection of first transverse slat, described rotating servo motor is fixed on described first transverse slat, the described second motor supporting seat comprises second transverse slat, the 3rd riser and the 4th riser, described the 3rd riser, the 4th riser and described vertical connection of second transverse slat, described first transverse slat is relative with described second transverse slat, described starting stave and described the 3rd riser are hinged, described second riser and described the 4th riser are hinged, described wobble servo motor is fixed on described the 4th riser, and the motor shaft of described wobble servo motor is fixedlyed connected with described second riser.

Technique scheme has following beneficial effect: in such scheme, be provided with cylinder between two retaining paw sheets of retaining paw, can realize release and the clamping of retaining paw by the flexible of this cylinder to charging basket, rotating servo motor can drive the retaining paw along continuous straight runs and rotate to an angle, with adapt to charging basket different put angle; The wobble servo motor can drive retaining paw and swing up and down, and realizes toppling over and rocking of charging basket; The angle of the angle of rotating servo motor rotation and the swing of wobble servo motor all can be controlled; The three-dimensional rectangular coordinate robot can drive retaining paw and move in than the large space scope.

This scheme by parts such as control cylinder, rotating servo motor, wobble servo motor and three-dimensional rectangular coordinate robot control retaining paw to the clamping of charging basket, topple over, rock, carry and discharge, realized automation control, improved the feed liquid confecting efficiency, having stopped the people is the quality accident of sending wrong material, consumption of raw materials and working strength of workers have been reduced to greatest extent, the hygienic conditions in workshop have been improved, finished that sugared material raw material adds from extensive manual operations to automation, intelligentized transformation, improved production efficiency.

Description of drawings

Fig. 1 is the front view of retaining paw in the embodiment of the invention.

Fig. 2 is the side view of retaining paw in the embodiment of the invention.

Fig. 3 is the structural representation of the embodiment of the invention.

The specific embodiment

Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.

As shown in Figure 1, 2, this clamping manipulator for tobacco dedicated charging basket comprises a retaining paw, retaining paw comprises a paw guide rail 3 and two retaining paw sheets 1, two retaining paw sheets 1 are connected with paw guide rail 3, connect by a cylinder 2 between two retaining paw sheets 1, cylinder 2 is back and forth flexible can be driven retaining paw sheet 1 and slidably reciprocates on paw guide rail 3.

The top of paw guide rail 3 is provided with a rotating servo motor 4, rotating servo motor 4 is fixed on the first motor supporting seat 5, the first motor supporting seat 5 comprises first transverse slat 51, starting stave 52 and second riser 53, starting stave 52, second riser 53 and 51 vertical connections of first transverse slat, rotating servo motor 4 is fixed on first transverse slat 51, the motor shaft direction of rotating servo motor 4 is fixedlyed connected with paw guide rail 3 vertically downward, rotating servo motor 4 can drive paw guide rail 3 and rotate in the horizontal direction, and the angle of rotation can be controlled.

The top of the first motor supporting seat 5 is provided with the second motor supporting seat 7 relative with it, the second motor supporting seat 7 comprises second transverse slat 71, the 3rd riser 72 and the 4th riser 73, the 3rd riser 72, the 4th riser 73 and 71 vertical connections of second transverse slat, first transverse slat 51 is relative with second transverse slat 71, starting stave 52 and the 3rd riser 72 are hinged, second riser 53 and the 4th riser 73 are hinged, the 4th riser 73 is provided with wobble servo motor 6, the motor shaft direction of wobble servo motor 6 is vertical with the motor shaft direction of rotating servo motor 4, and the motor shaft of wobble servo motor 6 is fixedlyed connected with second riser 53 with the jointed shaft between the 4th riser 73 by second riser 53.Wobble servo motor 6 can drive the first motor supporting seat 5 and retaining paw vertically swings up and down, and the angle of swing can be controlled by the angle of control wobble servo motor 6 rotations.

As shown in Figure 3, this clamping manipulator for tobacco dedicated charging basket also comprises a three-dimensional rectangular coordinate robot 8, this three-dimensional rectangular coordinate robot 8 comprises a frame 83, and frame 83 is provided with X-axis guide rail 82, Y-axis guide rail (not shown) and operation arm 81 (Z axis rail).The Y-axis guide rail is fixed on the frame 83, and the X-axis guide rail is connected with the Y-axis guide rail by slide block, and operation arm 81 is connected with X-axis guide rail 82 by slide block 84, and operation arm 81 can be in the drive lower edge of corresponding driving motor 85 X-axis, Y-axis and the motion of Z axle.Second transverse slat 71 of the second motor supporting seat 7 is fixedlyed connected with operation arm 81, and retaining paw just can arrive under operation arm 81 drives of three-dimensional rectangular coordinate robot 8 that the arbitrary coordinate point grasps charging basket in X, Y, the Z axle effective length scope like this.

This clamping manipulator for tobacco dedicated charging basket in use, at first controlling three-dimensional rectangular coordinate robot 8 makes its operation arm 81 move to the top for the treatment of the material grasping bucket, control cylinder 2 shrinks and makes two retaining paw sheets 1 that charging basket is blocked clamping, the angle of putting as charging basket and the position of two retaining paw sheets 1 be not at once, can regulate two retaining paw sheets 1 by the rotation of control rotating servo motor 4, so that two retaining paw sheets 1 can be clamped charging basket smoothly.After charging basket was clamped, operation arm 81 drove charging basket earlier and moves to the bar code scan place and carries out brand and confirm that back to Cover whirling Machine uncaps to charging basket, and in moving process, control wobble servo motor 6 drives charging baskets and rocks back and forth, so that the feed liquid in the charging basket is even up and down.After charging basket was uncapped, operation arm 81 was transported to the top of batch can 9 with charging basket, and after the cover for the treatment of batch can 9 was opened, 6 rotations of control wobble servo motor made charging basket tilt to pour the feed liquid in the charging basket into batch can 9.

After batch turning finishes, operation arm 81 moves to nearest quantitative filling up area with the empty bucket of retaining paw clamping and adds water, and the empty bucket of control wobble servo motor 6 drives rocks, the empty bucket that will inject gauge water again moves to batch can 9 tops of charging just now once more, the gauge water of rinsing bucket is poured in the batch can 9, to reduce wastage of material.Operating arm 81 then is being with retaining paw that sky bucket is transported to Cover whirling Machine to carry out locking closure, at last the empty bucket behind the locking closure is reapposed on the original position.

This manipulator can repeat above action step, and the feed liquid in a plurality of charging baskets is all poured in the batch can, can finish batching, batch turning task like this, realizes the automation of haul, batching, batch turning.This scheme by parts such as control cylinder 2, rotating servo motor 4, wobble servo motor 6 and three-dimensional rectangular coordinate robot 8 control retaining paw to the clamping of charging basket, topple over, rock, carry and discharge, realized automation control, improved the feed liquid confecting efficiency, having stopped the people is the quality accident of sending wrong material, consumption of raw materials and working strength of workers have been reduced to greatest extent, the hygienic conditions in workshop have been improved, finished that sugared material raw material adds from extensive manual operations to automation, intelligentized transformation, improved production efficiency.

More than a kind of clamping manipulator for tobacco dedicated charging basket that the embodiment of the invention provided is described in detail; for one of ordinary skill in the art; thought according to the embodiment of the invention; part in specific embodiments and applications all can change; in sum; this description should not be construed as limitation of the present invention, and all any changes of making according to design philosophy of the present invention are all within protection scope of the present invention.

Claims (2)

1, a kind of clamping manipulator for tobacco dedicated charging basket is characterized in that, it comprises:
One retaining paw, comprise a paw guide rail (3) and two retaining paw sheets (1), described two retaining paw sheets (1) are positioned at described paw guide rail (3) to be gone up also and can slide along described paw guide rail (3), connects by a cylinder (2) between described two retaining paw sheets (1);
Rotating servo motor (4), it is fixed on the first motor supporting seat (5), and the motor shaft of described rotating servo motor (4) is fixedlyed connected with described paw guide rail (3);
Wobble servo motor (6), it is fixed on the second motor supporting seat (7), the motor shaft of described wobble servo motor (6) is fixedlyed connected with the described first motor supporting seat (5), and the motor shaft of described wobble servo motor (6) is vertical with the motor shaft direction of described rotating servo motor (4);
Three-dimensional rectangular coordinate robot (8), the described second motor supporting seat (7) is fixed on the operation arm (81) of described three-dimensional coordinate robot (8).
2, clamping manipulator for tobacco dedicated charging basket according to claim 1, it is characterized in that: the described first motor supporting seat (5) comprises first transverse slat (51), starting stave (52) and second riser (53), described starting stave (52), second riser (53) and vertical connection of described first transverse slat (51), described rotating servo motor (4) is fixed on described first transverse slat (51), the described second motor supporting seat (7) comprises second transverse slat (71), the 3rd riser (72) and the 4th riser (73), described the 3rd riser (72), the 4th riser (73) and vertical connection of described second transverse slat (71), described first transverse slat (51) is relative with described second transverse slat (71), described starting stave (52) is hinged with described the 3rd riser (72), described second riser (53) is hinged with described the 4th riser (73), described wobble servo motor (6) is fixed on described the 4th riser (73), and the motor shaft of described wobble servo motor (6) is fixedlyed connected with described second riser (53).
CN2009101966009A 2009-09-27 2009-09-27 Clamping manipulator for tobacco dedicated charging basket CN101670577B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009101966009A CN101670577B (en) 2009-09-27 2009-09-27 Clamping manipulator for tobacco dedicated charging basket

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009101966009A CN101670577B (en) 2009-09-27 2009-09-27 Clamping manipulator for tobacco dedicated charging basket

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CN101670577A true CN101670577A (en) 2010-03-17
CN101670577B CN101670577B (en) 2012-02-29

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102490182A (en) * 2011-11-25 2012-06-13 上海烟草集团有限责任公司 Center positioning structure of robot clamp arm
CN103169144A (en) * 2013-01-18 2013-06-26 济南数能电子有限公司 Intelligent assembling and disassembling device for bulk curing barn tobacco rod or tobacco clamp
CN103935758A (en) * 2014-02-21 2014-07-23 珠海格力电器股份有限公司 Device for carrying compressor onto assembly line
CN104493824A (en) * 2014-11-27 2015-04-08 上海烟草集团有限责任公司 Pack detection and pick-up point adjustment system and method
CN104493469A (en) * 2014-12-06 2015-04-08 中国煤炭科工集团太原研究院有限公司 Clamping device suitable for quick dismounting of stand column of hydraulic bracket
CN105216212A (en) * 2015-10-21 2016-01-06 佛山林至高分子材料科技有限公司 A kind of for the batch turning manipulator in foaming stock solution batch turning operation

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102490182A (en) * 2011-11-25 2012-06-13 上海烟草集团有限责任公司 Center positioning structure of robot clamp arm
CN102490182B (en) * 2011-11-25 2014-12-24 上海烟草集团有限责任公司 Center positioning structure of robot clamp arm
CN103169144A (en) * 2013-01-18 2013-06-26 济南数能电子有限公司 Intelligent assembling and disassembling device for bulk curing barn tobacco rod or tobacco clamp
CN103935758A (en) * 2014-02-21 2014-07-23 珠海格力电器股份有限公司 Device for carrying compressor onto assembly line
CN103935758B (en) * 2014-02-21 2017-02-22 珠海格力电器股份有限公司 Device for carrying compressor onto assembly line
CN104493824A (en) * 2014-11-27 2015-04-08 上海烟草集团有限责任公司 Pack detection and pick-up point adjustment system and method
CN104493824B (en) * 2014-11-27 2016-08-24 上海烟草集团有限责任公司 Tobacco bale detection and the method adjusting gripping point
CN104493469A (en) * 2014-12-06 2015-04-08 中国煤炭科工集团太原研究院有限公司 Clamping device suitable for quick dismounting of stand column of hydraulic bracket
CN104493469B (en) * 2014-12-06 2017-01-11 中国煤炭科工集团太原研究院有限公司 Clamping device suitable for quick dismounting of stand column of hydraulic bracket
CN105216212A (en) * 2015-10-21 2016-01-06 佛山林至高分子材料科技有限公司 A kind of for the batch turning manipulator in foaming stock solution batch turning operation

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