CN106429430A - Special-shaped cigarette stacking device - Google Patents
Special-shaped cigarette stacking device Download PDFInfo
- Publication number
- CN106429430A CN106429430A CN201610889332.9A CN201610889332A CN106429430A CN 106429430 A CN106429430 A CN 106429430A CN 201610889332 A CN201610889332 A CN 201610889332A CN 106429430 A CN106429430 A CN 106429430A
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- CN
- China
- Prior art keywords
- special
- cigarette
- spider
- robot
- conveying device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a special-shaped cigarette stacking device. The upper end of a spider robot is fixed to a rack, a cigarette carton conveying device and a stack conveying device are arranged below the spider robot side by side, the upper end of a supporting frame is fixed to the lower end of the spider robot, a sponge sucking disc is arranged at the lower end of the supporting frame, a vacuum control device comprises an electromagnetic valve, a vacuum generator and a filter assembly, and the electromagnetic valve is communicated with the sponge sucking disc through the vacuum generator and the filter assembly. The special-shaped cigarette stacking device has the beneficial effects that the cigarette carton conveying device conveys sorted cigarette cartons into the grabbing range of the spider robot, and the spider robot enables the cigarette cartons to achieve spatial three-freedom-degree moving and one-freedom-degree rotation; the electromagnetic valve controls existence of vacuum of the tail end of the sucking disc by controlling connection or disconnection of a positive pressure air source in the vacuum generator to grab or place special-shaped cigarettes, the stacks are compact, stable and reliable in shape, and grabbing is stable and efficient; and the stack conveying device conveys the stable and neat stacks to follow-up equipment to be packaged and the like.
Description
Technical field
The invention belongs to the technical field of auxiliary equipment of special-shaped cigarette baling line is and in particular to a kind of special-shaped cigarette palletizing apparatus.
Background technology
It is known that in existing bar cigarette palletization, for irregular bar cigarette, essentially manually operating, there is error rate
The low various problems of high efficiency, have a strong impact on the development of enterprise.With the continuous development of tobacco business, stip cigarette packing efficiency needs
Lifting, existing manual work mode can not meet current bar cigarette and produced the demand with market.
Content of the invention
The technical problem to be solved in the present invention is：Overcome the deficiencies in the prior art, provide one kind to have rational in infrastructure, operation
Simply, stable, precise control, efficiency high intelligent special-shaped cigarette palletizing apparatus applied widely.
The technical solution adopted for the present invention to solve the technical problems is：A kind of special-shaped cigarette palletizing apparatus, including a frame,
It is characterized in that：Also include one " spider " robot, a special-shaped cigarette grabbing device, a cigarette conveying device and a buttress shape conveying dress
Put；Described " spider " robot is fixed in described frame upper end, and described bar cigarette conveying device, buttress shape conveying device are arranged side by side
Lower section in described " spider " robot；Described special-shaped cigarette grabbing device includes a sucker, a bracing frame, a vacuum control dress
Put, support frame as described above upper end is fixed on described " spider " robot lower end, described sucker is arranged at the lower end of support frame as described above；Institute
State vacuum control unit and include a magnetic valve, a vacuum generator, filter assemblies, described magnetic valve is sent out by described vacuum
Raw device, described filter assemblies connect described sucker；One pressure switch is installed on described vacuum generator, for detecting its vacuum
Degree.
Preferably, described " spider " robot is capable of space " 3DOF " and moves and " 1 free degree " rotation.
Preferably, described sucker is sponge sucker.
Compared with prior art, the invention has the beneficial effects as follows：Sorting system is sorted out by its bar cigarette conveying device
Bar cigarette be delivered in the range of the crawl of " spider " robot, taken pictures and be given by its device for visual identification this cigarette size letter
Breath and positional information, " spider " robot control special-shaped cigarette grabbing device is realized space 3DOF and is moved and 1 freedom degree rotating,
The magnetic valve in vacuum control unit in special-shaped cigarette grabbing device, by controlling in the vacuum generator in vacuum control unit
Malleation source of the gas break-make, to control the presence or absence of sucker end vacuum, it is achieved thereby that the crawl of special-shaped cigarette and placement action；Code
Buttress algorithm contains two and the crawl of wall scroll product judges and place to judge, has both combined piling and has piled up neatly the reliable and stable of shape, has filled again
Divide the stability considering crawl and efficiency, complete the quick pick-up of special-shaped cigarette, carry and formed the compact buttress of stable save space
Shape；Piling conveying device is packed etc. stablizing neat buttress shape and be delivered to follow-up equipment.
Brief description
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure is labeled as：
1st, magnetic valve；2nd, filter assemblies；3rd, pressure switch；4th, " spider " robot；5th, frame；6th, bracing frame；
7th, sponge sucker；8th, bar cigarette conveying device；9th, pile up neatly shape conveying device.
Specific embodiment
Embodiment below in conjunction with the accompanying drawings, is described further to the present invention：
Embodiment one
As shown in figure 1, a kind of special-shaped cigarette palletizing apparatus, defeated including frame, " spider " robot 4, special-shaped cigarette grabbing device, bar cigarette
Send device 8 and buttress shape conveying device 9；Spider " robot 4 is capable of space " 3DOF " and moves and " 1 free degree " rotation；
The upper end of " spider " robot 4 is fixed in frame 5, and bar cigarette conveying device 8, buttress shape conveying device 9 are disposed side by side on " spider "
The lower section of robot 4；Special-shaped cigarette grabbing device includes sponge sucker 7, bracing frame 6, vacuum control unit, the upper end of bracing frame 6
It is fixed on the lower end of " spider " robot 4, sponge sucker 7 is installed on the lower end of bracing frame 6；
Vacuum control unit includes magnetic valve 1, vacuum generator, filter assemblies 2, and magnetic valve 1 passes through vacuum generator, filtration
Device assembly 2 connects sponge sucker 7；On vacuum generator, pressure switch 3 is installed, for detecting its vacuum.Sponge sucker 7 passes through
Vacuum control unit controls the presence or absence of its vacuum, thus realizing crawl and the placement of special-shaped cigarette.
The operation principle of the present invention and the course of work are as follows：
As shown in figure 1, " spider " robot 4 belongs to parallel institution, there is 3 spatial degrees of freedom and a rotational freedom, can
Moved and 1 freedom degree rotating with controlling special-shaped cigarette grabbing device to realize space 3DOF；" spider " robot 4 have high flexibility,
The feature that movement velocity is fast, repetitive positioning accuracy is high, by piling algorithm, identifies in conjunction with vision system and controls special-shaped cigarette crawl dress
Put and complete the quick pick-up of special-shaped cigarette, carrying, piling.
Magnetic valve 1 passes through to control the break-make of malleation source of the gas in vacuum generator and filter assemblies 2 to control sucker end true
The presence or absence of sky, thus realize the crawl to special-shaped cigarette and placement action.Piling algorithm contains unconventional bar cigarette (length, width and height size
Significantly larger than or be less than conventional strip cigarette size) quick process, by calculating, bar cigarette riding position is optimized, takes into full account
Bar cigarette specificity and order specificity, draw optimum piling rule in conjunction with both, and " spider " robot 4 controls special-shaped cigarette crawl
Device is realized special-shaped cigarette and is accurately captured at a high speed, identifies special-shaped cigarette cigarette by servicing unit vision system, controls in conjunction with piling algorithm
Special-shaped cigarette grabbing device completes the quick pick-up of special-shaped cigarette, carries and forms the compact buttress shape of stable save space.
Piling algorithmic descriptions：Carry out stockline and bar cigarette is delivered to capture area, the sighting device pick-up slip of " spider " robot 4
Cigarette positional information and dimension information；First the size of bar cigarette is analyzed, the classification of bar cigarette；To the bar cigarette of normal size further according to
Still double bars judge to capture and carry out reasonable piling wall scroll, super special bar cigarette are carried out with temporary placement, simultaneously record piling number
Amount, real time contrast's piling quantity and order bar cigarette quantity, and according to coming cigarette and piling situation, working area bar cigarette is fetched piling, when
Front order completes, and bar cigarette good for piling is fed forward, and enters next single.
The above, be only presently preferred embodiments of the present invention, is not the restriction that the present invention is made with other forms, appoints
What those skilled in the art possibly also with the disclosure above technology contents changed or be modified as equivalent variations etc.
Effect embodiment.But every without departing from technical solution of the present invention content, according to the present invention technical spirit to above example institute
Any simple modification, equivalent variations and the remodeling made, still falls within the protection domain of technical solution of the present invention.
Claims (3)
1. a kind of special-shaped cigarette palletizing apparatus, including a frame it is characterised in that：Also include one " spider " robot, a special-shaped cigarette
Grabbing device, a cigarette conveying device and a buttress shape conveying device；
Described " spider " robot is fixed in described frame upper end, and described bar cigarette conveying device, buttress shape conveying device set side by side
Put the lower section in described " spider " robot；
Described special-shaped cigarette grabbing device includes a sucker, a bracing frame, a vacuum control unit, and support frame as described above upper end is fixed on
Described " spider " robot lower end, described sucker is arranged at the lower end of support frame as described above；
Described vacuum control unit includes a magnetic valve, a vacuum generator, filter assemblies, and described magnetic valve passes through described
Vacuum generator, described filter assemblies connect described sucker；One pressure switch is installed on described vacuum generator, for detecting
Its vacuum.
2. according to claim 1 special-shaped cigarette palletizing apparatus it is characterised in that：Described " spider " robot is capable of space, and " 3 certainly
By spending " mobile and " 1 free degree " rotation.
3. according to claim 2 special-shaped cigarette palletizing apparatus it is characterised in that：Described sucker is sponge sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610889332.9A CN106429430A (en) | 2016-10-12 | 2016-10-12 | Special-shaped cigarette stacking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610889332.9A CN106429430A (en) | 2016-10-12 | 2016-10-12 | Special-shaped cigarette stacking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106429430A true CN106429430A (en) | 2017-02-22 |
Family
ID=58173399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610889332.9A Pending CN106429430A (en) | 2016-10-12 | 2016-10-12 | Special-shaped cigarette stacking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106429430A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116036A (en) * | 2017-05-27 | 2017-09-01 | 陈志敏 | A kind of medicine sorting equipment and its method for sorting |
| CN107827061A (en) * | 2017-12-04 | 2018-03-23 | 广州雍远溯智能装备科技有限公司 | A kind of feeding manipulator of chemical product automation and intelligent positioning crawl |
| CN109625999A (en) * | 2018-12-12 | 2019-04-16 | 合肥动联自动化科技有限公司 | A kind of stacking machine grasping mechanism that weight shelf-stability can be improved |
| CN117429798A (en) * | 2023-12-18 | 2024-01-23 | 睿丰自动化科技海门有限公司 | Stacking conveying equipment based on warehouse logistics |
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| JP2010214563A (en) * | 2009-03-18 | 2010-09-30 | Ihi Corp | Suction device and workpiece conveying device |
| CN203006507U (en) * | 2012-12-06 | 2013-06-19 | 山东中烟工业有限责任公司青岛卷烟厂 | Pneumatic gripping device capable of breaking vacuum automatically |
| CN204078731U (en) * | 2014-09-28 | 2015-01-07 | 巨轮股份有限公司 | A kind of tread-rubber automatic sorting handling system |
| CN105083998A (en) * | 2015-09-11 | 2015-11-25 | 福耀集团（上海）汽车玻璃有限公司 | Array high-speed positioning device used before automobile glass forming |
| CN105173749A (en) * | 2015-08-27 | 2015-12-23 | 贵州慧联科技有限公司 | Special-shaped cigarette stacking device and stacking method |
| CN204980353U (en) * | 2015-08-21 | 2016-01-20 | 常州纳乐科思光学有限公司 | Vacuum suction device |
| CN206665680U (en) * | 2016-10-12 | 2017-11-24 | 颐中(青岛)烟草机械有限公司 | A kind of special-shaped cigarette palletizing apparatus |
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2016
- 2016-10-12 CN CN201610889332.9A patent/CN106429430A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010214563A (en) * | 2009-03-18 | 2010-09-30 | Ihi Corp | Suction device and workpiece conveying device |
| CN203006507U (en) * | 2012-12-06 | 2013-06-19 | 山东中烟工业有限责任公司青岛卷烟厂 | Pneumatic gripping device capable of breaking vacuum automatically |
| CN204078731U (en) * | 2014-09-28 | 2015-01-07 | 巨轮股份有限公司 | A kind of tread-rubber automatic sorting handling system |
| CN204980353U (en) * | 2015-08-21 | 2016-01-20 | 常州纳乐科思光学有限公司 | Vacuum suction device |
| CN105173749A (en) * | 2015-08-27 | 2015-12-23 | 贵州慧联科技有限公司 | Special-shaped cigarette stacking device and stacking method |
| CN105083998A (en) * | 2015-09-11 | 2015-11-25 | 福耀集团（上海）汽车玻璃有限公司 | Array high-speed positioning device used before automobile glass forming |
| CN206665680U (en) * | 2016-10-12 | 2017-11-24 | 颐中(青岛)烟草机械有限公司 | A kind of special-shaped cigarette palletizing apparatus |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116036A (en) * | 2017-05-27 | 2017-09-01 | 陈志敏 | A kind of medicine sorting equipment and its method for sorting |
| CN107827061A (en) * | 2017-12-04 | 2018-03-23 | 广州雍远溯智能装备科技有限公司 | A kind of feeding manipulator of chemical product automation and intelligent positioning crawl |
| CN109625999A (en) * | 2018-12-12 | 2019-04-16 | 合肥动联自动化科技有限公司 | A kind of stacking machine grasping mechanism that weight shelf-stability can be improved |
| CN109625999B (en) * | 2018-12-12 | 2020-12-04 | 合肥动联自动化科技有限公司 | Stacker crane grabbing mechanism capable of improving placement stability of heavy objects |
| CN117429798A (en) * | 2023-12-18 | 2024-01-23 | 睿丰自动化科技海门有限公司 | Stacking conveying equipment based on warehouse logistics |
| CN117429798B (en) * | 2023-12-18 | 2024-02-27 | 睿丰自动化科技海门有限公司 | Stacking conveying equipment based on warehouse logistics |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170222 |
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| RJ01 | Rejection of invention patent application after publication |