CN220165184U - Cigarette stack placing manipulator - Google Patents
Cigarette stack placing manipulator Download PDFInfo
- Publication number
- CN220165184U CN220165184U CN202321698183.XU CN202321698183U CN220165184U CN 220165184 U CN220165184 U CN 220165184U CN 202321698183 U CN202321698183 U CN 202321698183U CN 220165184 U CN220165184 U CN 220165184U
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- Prior art keywords
- manipulator
- cigarette
- driving component
- direction driving
- cigarettes
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- 235000019504 cigarettes Nutrition 0.000 title claims abstract description 119
- 238000000034 method Methods 0.000 description 4
- 238000004806 packaging method and process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a cigarette carton pile placing manipulator which is arranged above a cigarette carton pile conveying device and comprises a manipulator, wherein the manipulator is used for grabbing and placing cigarettes, is arranged above a cigarette carton pile and is a pneumatic manipulator; the lower end of the cantilever is connected with the manipulator; the rotary driving assembly is connected with the upper end of the cantilever and enables the manipulator to perform rotary motion; the second-direction driving assembly comprises a connecting piece, the connecting piece is enabled to move back and forth in the second direction, and the rotating driving assembly is arranged on the connecting piece; the first direction driving component is connected with the second direction driving component and enables the second direction driving component to move back and forth in the first direction. The utility model moves or crossly places the cigarette stacks, and after wrapping, the cigarette packets can not be scattered even under the action of external force.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a cigarette stack placing manipulator.
Background
According to the related requirements, a cigarette pack distributed by a cigarette retail merchant can pack 25 standard cigarettes at most, and the standard cigarettes are 27.5cm long, 8.5cm wide and 4cm high, namely 5 layers are stacked in a width direction according to 5 layers of cigarettes, so that a cuboid cigarette pile is formed. Because the quantity and the variety of cigarettes ordered by cigarette retail merchants are different at each time, the condition that only one or two cigarettes at the uppermost layer are arranged in the process of sorting cigarettes can occur, and because the existing sorting and arranging mode is that equipment is automatically and orderly arranged, one or two cigarettes at the uppermost layer are concentrated at one end, and after being wrapped, the cigarettes are high at one end and low at the other end. For many years of packaging and delivery experience, only one or two uppermost layers are arranged in the package, and when only one or two uppermost layers are arranged below the uppermost layers, cigarettes in the cigarette package are extremely easy to deflect and shift under the action of external force in the delivery process, and are scattered, so that disputes are easy to occur in the retail customer hands of cigarettes.
In this way, the number of the cigarette piles needs to be put again, so that the situation of unpacking after packing is avoided.
Disclosure of Invention
The utility model provides a manipulator for placing a cigarette stack, which moves or alternately places the cigarette stack, and after wrapping, a cigarette packet cannot be scattered even under the action of external force.
According to an aspect of the present utility model, there is provided in one embodiment a cigarette pack placement manipulator disposed above a cigarette pack conveying apparatus, including:
the manipulator is used for grabbing and placing cigarettes, is arranged above the cigarette stack and is a pneumatic manipulator;
the lower end of the cantilever is connected with the manipulator;
the rotary driving assembly is connected with the upper end of the cantilever and enables the manipulator to perform rotary motion;
the second-direction driving assembly comprises a connecting piece, the connecting piece is enabled to move back and forth in the second direction, and the rotating driving assembly is arranged on the connecting piece;
the first direction driving component is connected with the second direction driving component and enables the second direction driving component to move back and forth in the first direction.
In some embodiments, the robot is a pneumatic vacuum robot, and a vacuum chuck is disposed on the pneumatic vacuum robot, and at least one of the vacuum chucks is disposed on the pneumatic vacuum robot.
In some embodiments, the second direction driving assembly and the first direction driving assembly are one or two of a linear sliding table module assembly, a linear push rod module assembly, a cylinder assembly or an oil cylinder assembly.
In some embodiments, the linear slide module assembly is a linear ball screw slide module assembly or a linear belt slide module assembly.
In some embodiments, the second direction of the second direction driving component is perpendicular to the first direction of the first direction driving component.
In some embodiments, the second directional driving component is arranged on the leaning plate, so that the operation of the whole device is kept stable, and the manipulator can accurately grasp and place the cigarettes.
In some embodiments, the leaning plate is provided with a guiding device, and the guiding direction of the guiding device is parallel to the driving direction of the first directional driving component, so that the second directional driving component can accurately move back and forth in the first direction under the driving of the first directional driving component.
In some embodiments, a cigarette sensor is further provided for detecting before placing the cigarette stack, and determining the position of the cigarette to be placed, so that the manipulator can accurately grip the cigarette.
In some embodiments, the smoke sensor is one of a machine vision sensor, an infrared correlation sensor, a laser ranging sensor, or a radar ranging sensor.
In some embodiments, the number of smoke sensors is more than one.
According to the manipulator for placing the cigarette stacks, the second direction driving component and the first direction driving component enable the manipulator to move in the X direction or the Y direction and the Z direction, and rotate under the driving of the rotation driving component, so that cigarettes on the cigarette stacks can be grabbed, and the cigarette stacks can be placed again after moving and rotating, the placement of the cigarette stacks is more reasonable, and therefore a cigarette package obtained after packaging cannot be scattered.
Drawings
FIG. 1 is a perspective view of an angle of the present utility model;
FIG. 2 is a schematic perspective view of another angle of the present utility model;
fig. 3 is a side view of the present utility model.
In the figure: 1. a manipulator; 2. a cantilever; 3. a rotary drive assembly; 4. a second drive assembly; 41. a connecting piece; 42. leaning against the plate; 43. a guide device; 5. a first forward driving assembly.
Detailed Description
The utility model will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present utility model. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present utility model have not been shown or described in the specification in order to avoid obscuring the core portions of the present utility model, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments, and the operational steps involved in the embodiments may be sequentially exchanged or adjusted in a manner apparent to those skilled in the art. Accordingly, the description and drawings are merely for clarity of describing certain embodiments and are not necessarily intended to imply a required composition and/or order.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated.
Examples
Referring to fig. 1, 2 and 3, a manipulator for placing a cigarette stack is disposed above a cigarette stack conveying device, and includes:
the manipulator 1 is used for grabbing and placing cigarettes, is arranged above a cigarette stack and is a pneumatic manipulator; the pneumatic vacuum manipulator is provided with 24 vacuum chucks in total, the vacuum chucks are arranged in three rows, 8 vacuum chucks are arranged in each row, and the diameter of the vacuum chucks is 20mm. The pneumatic vacuum manipulator is connected with compressed air, and the compressed air with the pressure of 0.4MPa-0.8MPa is used as a driving force to perform the sucking action.
The lower end of the cantilever 2 is connected with the manipulator 1, and the cantilever 2 is cylindrical.
The rotary driving assembly 3 is connected with the upper end of the cantilever 2 to enable the manipulator 1 to perform rotary motion; the rotary driving assembly comprises a pneumatic rotary valve and a connector, the pneumatic rotary valve is connected with the cantilever 2 through the connector, and the pneumatic rotary valve rotates to drive the cantilever 2 to rotate, so that the manipulator 1 rotates.
The second driving component 4, including connecting piece 41, second driving component 4 is the sharp slip table module, specifically is the pneumatic slip table module with the guide rail, including pneumatic slip table, connecting piece 41 is fixed to be connected with pneumatic slip table, lets connecting piece 41 do the round trip movement of second, installs rotatory driving component 3 on the connecting piece 41, lets cantilever 2 and manipulator 1 hang on second driving component 4, moves along with the removal of second driving component 4. The second direction is a horizontal movement direction, and the specific movement direction is parallel to the conveying direction of the cigarette carton pile.
The back of the pneumatic sliding table module assembly is provided with a leaning plate 42, the leaning plate 42 is provided with a guide device 43, the guide device 43 is provided with two guide rails which are parallel to each other, the pneumatic sliding table module assembly is provided with a sliding sleeve, the sliding sleeve is slidably clamped on the guide rails, and the pneumatic sliding table module assembly moves back and forth along the guide rails 43 on the leaning plate 42.
The first direction driving component 5 is a cylinder, one end of the cylinder is connected with the pneumatic sliding table module component, the other end of the cylinder is fixedly hinged to the frame, the frame is a packaging machine frame or an independent bracket, the pneumatic sliding table module component moves back and forth in the first direction, and the first direction is the up-down direction, specifically the direction of conveying the vertical cigarette stacks.
The device is also provided with a cigarette sensor for detecting cigarettes before placing the cigarette stacks, and determining the positions of cigarettes to be placed so as to facilitate accurate gripping of the manipulator.
The strip cigarette sensor is infrared correlation sensor to multilayer level correlation mode sets up in strip cigarette heap conveying equipment's both sides to a vertical correlation mode sets up in strip cigarette heap conveying equipment's upper and lower direction, and on horizontal direction, infrared correlation sensor sets up according to the number of piles of the biggest strip cigarette and quantity, sets up 5 layers promptly, and every layer of 5 infrared correlation sensors sets up a row of 5 infrared correlation sensors in upper and lower direction, and the cross arrangement infrared correlation sensor can avoid producing error signal after certain infrared correlation sensor is malfunctioning, lets manipulator 1 still normally work.
Examples
The first difference between this embodiment and the first embodiment is that the second direction of the second driving component 4 is the up-down direction, and is perpendicular to the conveying direction of the cigarette stack; the first direction of the first direction driving component 5 is horizontal and parallel to the conveying direction of the cigarette stack.
The cigarette carton sensor is a machine vision sensor and is arranged above the cigarette carton pile conveying device obliquely, the number of layers of the cigarette carton pile and the number and the positions of each layer of cigarette carton can be checked, and the mechanical arm can accurately position and grasp the cigarette carton conveniently.
The utility model relates to a manipulator for placing a cigarette stack, which has the basic principle that when only one or two cigarettes are arranged on the uppermost layer of the cigarette stack, the manipulator is used for grabbing the one or two cigarettes and placing the two cigarettes on the cigarette stack after rotating the two cigarettes by 90 degrees, namely, one or two cigarettes on the uppermost layer and cigarettes on the lower layer are mutually perpendicular or obliquely crossed, so that the one or two cigarettes on the uppermost layer can be pressed on a plurality of cigarettes on the lower layer, and after being wrapped into a cigarette packet, the cigarette packet can not be scattered due to the effect of cross lamination.
There is a special case that only one layer of 5 strips is adopted, and the cigarette is directly wrapped into a cigarette packet, and the cigarette packet is quite regular, but relatively concentrated in stress and extremely easy to scatter. Therefore, when this situation is met, any one of the cigarettes on two sides of the layer still needs to be grabbed and then put on the remaining 4 cigarettes in a rotating mode, and therefore the wrapped cigarettes cannot be scattered.
The utility model relates to a cigarette stack placement manipulator which is realized in the manner that firstly, under the drive of a first direction driving component or a second direction driving component, the manipulator moves to the position above a cigarette stack to be gripped, then the manipulator rotates to the position where the cigarette stack can be gripped smoothly under the drive of a rotary driving device, then under the drive of the second direction driving component or the first direction driving component, the manipulator is pressed down to be contacted with the cigarette stack, the cigarette stack is gripped, then under the drive of the second direction driving component or the first direction driving component, the manipulator is moved to the position above the middle position of the cigarette stack under the drive of the first direction driving component or the second direction driving component, in the moving process, the manipulator is driven by the rotary driving component to rotate, the cigarette stack gripped by the manipulator is perpendicular to the cigarette stack, then under the drive of the second direction driving component or the first direction driving component, the cigarette stack is placed on the cigarette stack, and the manipulator can be loosened when the cigarette stack approaches the cigarette stack, and the cigarette stack falls down.
In the specific embodiment of the utility model, the manipulator is a pneumatic vacuum manipulator, and the suction cup is used for grabbing the cigarettes in an adsorption mode, so that the external force applied to the cigarettes is relatively dispersed, the cigarettes are not damaged, and the suction cup is correspondingly rapid, so that the grabbing time is saved.
The foregoing description of the utility model has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the utility model pertains, based on the idea of the utility model.
Claims (10)
1. The utility model provides a cigarette heap puts manipulator, arranges in cigarette heap conveying equipment's top, its characterized in that includes:
the manipulator is used for grabbing and placing cigarettes, is arranged above the cigarette stack and is a pneumatic manipulator;
the lower end of the cantilever is connected with the manipulator;
the rotary driving assembly is connected with the upper end of the cantilever and enables the manipulator to perform rotary motion;
the second-direction driving assembly comprises a connecting piece, the connecting piece is enabled to move back and forth in the second direction, and the rotating driving assembly is arranged on the connecting piece;
the first direction driving component is connected with the second direction driving component and enables the second direction driving component to move back and forth in the first direction.
2. The cigarette pack placement manipulator of claim 1, wherein: the manipulator is a pneumatic vacuum manipulator, and the pneumatic vacuum manipulator is provided with a vacuum chuck, and at least one vacuum chuck is arranged on the pneumatic vacuum manipulator.
3. The cigarette pack placement manipulator of claim 1, wherein: the second direction driving component and the first direction driving component are one or two of a linear sliding table module component, a linear push rod module component, a cylinder component or an oil cylinder component.
4. A cigarette pack placement manipulator as in claim 3 wherein: the linear sliding table module assembly is a linear ball screw sliding table module assembly or a linear belt sliding table module assembly.
5. A cigarette pack placement manipulator as in claim 3 wherein: the second direction of the second direction driving component is perpendicular to the first direction of the first direction driving component.
6. The cigarette pack placement manipulator of claim 1, wherein: the second directional driving component is arranged on the leaning plate, so that the operation stability of the whole equipment is kept, and the manipulator can accurately grasp and place cigarettes.
7. The cigarette pack placement manipulator of claim 6, wherein: the guide device is arranged on the leaning plate, the guide direction of the guide device is parallel to the driving direction of the first direction driving component, and the second direction driving component is ensured to accurately move back and forth upwards under the driving of the first direction driving component.
8. The cigarette pack placement manipulator of claim 1, wherein: the device is also provided with a cigarette sensor for detecting cigarettes before placing the cigarette stacks, and determining the positions of cigarettes to be placed so as to facilitate accurate gripping of the manipulator.
9. The cigarette pack placement manipulator of claim 8, wherein: the cigarette sensor is one of a machine vision sensor, an infrared correlation sensor, a laser ranging sensor or a radar ranging sensor.
10. The cigarette pack placement manipulator of claim 8, wherein: the number of the cigarette sensors is more than one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321698183.XU CN220165184U (en) | 2023-06-30 | 2023-06-30 | Cigarette stack placing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321698183.XU CN220165184U (en) | 2023-06-30 | 2023-06-30 | Cigarette stack placing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220165184U true CN220165184U (en) | 2023-12-12 |
Family
ID=89067229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321698183.XU Active CN220165184U (en) | 2023-06-30 | 2023-06-30 | Cigarette stack placing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220165184U (en) |
-
2023
- 2023-06-30 CN CN202321698183.XU patent/CN220165184U/en active Active
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