CN206665680U - A kind of special-shaped cigarette palletizing apparatus - Google Patents
A kind of special-shaped cigarette palletizing apparatus Download PDFInfo
- Publication number
- CN206665680U CN206665680U CN201621115712.9U CN201621115712U CN206665680U CN 206665680 U CN206665680 U CN 206665680U CN 201621115712 U CN201621115712 U CN 201621115712U CN 206665680 U CN206665680 U CN 206665680U
- Authority
- CN
- China
- Prior art keywords
- spider
- robot
- cigarette
- special
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of special-shaped cigarette palletizing apparatus, including：" spider " robot is fixed in frame upper end, and bar cigarette conveying device, pile shape conveying device are disposed side by side on the lower section of " spider " robot；Support frame upper end is fixed on " spider " robot lower end, and sponge sucker is arranged at the lower end of support frame；Vacuum control unit includes magnetic valve, vacuum generator, filter assemblies, and magnetic valve connects sponge sucker by vacuum generator, filter assemblies.Its advantage is：The bar cigarette sorted out is delivered in the range of the crawl of " spider " robot by bar cigarette conveying device, and " spider " robot makes cigarette pile realize space 3DOF movement and 1 freedom degree rotating；Magnetic valve is by controlling the break-make of malleation source of the gas in vacuum generator to control the presence or absence of sucker end vacuum to realize that the crawl of special-shaped cigarette and placement act, and stacking pile shape is compact reliable and stable, and grasping stability is efficient；Stacking conveying device, which will stablize neat pile shape and be delivered to follow-up equipment, packs etc..
Description
Technical field
The utility model belongs to the technical field of auxiliary equipment of special-shaped cigarette baling line, and in particular to a kind of special-shaped cigarette stacking dress
Put.
Background technology
It is well known that in existing bar cigarette palletization, for irregular bar cigarette, essentially manual operation, there is error rate
The various problems such as high efficiency is low, 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 the demand in current bar cigarette production and market.
Utility model content
The technical problems to be solved in the utility model is：Overcome the deficiencies in the prior art, there is provided one kind have it is rational in infrastructure,
Simple to operate, stable, precise control, efficiency high intelligent special-shaped cigarette palletizing apparatus applied widely.
Technical scheme is used by the utility model solves its technical problem：A kind of special-shaped cigarette palletizing apparatus, including one
Frame, it is characterised in that：Also include " spider " robot, a special-shaped cigarette grabbing device, a cigarette conveying device and a pile shape
Conveying device；" spider " robot is fixed in the frame upper end, and the bar cigarette conveying device, pile shape conveying device are simultaneously
Row is arranged on the lower section of described " spider " robot；The special-shaped cigarette grabbing device includes a sucker, a support frame, a vacuum control
Device processed, support frame as described above upper end are fixed on described " spider " robot lower end, and the sucker is arranged under support frame as described above
End；The vacuum control unit includes a magnetic valve, a vacuum generator, a filter assemblies, and the magnetic valve passes through described
Vacuum generator, the filter assemblies connect the sucker；One pressure switch is installed, for detecting on the vacuum generator
Its vacuum.
Preferably, described " spider " robot can realize that space " 3DOF " is mobile and " 1 free degree " rotates.
Preferably, the sucker is sponge sucker.
Compared with prior art, the beneficial effects of the utility model are：Its bar cigarette conveying device sorts sorting system
Bar cigarette out is delivered in the range of the crawl of " spider " robot, is taken pictures by its device for visual identification and is provided the chi of this carton cigarette
Very little information and positional information, " spider " robot control special-shaped cigarette grabbing device realize space 3DOF movement and the rotation of 1 free degree
Turn, the magnetic valve in vacuum control unit in special-shaped cigarette grabbing device, by controlling the vacuum in vacuum control unit to occur
The break-make of malleation source of the gas in device, to control the presence or absence of sucker end vacuum, it is achieved thereby that the crawl and placement of special-shaped cigarette are dynamic
Make；The crawl that stacking algorithm contains two and wall scroll product judges and places to judge, both with reference to the reliable and stable of stacking pile shape,
The stability and efficiency of crawl are taken into full account again, complete the quick pick-up of special-shaped cigarette, carrying and to form stable section space-efficient tight
Gather pile shape；Stacking conveying device, which will stablize neat pile shape and be delivered to follow-up equipment, packs etc..
Brief description of the drawings
Fig. 1 is the structural representation of the utility model embodiment.
In figure mark for：
1st, magnetic valve；2nd, filter assemblies；3rd, pressure switch；4th, " spider " robot；5th, frame；6th, support frame；
7th, sponge sucker；8th, bar cigarette conveying device；9th, pile shape conveying device.
Embodiment
Embodiment below in conjunction with the accompanying drawings, the utility model is described further：
Embodiment one
As shown in figure 1, a kind of special-shaped cigarette palletizing apparatus, including frame, " spider " robot 4, special-shaped cigarette grabbing device, bar
Cigarette conveying device 8 and pile shape conveying device 9；Spider " robot 4 can realize that space " 3DOF " is mobile and " 1 free degree " revolves
Turn；The upper end of " spider " robot 4 is fixed in frame 5, and bar cigarette conveying device 8, pile shape conveying device 9 are disposed side by side on " spider
The lower section of spider " robot 4；Special-shaped cigarette grabbing device include sponge sucker 7, support frame 6, vacuum control unit, support frame 6 it is upper
End is fixed on the lower end of " spider " robot 4, and sponge sucker 7 is installed on the lower end of support frame 6；
Vacuum control unit include magnetic valve 1, vacuum generator, filter assemblies 2, magnetic valve 1 by vacuum generator,
Filter assemblies 2 connect sponge sucker 7；Pressure switch 3 is installed, for detecting its vacuum on vacuum generator.Sponge sucker 7
The presence or absence of its vacuum is controlled by vacuum control unit, so as to realize the crawl of special-shaped cigarette and placement.
Operation principle and the course of work of the present utility model are as follows：
As shown in figure 1, " spider " robot 4 belongs to parallel institution, it is rotatably mounted with 3 spatial degrees of freedom and one
Degree, special-shaped cigarette grabbing device can be controlled to realize space 3DOF movement and 1 freedom degree rotating；" spider " robot 4 has height
Flexible, the characteristics of movement velocity is fast, repetitive positioning accuracy is high, by stacking algorithm, control special-shaped cigarette is identified with reference to vision system
The quick pick-up of grabbing device completion special-shaped cigarette, carrying, stacking.
Magnetic valve 1 is by controlling 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, so as to realize the crawl and placement action to special-shaped cigarette.Stacking algorithm contains unconventional bar cigarette (length, width and height size
Significantly larger than or less than conventional strip cigarette size) quick processing, by calculate bar cigarette riding position is optimized, take into full account
Bar cigarette specificity and order specificity, optimal stacking rule is drawn with reference to both, " spider " robot 4 controls special-shaped cigarette crawl
Device realizes special-shaped cigarette accurate crawl at a high speed, identifies special-shaped cigarette cigarette by servicing unit vision system, is controlled with reference to stacking algorithm
Special-shaped cigarette grabbing device completes the quick pick-up of special-shaped cigarette, carrying and forms the stable section compact pile shape in space-efficient.
Stacking 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, bar cigarette is classified；To the bar cigarette of normal size further according to
Wall scroll or double bars judge to capture and carry out reasonable stacking, super special bar cigarette are carried out to keep in placement, while record stacking number
Amount, real time contrast's stacking quantity and order bar cigarette quantity, and working area bar cigarette is fetched into stacking according to cigarette and stacking situation is come, when
Preceding order is completed then to be fed forward the good bar cigarette of stacking, into next list.
It is described above, only it is preferred embodiment of the present utility model, is not that other forms are made to the utility model
Limitation, any person skilled in the art is changed or is modified as possibly also with the technology contents of the disclosure above equivalent
The equivalent embodiment of change.But it is every without departing from the content of the technical scheme of the utility model, it is real according to technology of the present utility model
Any simple modification, equivalent variations and the remodeling that confrontation above example is made, still fall within the guarantor of technical solutions of the utility model
Protect scope.
Claims (3)
1. a kind of special-shaped cigarette palletizing apparatus, including a frame, it is characterised in that：Also include " spider " robot, a special-shaped cigarette
Grabbing device, a cigarette conveying device and a pile shape conveying device；
" spider " robot is fixed in the frame upper end, and the bar cigarette conveying device, pile shape conveying device are set side by side
Put in the lower section of " spider " robot；
The special-shaped cigarette grabbing device includes a sucker, a support frame, a vacuum control unit, and support frame as described above upper end is fixed on
" spider " robot lower end, the sucker are arranged at the lower end of support frame as described above；
The vacuum control unit includes a magnetic valve, a vacuum generator, a filter assemblies, and the magnetic valve passes through described
Vacuum generator, the filter assemblies connect the sucker；One pressure switch is installed, for detecting on the vacuum generator
Its vacuum.
2. special-shaped cigarette palletizing apparatus according to claim 1, it is characterised in that：" spider " robot can realize sky
Between " 3DOF " mobile and " 1 free degree " rotation.
3. special-shaped cigarette palletizing apparatus according to claim 2, it is characterised in that：The sucker is sponge sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621115712.9U CN206665680U (en) | 2016-10-12 | 2016-10-12 | A kind of special-shaped cigarette palletizing apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621115712.9U CN206665680U (en) | 2016-10-12 | 2016-10-12 | A kind of special-shaped cigarette palletizing apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206665680U true CN206665680U (en) | 2017-11-24 |
Family
ID=60357413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621115712.9U Active CN206665680U (en) | 2016-10-12 | 2016-10-12 | A kind of special-shaped cigarette palletizing apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206665680U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429430A (en) * | 2016-10-12 | 2017-02-22 | 颐中(青岛)烟草机械有限公司 | Special-shaped cigarette stacking device |
-
2016
- 2016-10-12 CN CN201621115712.9U patent/CN206665680U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429430A (en) * | 2016-10-12 | 2017-02-22 | 颐中(青岛)烟草机械有限公司 | Special-shaped cigarette stacking device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207288105U (en) | A kind of conveyor type appearance delection device | |
| CN206716498U (en) | A kind of tiltedly guide wheel automatic letter sorting machine | |
| CN106429430A (en) | Special-shaped cigarette stacking device | |
| CN206665680U (en) | A kind of special-shaped cigarette palletizing apparatus | |
| CN202169432U (en) | Welding smoke collection device capable of automatically tracking and positioning welding points | |
| CN102266862A (en) | Welding fume collection device and method capable of automatically tracking and positioning welding spot | |
| CN107008663A (en) | It is a kind of to be used to reject the separator of metal and metal removal method in house refuse | |
| CN202433572U (en) | Automatic press fitting device of optical transceiver assembly | |
| CN207343297U (en) | A kind of screening delivery track of diode detection | |
| CN201544490U (en) | Knitting bag bottom seaming machine | |
| CN206540924U (en) | A kind of automatic projecting reagent strip testing agency | |
| CN219356997U (en) | Reflux sorting system | |
| CN107611731A (en) | It is a kind of can be with the computer data line of folding and unfolding | |
| CN208451624U (en) | Based on the express delivery storage of website under line and the robot of pickup | |
| CN203380892U (en) | Manipulator control system based on FPGA platform | |
| CN204808027U (en) | Electronic product plug -in components production line intelligence control system | |
| CN205415610U (en) | Double gear pile up neatly machinery hand of prevention for repetitive clear of a signal scanning | |
| CN108320383A (en) | A kind of Double-sucker picking mechanism of vending machine | |
| CN205466104U (en) | Liftable storage frame | |
| CN204884902U (en) | Foot, detection, count, packing apparatus are cut to ageing machine | |
| CN208521477U (en) | A kind of automatic sorting actual training device | |
| CN209684142U (en) | Bag, bag delivering device on self-standing bag | |
| CN203079394U (en) | Automatic feeding device of label paper | |
| CN208014083U (en) | A kind of Double-sucker picking mechanism of vending machine | |
| CN206925914U (en) | A kind of lottery ticket cuts ticket device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |