CN101670577B - Clamping manipulator for tobacco dedicated charging basket - Google Patents
Clamping manipulator for tobacco dedicated charging basket Download PDFInfo
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- CN101670577B CN101670577B CN2009101966009A CN200910196600A CN101670577B CN 101670577 B CN101670577 B CN 101670577B CN 2009101966009 A CN2009101966009 A CN 2009101966009A CN 200910196600 A CN200910196600 A CN 200910196600A CN 101670577 B CN101670577 B CN 101670577B
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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 motor to 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 releasing of 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
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, and 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 and supplies the throwing line to use.
The sugar kitchen system technology of cigar mill's use at present is advanced day by day, automaticity is also increasingly high, but on the earlier stage treatment process of raw material, comes with some shortcomings: unordered, the manually-operated state that is in is deposited, carried to sugar material raw material; Raw material is hauled, puts confusion, is difficult for checking by manual work, only depends on tag recognition raw material variety and weight on the Raw material pail, and 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.To 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
To the deficiency of above-mentioned prior art, the technical problem that the present invention will solve 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, said two retaining paw sheets are positioned on the said paw guide rail and can slide along said paw guide rail, connect through a cylinder between said two retaining paw sheets; Rotating servo motor, it is fixed on the first motor supporting seat, and the motor shaft of said rotating servo motor is fixedly connected with said paw guide rail; The wobble servo motor, it is fixed on the second motor supporting seat, and the motor shaft of said wobble servo motor is fixedly connected with the said first motor supporting seat, and the motor shaft of said wobble servo motor is vertical with the motor shaft direction of said rotating servo motor; Three-dimensional rectangular coordinate robot, the said second motor supporting seat are fixed on the operation arm of said three-dimensional coordinate robot.
Further; The said first motor supporting seat comprises first transverse slat, starting stave and second riser; Said starting stave, second riser are fixed on said first transverse slat with said vertical connection of first transverse slat, said rotating servo motor, and the said second motor supporting seat comprises second transverse slat, the 3rd riser and the 4th riser; Said the 3rd riser, the 4th riser and said vertical connection of second transverse slat; Said first transverse slat is relative with said second transverse slat, and said starting stave and said the 3rd riser are hinged, and said second riser and said the 4th riser are hinged; Said wobble servo motor is fixed on said the 4th riser, and the motor shaft of said wobble servo motor is fixedly connected with said 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 through 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 in than the large space scope, move.
This scheme through 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, has reduced consumption of raw materials and working strength of workers to greatest extent, has improved the hygienic conditions in workshop; Accomplished 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 carried out detailed introduction.
Like Fig. 1, shown in 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 through a cylinder 2 between two retaining paw sheets 1, and cylinder 2 is back and forth flexible can be driven retaining paw sheet 1 and on paw guide rail 3, slidably reciprocate.
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 are fixed on first transverse slat 51 with 51 vertical connections of first transverse slat, rotating servo motor 4, and the motor shaft direction of rotating servo motor 4 is fixedly 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, and 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, and 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 fixedly connected with second riser 53 with jointed shaft between the 4th riser 73 through 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 through 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, and this three-dimensional rectangular coordinate robot 8 comprises a frame 83, and frame 83 is provided with X axis rail 82, Y axis rail (not shown) and operation arm 81 (Z axis rail).The Y axis rail is fixed on the frame 83, and the X axis rail is connected with the Y axis rail through slide block, and operation arm 81 is connected with X axis rail 82 through slide block 84, and operation arm 81 can X axle, Y axle and the motion of Z axle in the drive lower edge of corresponding driving motor 85.Second transverse slat 71 of the second motor supporting seat 7 is fixedly connected with operation arm 81, like this retaining paw just can be under 81 drives of the operation arm of three-dimensional rectangular coordinate robot 8 in arrival X, Y, the Z axle effective length scope arbitrary coordinate point charging basket is grasped.
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 of treating 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 like charging basket and the position of two retaining paw sheets 1 can be regulated two retaining paw sheets 1 through the rotation of control rotating servo motor 4, so that two retaining paw sheets 1 can be clamped charging basket smoothly not at once.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 of treating 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 accomplish batching, batch turning task like this, realizes the automation of haul, batching, batch turning.This scheme through 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, has reduced consumption of raw materials and working strength of workers to greatest extent, has improved the hygienic conditions in workshop; Accomplished 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 has been carried out detailed introduction; For one of ordinary skill in the art; According to the thought of the embodiment of the invention, the part that on the specific embodiment and range of application, 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 (1)
1. 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); Said two retaining paw sheets (1) are positioned at said paw guide rail (3) to be gone up also and can slide along said paw guide rail (3), connects through a cylinder (2) between said two retaining paw sheets (1);
Rotating servo motor (4), it is fixed on the first motor supporting seat (5), and the motor shaft of said rotating servo motor (4) is fixedly connected with said paw guide rail (3);
Wobble servo motor (6); It is fixed on the second motor supporting seat (7); The motor shaft of said wobble servo motor (6) is fixedly connected with the said first motor supporting seat (5), and the motor shaft of said wobble servo motor (6) is vertical with the motor shaft direction of said rotating servo motor (4);
Three-dimensional rectangular coordinate robot (8), the said second motor supporting seat (7) is fixed on the operation arm (81) of said three-dimensional coordinate robot (8);
The said first motor supporting seat (5) comprises first transverse slat (51), starting stave (52) and second riser (53); Said starting stave (52), second riser (53) and vertical connection of said first transverse slat (51); Said rotating servo motor (4) is fixed on said first transverse slat (51); The said second motor supporting seat (7) comprises second transverse slat (71), the 3rd riser (72) and the 4th riser (73); Said the 3rd riser (72), the 4th riser (73) and vertical connection of said second transverse slat (71), said first transverse slat (51) is relative with said second transverse slat (71), and said starting stave (52) is hinged with said the 3rd riser (72); Said second riser (53) is hinged with said the 4th riser (73); Said wobble servo motor (6) is fixed on said the 4th riser (73), and the motor shaft of said wobble servo motor (6) is fixedly connected with said second riser (53), and the operation arm (81) of said three-dimensional rectangular coordinate robot (8) is connected with said second transverse slat (71).
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101670577A CN101670577A (en) | 2010-03-17 |
| CN101670577B true CN101670577B (en) | 2012-02-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009101966009A Active CN101670577B (en) | 2009-09-27 | 2009-09-27 | Clamping manipulator for tobacco dedicated charging basket |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| 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 |
| 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 |
| CN108673360B (en) * | 2018-05-07 | 2024-05-07 | 郑州金海威科技实业有限公司 | Automatic hot-pressing sintering system and method for diamond tool bit |
| CN109500916B (en) * | 2018-12-19 | 2024-03-29 | 深圳市东京文洪印刷机械有限公司 | Full-automatic die-cutting machine and intelligent loading attachment thereof |
| CN109607263B (en) * | 2018-12-19 | 2024-01-26 | 深圳市东京文洪印刷机械有限公司 | Full-automatic paper mounting machine and intelligent loading attachment thereof |
| CN112004616A (en) * | 2019-12-12 | 2020-11-27 | 深圳市微蓝智能科技有限公司 | Mechanical device for obtaining sheet-like article |
| CN112278418A (en) * | 2020-11-23 | 2021-01-29 | 河北省机电一体化中试基地 | Multilayer carton blank unstacking clamp |
| CN112549005A (en) * | 2020-11-28 | 2021-03-26 | 帕格曼科技(太仓)有限公司 | Manipulator remote control system |
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2009
- 2009-09-27 CN CN2009101966009A patent/CN101670577B/en active Active
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| CN101670577A (en) | 2010-03-17 |
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