CN215198747U - Turnover tobacco basket cleans machine people and cleans instrument device - Google Patents
Turnover tobacco basket cleans machine people and cleans instrument device Download PDFInfo
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- CN215198747U CN215198747U CN202120865644.2U CN202120865644U CN215198747U CN 215198747 U CN215198747 U CN 215198747U CN 202120865644 U CN202120865644 U CN 202120865644U CN 215198747 U CN215198747 U CN 215198747U
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Abstract
The utility model discloses a turnover tobacco basket cleans machine people and cleans instrument device, include: one end of the mechanical arm is fixedly arranged, and the other end of the mechanical arm is a free end; the first connecting piece is fixedly arranged at the free end of the mechanical arm; the tool library is fixedly arranged; the cleaning brush is clamped on the tool magazine and is provided with a second connecting piece; the second connecting piece can be quickly connected or separated with the first connecting piece; the tool library is used for placing at least two cleaning brushes with different models. The utility model discloses can conveniently clean turnover tobacco basket.
Description
Technical Field
The patent relates to the technical field of auxiliary equipment of tobacco industry cut tobacco production lines, in particular to a cleaning tool device of a turnover tobacco basket cleaning robot.
Background
The tobacco shred production line generally adopts a steel turnover box to contain tobacco leaves so as to facilitate the circulation of the unpacked tobacco leaves in the whole system, the carton tobacco packages are unpacked and then are loaded into the turnover tobacco baskets through slitting or are loaded into the tobacco baskets firstly and then are forked and then are conveyed into a vacuum moisture regaining machine, the tobacco shreds are conveyed to a box turning feeder through logistics after being subjected to vacuum moisture regaining treatment, and the empty turnover box returns to be recharged after the tobacco shreds are poured. After the tobacco flakes are subjected to vacuum moisture regain treatment, the tobacco flakes are extruded by the weight of the tobacco bale and subjected to warming and humidifying effects, the surface humidity of the tobacco flakes on the inner wall and the bottom of the periphery of the tobacco basket is high, and the tobacco flakes are easily adhered to the bottom of the periphery of the tobacco basket. In order to prevent the tobacco baskets from adhering materials to be stringed, mixed, mildewed and the like, the materials adhering to the bottom of the turnover box need to be cleaned in time.
The higher turnover cigarette basket clearance mode of degree of automation cleans turnover cigarette basket bottom after the case that turns over is expected for adopting the cleaning robot at present, nevertheless because cleaning tool, cleaning mode are single, and is not ideal to turnover cigarette basket bottom clearance effect, and especially turnover cigarette basket bottom corner cleans the effect relatively poorly.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a turnover tobacco basket cleans machine people and cleans instrument device and method to solve not enough among the prior art, it can conveniently clean to turnover tobacco basket.
The utility model provides a turnover tobacco basket cleans machine people cleaning tool device, wherein, include:
one end of the mechanical arm is fixedly arranged, and the other end of the mechanical arm is a free end;
the first connecting piece is fixedly arranged at the free end of the mechanical arm;
the tool library is fixedly arranged;
the cleaning brush is clamped on the tool magazine and is provided with a second connecting piece; the second connecting piece can be quickly connected or separated with the first connecting piece; the tool library is used for placing at least two cleaning brushes with different models.
The turnover cigarette basket cleaning robot cleaning tool device is characterized in that the tool magazine comprises a clamping plate, and the clamping plate is fixedly arranged;
and a clamping groove is arranged at one edge of the clamping plate and is used for being clamped with the sweeping brush.
The revolving smoke basket cleaning robot cleaning tool device as described above, wherein optionally the cleaning brush further comprises a brush body and bristles;
the brush body is cylindrical, and the bristles are uniformly distributed on the peripheral surface of the cleaning brush;
the second connecting piece is fixedly arranged at one end of the brush body; and an annular groove is formed between the second connecting piece and the brush body and used for clamping the corresponding clamping groove on the clamping plate.
The turnover smoke basket cleaning robot cleaning tool device is characterized in that the first connecting piece is provided with a first positioning piece, a first locking piece and a first connecting terminal;
the second connecting piece is provided with a second positioning piece, a second locking piece and a second connecting terminal;
the first positioning piece is in a shape matched with the second positioning piece;
the first connecting terminal and the second connecting terminal are in a shape matched with each other, so that the cleaning brush can be electrically connected with the mechanical arm through the first connecting terminal and the second connecting terminal;
the first locking piece is detachably connected with the second locking piece, so that the cleaning brush can be replaced by the mechanical arm.
The turnover cigarette basket cleaning robot cleaning tool device as described above, wherein optionally, the tool magazine further comprises a bracket, the bracket is mounted at the bottom of the clamping plate, and the bracket is fixedly connected with the clamping plate.
The cleaning tool device of the turnover tobacco basket cleaning robot is characterized in that the first locking piece is an annular column, the second locking piece is provided with a locking hole, a locking groove is formed in the locking hole, and the locking groove is an annular groove; the annular column is used for being inserted into the locking hole;
a plurality of ball holes are formed in the annular column along the radial direction; the diameter of the ball hole is gradually reduced along the outward direction;
and a locking ball is arranged in the ball hole, can protrude out of the outer surface of the annular column and is inserted into the lock clamping groove.
The turnover tobacco basket cleaning robot cleaning tool device can be used for cleaning tobacco baskets, and the mechanical arms can be six-axis mechanical arms which can complete body rotation, large arm telemechanical, small arm telemechanical and wrist up-down rotation telemechanical.
Compared with the prior art, the utility model discloses a set up a tool storage by the arm, deposit a plurality of cleaning brushes in the tool storage, utilize the cleaning brush of different models, can select the cleaning brush of corresponding model according to waiting that the turnover smoke box week side of clearance reaches the inside space that can supply to clean the brush clearance through the arm to reach and adjust the turnover smoke box. Because the tail end of the mechanical arm is provided with the first connecting piece, the sweeping brush is provided with the second connecting piece, and the mechanical arm can be quickly connected with and detached from the sweeping brush through the quick connection between the first connecting piece and the second connecting piece.
Drawings
Fig. 1 is an isometric view of the overall structure of the present invention;
fig. 2 is a schematic view of a first connector and a second connector of the present disclosure;
fig. 3 is a schematic view of the first and second connectors from another perspective of the present disclosure;
FIG. 4 is a flow chart of the steps of the method disclosed by the present invention;
fig. 5 is a flowchart illustrating a specific step of step S3 in the method disclosed in the present invention.
Description of reference numerals:
1-mechanical arm, 2-first connecting piece, 3-tool warehouse and 4-cleaning brush;
21-first positioning member, 22-first locking member, 23-first connection terminal, 24-locking ball;
31-a clamping plate, 32-a bracket;
311-card slot;
41-second connecting piece, 42-brush body, 43-brush hair;
411-second positioning member, 412-second locking member, 413-second connecting terminal, 414-locking hole.
Detailed Description
The embodiments described below by referring to the drawings are exemplary only for explaining the present invention, and should not be construed as limiting the present invention.
Referring to fig. 1 to 3, the utility model provides a turnover cigarette basket cleaning robot cleaning tool device, wherein, includes: one end of the mechanical arm 1 is fixedly arranged, and the other end of the mechanical arm 1 is a free end; when the robot is specifically implemented, the mechanical arm 1 is a six-axis robot, namely a six-axis mechanical arm, and can complete body rotation, large arm telemechanical, small arm telemechanical, wrist up-down and rotary telemechanical.
The first connecting piece 2 is fixedly arranged at the free end of the mechanical arm 1; the term "fixed connection between the first link 2 and the robot arm 1" as used herein means that the first link 2 and the robot arm 1 are not separated from each other, but may rotate relatively. The first connecting piece 2 is used for cleaning brushes 4 of different models.
The tool magazine 3, the said tool magazine 3 is set up fixedly; the tool magazine 3 is used for storing the cleaning brush 4, and when the tool magazine is used specifically, the tool magazine 3 should be located at a position where the mechanical arm 1 can contact, so that the free end of the mechanical arm 1 can extend into the tool magazine 3, and the model of the cleaning brush 4 is changed.
The cleaning brush 4 is clamped on the tool magazine 3, and a second connecting piece 41 is arranged on the cleaning brush 4; the second connector 41 can be quickly connected or disconnected with the first connector 2; the tool storehouse 3 is used for placing at least two different models of the cleaning brushes 4. The cleaning brushes 4 with different models can be different in size, shape or hardness.
When the cleaning brush is used specifically, a tool magazine 3 is fixedly arranged near the mechanical arm 1, and at least two cleaning brushes 4 with different models are arranged in the tool magazine 3. When the cleaning brush 4 is used, the area to be cleaned is firstly judged, and the type of the cleaning brush 4 is required to be used. The cleaning brush 4 with different models can be replaced by the quick disassembly and connection between the first connecting piece 2 and the second connecting piece 41 on the mechanical arm 1.
In one use case, the bristles with lower hardness can be used for cleaning when the sticky material blocks on the turnover tobacco basket are small, and the bristles with higher hardness can be used for cleaning when the sticky material blocks on the turnover tobacco basket are large.
In another use case, if the space on the turnover tobacco basket is small, the cleaning brush 4 with a smaller size can be used for cleaning, and if the space on the peripheral tobacco basket for cleaning is large, the cleaning brush 4 with a larger size can be used for cleaning.
When the cleaning brush 4 is replaced, the cleaning brush 4 on the current mechanical arm 1 is moved to the tool magazine 3, and the connection between the first connecting piece 2 and the second connecting piece 41 is disconnected; the cleaning brush 4 used at present is clamped on the tool library 3 in a specific posture; then the tail end of the mechanical arm 1 is moved to the cleaning brush 4 matched with the current cleaning area, and the cleaning brushes 4 of different models can be conveniently replaced by connecting the first connecting piece 2 with the second connecting piece 41.
As a preferred implementation manner, the tool magazine 3 includes a clamping plate 31, and the clamping plate 31 is fixedly disposed; a clamping groove 311 is arranged at one edge of the clamping plate 31 and used for being clamped with the cleaning brush 4. In practical applications, the locking slot 311 should be able to be locked with the second connector 41. Of course, the engaging groove 311 may be engaged with the cleaning brush 4. When setting, the number of the card slots 311 should be not less than the number of the cleaning brushes 4.
As a preferred implementation, the cleaning brush 4 further comprises a brush body 42 and bristles 43; the brush body 42 is cylindrical, and the brush bristles 43 are uniformly distributed on the outer peripheral surface of the cleaning brush 4; the second connecting piece 41 is fixedly arranged at one end of the brush body 42; and an annular groove is formed between the second connecting piece 41 and the brush body 42, and the annular groove is used for correspondingly clamping the clamping groove 311 on the clamping plate 31.
In an implementation, the driving member, such as the driving motor, of the cleaning brush 4 may be disposed on the second connecting member 41, or may be disposed at the end of the mechanical arm 1. When the driving member of the sweeper brush 4 is located on the second connecting member 41, the brush body 42 should be fixedly connected with the output shaft of the driving member; when the driving member of the cleaning brush 4 is located at the end of the mechanical arm 1, the first connecting member 2 is fixedly connected with the output shaft of the driving member, that is, the first connecting member 2 and the second connecting member 41 can rotate together with the brush body 42.
As a preferred implementation, especially when the driving member of the sweeper brush 4 is located at the end of the mechanical arm 1, in order to ensure that the sweeper brush 4 can be driven smoothly; the first connecting piece 2 is provided with a first positioning piece 21, a first locking piece 22 and a first connecting terminal 23; the second connecting member 41 is provided with a second positioning member 411, a second locking member 412 and a second connecting terminal 413; the first positioning member 21 has a shape adapted to the second positioning member 411; the first connection terminal 23 and the second connection terminal 413 have shapes adapted to each other so that the cleaning brush 4 can be electrically connected to the robot arm 1 through the first connection terminal 23 and the second connection terminal 413; the first locking member 22 is detachably connected to the second locking member 412, so that the robot arm 1 can replace the cleaning brush 4. That is, the first connection terminal 23 and the second connection terminal 413 can facilitate the transmission of the electrical signal, and the first positioning member 21 and the second positioning member 411 are matched to position the first connection member 2 and the second connection member 41 so that the relative rotation between the two members does not occur, and on the other hand, when the driving member of the brush body 42 is located at the end of the mechanical arm 1, the transmission of the torque can be realized through the first positioning member 21 and the second positioning member 41. In specific implementation, the first connecting member 2 and the second connecting member 41 may be a positioning pin and a positioning hole, or a positioning block and a positioning groove.
In order to ensure the stability of the clamping plate 31, the tool magazine 3 further comprises a bracket 32, wherein the bracket 32 is installed at the bottom of the clamping plate 31, and the bracket 32 is fixedly connected with the clamping plate 31. More specifically, the bracket 32 is used to support the clamping plate 31 from the bottom, and of course, the present invention is not limited to the shape of the bracket 32 as long as stable support of the clamping plate 31 can be achieved.
In order to facilitate quick alignment and connection, the first locking member 22 is an annular column, the second locking member 412 is provided with a locking hole 414, a locking groove is arranged in the locking hole 414, and the locking groove is an annular groove; the annular column is used for being inserted into the locking hole 414; a plurality of ball holes are formed in the annular column along the radial direction; the diameter of the ball hole is gradually reduced along the outward direction; and a locking ball 24 is arranged in the ball hole, and the locking ball 24 can protrude out of the outer surface of the annular column and is inserted into the locking groove. In particular, the quick connector for the robot arm 1 has been a mature technology in the field, and will not be described herein, and can be implemented by those skilled in the art.
More specifically, in order to identify the size of the sticky block of the turnover tobacco basket, the free end of the mechanical arm 1 is also provided with an image identification device; the image recognition device is used for acquiring an area to be cleaned around the turnover tobacco basket to be cleaned.
Referring to fig. 4 and 5, the present invention further provides a cleaning method for the turnover tobacco basket cleaning robot, which is used for the cleaning tool device for the turnover tobacco basket cleaning robot, wherein the cleaning method comprises the following steps.
S1, acquiring a cleaning area around the turnover smoke basket to be cleaned; that is, an image of the cleaning region is acquired by a camera or the like.
S2, dividing the cleaning area into a plurality of cleaning spaces; specifically, the cleaning space may be divided according to the size of the peripheral space, or according to the size of the sticky block, i.e. the size of the polluted area; or the two factors of the peripheral space and the size of the sticky block can be divided together.
And S3, selecting the cleaning brush 4 with the corresponding model to clean according to the different cleaning spaces until all the cleaning spaces are cleaned. If the cleaning space is divided by the size of the peripheral space, the cleaning brush with the corresponding type is selected according to the size of the peripheral space; if the cleaning space is divided by the size of the sticky block, the cleaning space is divided according to the size of the sticky block; if the cleaning space is divided by two factors, i.e. the size of the peripheral space and the size of the sticky block, the corresponding model should be selected according to the two factors.
As a preferred implementation manner, in order to facilitate quick replacement of different types of sweeping brushes, step S3 includes the following specific steps:
s31, determining the cleaning sequence of each cleaning space according to the space positions of different cleaning spaces; specifically, when the cleaning sequence is determined, the adhesive pieces may be arranged in the order from large to small, the cleaning positions, or the upper and lower positions according to the size of the adhesive pieces.
S32, judging whether the current cleaning brush is matched with the cleaning space to be cleaned; if so, cleaning by using the current cleaning brush; if not, executing step S33;
s33, replacing the cleaning brushes with the matched models, and cleaning the current cleaning space; specifically, when the cleaning brush is replaced, different cleaning brushes should be arranged at different fixed positions, when the cleaning brush needs to be replaced, the corresponding position of the cleaning brush 4 on the current mechanical arm 1 in the tool magazine 3 is obtained, the tail end of the mechanical arm 1 is moved to the position, and then the first connecting piece 2 is controlled to be separated from the second connecting piece 41; and then the tail end of the mechanical arm 1 is moved to the position of the cleaning brush 4 to be connected and is aligned with the second connecting piece 41 on the mechanical arm, the angle of the first connecting piece 2 is adjusted to enable the first connecting piece 2 to be aligned with the second connecting piece 41, and the cleaning brush can be replaced by controlling the butt joint of the first connecting piece 2 and the second connecting piece 41.
S34, repeating the steps S32 and S33, and cleaning the next cleaning space in the order of the step S31; until all the cleaning spaces are cleaned.
The structure, features and effects of the present invention have been described in detail above according to the embodiment shown in the drawings, and the above description is only the preferred embodiment of the present invention, but the present invention is not limited to the implementation scope shown in the drawings, and all changes made according to the idea of the present invention or equivalent embodiments modified to the same changes should be considered within the protection scope of the present invention when not exceeding the spirit covered by the description and drawings.
Claims (8)
1. The utility model provides a turnover tobacco basket cleans machine people and cleans instrument device which characterized in that includes:
the mechanical arm (1), one end of the mechanical arm (1) is fixedly arranged, and the other end is a free end;
the first connecting piece (2), the first connecting piece (2) is fixedly arranged at the free end of the mechanical arm (1);
the tool magazine (3), the said tool magazine (3) is set up fixedly;
the cleaning brush (4), the cleaning brush (4) is clamped on the tool magazine (3), and a second connecting piece (41) is arranged on the cleaning brush (4); the second connector (41) can be quickly connected or disconnected with the first connector (2); the tool magazine (3) is used for placing at least two different models of the cleaning brushes (4).
2. A revolving smoke basket cleaning robot cleaning tool arrangement according to claim 1, characterized in that said tool magazine (3) comprises an engagement plate (31), said engagement plate (31) being fixedly arranged;
a clamping groove (311) is formed in one edge of the clamping plate (31) and used for being clamped with the sweeping brush (4).
3. A revolving smoke basket cleaning robotic cleaning tool arrangement according to claim 2, characterized in that said cleaning brush (4) further comprises a brush body (42) and bristles (43);
the brush body (42) is cylindrical, and the brush bristles (43) are uniformly distributed on the peripheral surface of the cleaning brush (4);
the second connecting piece (41) is fixedly arranged at one end of the brush body (42); and an annular groove is formed between the second connecting piece (41) and the brush body (42), and the annular groove is used for clamping the corresponding clamping groove (311) on the clamping plate (31).
4. A revolving smoke basket cleaning robot cleaning tool arrangement according to claim 3, characterized in that said first connection member (2) is provided with a first positioning member (21), a first locking member (22) and a first connection terminal (23);
a second positioning part (411), a second locking part (412) and a second connecting terminal (413) are arranged on the second connecting part (41);
the first positioning piece (21) is in a shape matched with the second positioning piece (411);
the first connecting terminal (23) and the second connecting terminal (413) have adaptive shapes, so that the cleaning brush (4) can be electrically connected with the mechanical arm (1) through the first connecting terminal (23) and the second connecting terminal (413);
the first locking member (22) is detachably connected with the second locking member (412) so that the mechanical arm (1) can replace the sweeping brush (4).
5. A revolving smoke basket cleaning robot cleaning tool arrangement according to any one of claims 2-4, characterized in that said tool magazine (3) further comprises a bracket (32), said bracket (32) being mounted at the bottom of said snap plate (31), said bracket (32) being fixedly connected to said snap plate (31).
6. A revolving smoke basket cleaning robotic cleaning tool arrangement according to claim 4, wherein said first locking member (22) is an annular post, said second locking member (412) is provided with a locking hole (414), said locking hole (414) is provided with a locking catch, said locking catch is an annular groove; the annular column is used for being inserted into the locking hole (414);
a plurality of ball holes are formed in the annular column along the radial direction; the diameter of the ball hole is gradually reduced along the outward direction;
and a locking ball (24) is arranged in the ball hole, and the locking ball (24) can protrude out of the outer surface of the annular column and is inserted into the locking groove.
7. A revolving smoke basket cleaning robot cleaning tool device according to any of the claims 1-4, characterized in that said robot arm (1) is a six axis robot arm (1) capable of performing body turning, big arm telemechanical, small arm telemechanical, wrist up and down rotation telemechanical.
8. A revolving smoke basket cleaning robot cleaning tool arrangement according to any one of claims 1-4, characterized in that the free end of the robot arm (1) is further provided with image recognition means; the image recognition device is used for acquiring an area to be cleaned around the turnover tobacco basket to be cleaned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120865644.2U CN215198747U (en) | 2021-04-25 | 2021-04-25 | Turnover tobacco basket cleans machine people and cleans instrument device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120865644.2U CN215198747U (en) | 2021-04-25 | 2021-04-25 | Turnover tobacco basket cleans machine people and cleans instrument device |
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| Publication Number | Publication Date |
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| CN215198747U true CN215198747U (en) | 2021-12-17 |
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| CN202120865644.2U Active CN215198747U (en) | 2021-04-25 | 2021-04-25 | Turnover tobacco basket cleans machine people and cleans instrument device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113020050A (en) * | 2021-04-25 | 2021-06-25 | 河南中烟工业有限责任公司 | Cleaning tool device and cleaning method for turnover tobacco basket cleaning robot |
| CN115415264A (en) * | 2022-11-07 | 2022-12-02 | 中国科学院沈阳自动化研究所 | Automatic cleaning system for slurry |
-
2021
- 2021-04-25 CN CN202120865644.2U patent/CN215198747U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113020050A (en) * | 2021-04-25 | 2021-06-25 | 河南中烟工业有限责任公司 | Cleaning tool device and cleaning method for turnover tobacco basket cleaning robot |
| CN115415264A (en) * | 2022-11-07 | 2022-12-02 | 中国科学院沈阳自动化研究所 | Automatic cleaning system for slurry |
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