CN2612615Y - Multifunctional manipulator for automatically opening cigarette sack - Google Patents
Multifunctional manipulator for automatically opening cigarette sack Download PDFInfo
- Publication number
- CN2612615Y CN2612615Y CN 03229938 CN03229938U CN2612615Y CN 2612615 Y CN2612615 Y CN 2612615Y CN 03229938 CN03229938 CN 03229938 CN 03229938 U CN03229938 U CN 03229938U CN 2612615 Y CN2612615 Y CN 2612615Y
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- China
- Prior art keywords
- finger
- tobacco bale
- automatically
- frame
- fixed
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- Expired - Fee Related
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Abstract
The utility model relates to a multi-functional mechanical arm of automatically opening the cigarette packing, which comprises a frame which is fixed with the wrist of a many-degrees freedom industrial robot by the adapting flange of itself, and 2 to 4 groups of up-and down collapsing finger devices installed on the frame, wherein the automatic cigarette package clamping device is formed in the way that the fingers are horizontally arranged from up to down to form an inner cavity for placing the cigarette package, the lower side of the lower finger is provided with a clamping device to form a wood board device for automatically clamping the package, a lift locking device is installed at the inner side of the finger to form a package bundling device, 2 to 8 vacuum suckers are installed on the upper finger to form a paper slab suction device. The utility model under the operation of robot enables to automatically clamp the cigarette package, clamp the wood clips for packing, absorb the wood slab, bundle the packing case and absorb the paper slab to realize the automatic cigarette package opening assembly-line operation, increase the working efficiency, and decrease the labor strength.
Description
Technical field
The utility model relates to a kind of tobacco bale to be opened packing automatically and puts, and particularly a kind of tobacco bale is opened bag automatically and used multifunction manipulator.
Background technology
During raw tobacco cardboard boxboard case packing, the left and right sides of cigarette base is lined with each one of wooden plate, and the upper and lower surface of cigarette base has each one of paper plate, and carboard is outer to be tied up by plastic packing belt.And raw tobacco wooden splint when packing, the cigarette base is wrapped with plastic bag, and the external upper and lower surface of plastic bag is lined with wooden splint, and wooden splint is outer to be tied up by steel band.
Cigarette factory carries out tobacco bale and opens when wrapping, and adopts artificial mode of removing mostly, cuts off steel belt for packages or plastic tape by personnel with scissors, and by manually taking packing such as strap, carboard, wooden splint away, work efficiency is low, and labour intensity is big.
The utility model content
The purpose of this utility model is to provide a kind of tobacco bale to open bag automatically and use multifunction manipulator, can be under the operation of robot, and have automatic clamping tobacco bale, clamp wooden splint packaging wooden splint, and hold wooden plate and clamp function such as carboard.
For achieving the above object, the utility model adopts following technical proposals:
A kind of tobacco bale is opened the bag multifunction manipulator automatically, comprise the frame that is connected mutually by the butt flange on it and the wrist of multiple degree of freedom industrial robot, the finger apparatus that the 2-4 cover can stretch up and down is installed on frame, finger horizontally forms the inner chamber of the ccontaining tobacco bale of energy up and down, constitutes the tobacco bale automatic clamping device; On the downside of following finger, settle clamping mechanism and constitute and clamp packaging plank device automatically; Settle jacking mechanism on the finger inboard, formation ties the packing chest device; At last finger 2-8 vacuum cup is housed, constitutes paper plate adsorption plant.
Three cover finger apparatus are arranged in the above-mentioned tobacco bale automatic clamping device, the structure of every cover finger apparatus is identical, its structure is: each is connected with a pair of slide respectively to finger, slide is complementary with the guide rail that is fixed on the frame, every cover finger apparatus has two cylinders back-to-back to link together by bolt, the piston rod of a cylinder is connected with the connecting panel that is fixed on finger by floating junction, the piston rod of another cylinder connects by Y type connector, Y type connector is by bearing pin and permanent seat hinge, permanent seat is connected with the connecting panel that is fixed on down finger, the cylinder upper sliding sleeve an anti-rotation plate, and anti-rotation plate is fixed on the frame.
The above-mentioned finger downside of going up passes through baffle plate of bolt near interior two ends; Under point upside near inner by block of bolt; Going up between finger and the following finger of every pair of finger has the centering link gear.
The structure of above-mentioned centering link gear is: there is the bearing seat that is fixed on the frame center between the finger up and down, configuration rotating shaft in the bearing seat, dispose rotating disk in the rotating shaft, two symmetry ends of rotating disk are respectively by two intrinsic articulation joints of two pin hinge, connect two extrinsic articulation joints respectively by two pipe links then, two extrinsic articulation joints by bearing pin respectively with point hinge up and down.
The structure of above-mentioned each clamping mechanism of clamping packaging plank device automatically is: two handgrips about including, two handgrips, two slides that are connected respectively, two guide rails that are connected on two slides and the following finger downside are slippery, and two piston rods that are fixed on the cylinder of assistant's downside are connected with two handgrips respectively.
The structure of above-mentioned each jacking mechanism that ties the packing chest device is: the cylinder body of a cylinder is by being bolted on the erecting frame, the piston of cylinder with hold out against adapter plate and be connected, hold out against adapter plate and fix two guide pillars, thimble is fixed on the thimble adapter plate, the guide pin bushing that is complementary with guide pillar is by being bolted on the erecting frame, and erecting frame is by being bolted on the finger.
The utility model compared with prior art, have as conspicuous characteristics and advantage: since the utility model contain automatic clamping device, automatically clamp packaging plank device, tie packing chest device and paper plate adsorption plant, thereby have automatic clamping tobacco bale, clamp wooden splint packaging wooden splint, hold wooden plate, tie packing chest and adsorb the multiple function of paper plate, under the operation of robot, the realization tobacco bale is opened bag, the automatic streamline operation, increase work efficiency, reduce labour intensity.
Description of drawings
Fig. 1 is the structural representation of an embodiment of the utility model.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the local amplification view that " A " locates among Fig. 1.
The specific embodiment
A preferred embodiment of the present utility model is: referring to Fig. 1 and Fig. 2, this tobacco bale is opened bag automatically and is comprised the frame 9 that is connected mutually by the butt flange on it 16 and the wrist of multiple degree of freedom industrial robot with multifunction manipulator, the finger apparatus that the 2-4 cover can stretch up and down is installed on frame 9, finger 30 and 46,31 and 45,32 and 44 horizontally forms the inner chamber of the ccontaining tobacco bale 1 of energy up and down, constitutes the tobacco bale automatic clamping device; Settle clamping mechanism on 44,45,46 the downside and constitute and clamp packaging plank device automatically pointing down; Settle jacking mechanism on finger 30,31,32,44,45,46 inboards, formation ties the packing chest device; At last finger 30,31,32 2-8 vacuum cup 2 is housed, constitutes paper plate adsorption plant.Three cover finger apparatus are arranged in the tobacco bale automatic clamping device, the structure of every cover finger apparatus is identical, its structure is: each is to pointing 30 and 46,31 and 45,32 and 44 respectively with a pair of slide 10,19 are connected, slide 10,19 are complementary with the guide rail that is fixed on the frame 9, every cover finger apparatus has two cylinders 38,40 back-to-back link together by bolt, the piston rod of a cylinder 38 is by floating junction 37 and be fixed on finger 30,31,32 connecting panel 36 is connected, the piston rod of another cylinder 40 is connected with Y type connector 41, Y type connector 41 is by bearing pin and permanent seat 42 hinges, permanent seat 42 points 46 with being fixed on down, 45,44 connecting panel 43 is connected, cylinder 40 upper sliding sleeves an anti-rotation plate 39, and anti-rotation plate 39 is fixed on the frame 9. Last finger 30,31,32 downsides are near the inner baffle plate 8 of bolt that passes through; Under point 46,45,44 upsides near inner by block 20 of bolt; Going up between finger 30,31,32 and the following finger 46,45,44 of every pair of finger 30 and 46,31 and 45,32 and 44 has the centering link gear.The structure of centering link gear is: point up and down that there is the bearing seat 13 that is fixed on the frame 9 center between 30 and 46,31 and 45,32 and 44, configuration rotating shaft 14 in the bearing seat 13, configuration rotating disk 15 in the rotating shaft 14, two symmetry ends of rotating disk 15 are respectively by two intrinsic articulation joints of two bearing pins, 12,17 hinges 50,49, then by two pipe links 51,48 connect respectively 52,47, two extrinsic articulation joints 52,47 of two extrinsic articulation joints by bearing pin respectively with point 30 and 46,31 and 45,32 and 44 hinges up and down.The structure of clamping each clamping mechanism of packaging plank device automatically is: two handgrips 26,21 about including, two handgrips 26,21, two slides that are connected respectively, two guide rails 25,22 that are connected on two slides and following finger 46,45,44 downsides are slippery, and two piston rods that are fixed on the cylinder 24,23 of 46,45,44 downsides of setting about are connected with two handgrips 26,21 respectively.The structure that ties each jacking mechanism of packing chest device is: the cylinder body of a cylinder 4 is by being bolted on the erecting frame 7, the piston of cylinder 4 with hold out against adapter plate 3 and be connected, hold out against adapter plate 3 and fix two guide pillars 6, thimble 5 is fixed on the thimble adapter plate 3, the guide pin bushing that is complementary with guide pillar 6 is by being bolted on the erecting frame 7, and erecting frame 7 is by being bolted on the finger 30,31,32,46,45,44.
This tobacco bale is opened the principle of work of bag with multifunction manipulator automatically: the people that starts the machine is in the inner chamber of this multifunction manipulator tobacco bale, 20 pairs of tobacco bales of baffle plate 8 and block are spacing, in the tobacco bale automatic clamping device three cover finger apparatus is under the effect of two cylinder 38,40, point 30 and 46,31 and 45,32 and 44 clampings or lax up and down, thereby realize the automatic clamp operation of tobacco bale.Centering link gear in the tobacco bale automatic clamping device makes up and down, and the identical in the opposite direction moving velocity of finger moves to center-point.Under the operation of robot, make the packaging plank of the downside of this multifunction manipulator 46,45,44 near tobacco bale, start cylinder 23,24, then drive left and right sides handgrip 26,21, then can realize clamping the packaging plank automatically, comprise packaging wood plate and wooden splint.
When tobacco bale is in the multifunction manipulator inner chamber, start the cylinder 4 tie the packing chest device, thimble is stretched out and tie the packing chest of tobacco bale.
Under the operation of robot, make the last facies laterales digitorum manus of this multifunction manipulator press close to the paper plate of tobacco bale, start six vacuum cups 2 of paper plate adsorption plant, then can hold the paper plate, throw under the drive by robot to paper plate collecting box.
Claims (6)
1. a tobacco bale is opened the bag multifunction manipulator automatically, comprise the frame (9) that is connected mutually by the butt flange on it (16) and the wrist of multiple degree of freedom industrial robot, it is characterized in that, go up the finger apparatus that installation 2-4 cover can stretch up and down in frame (9), finger (30 and 46,31 and 45,32 and 44) horizontally forms the inner chamber of the ccontaining tobacco bale of energy (1) up and down, constitutes the tobacco bale automatic clamping device; On the downside of following finger (44,45,46), settle clamping mechanism and constitute and clamp packaging plank device automatically; Settle jacking mechanism on finger (30,31,32,44,45,46) inboard, formation ties the packing chest device; At last finger (30,31,32) 2-8 vacuum cup (2) is housed, constitutes paper plate adsorption plant.
2. a kind of tobacco bale according to claim 1 is opened the bag multifunction manipulator automatically, it is characterized in that having in the tobacco bale automatic clamping device three cover finger apparatus, the structure of every cover finger apparatus is identical, its structure is: each is to finger (30 and 46,31 and 45,32 and 44) respectively with a pair of slide (10,19) be connected, slide (10,19) be complementary with the guide rail that is fixed on the frame (9), every cover finger apparatus has two cylinders (38,40) back-to-back link together by bolt, the piston rod of a cylinder (38) is by floating junction (37) and be fixed on finger (30,31,32) connecting panel (36) is connected, the piston rod of another cylinder (40) connects by Y type connector (41), Y type connector (41) is by bearing pin and permanent seat (42) hinge, permanent seat (42) be fixed on down finger (46,45,44) connecting panel (43) is connected, cylinder (40) upper sliding sleeve an anti-rotation plate (39), and anti-rotation plate (39) is fixed on the frame (9).
3. a kind of tobacco bale according to claim 2 is opened bag automatically and is used multifunction manipulator, it is characterized in that finger (30,31,32) downside passes through a baffle plate of bolt (8) near interior two ends; Following finger (46,45,44) upside is near the inner block of bolt (20) that passes through; Going up finger (30,31,32) and pointing between (46,45,44) down of every pair of finger (30 and 46,31 and 45,32 and 44) has the centering link gear.
4. a kind of tobacco bale according to claim 3 is opened the bag multifunction manipulator automatically, the structure that it is characterized in that the centering link gear is: point (30 and 46 up and down, 31 and 45,32 and 44) there is configuration rotating shaft (14) in the bearing seat (13) that is fixed on the frame (9) center between, be fixed with rotating disk (15) in the rotating shaft (14), two symmetry ends of rotating disk (15) are respectively by two bearing pins (12,17) two intrinsic articulation joints (50 of hinge, 49), then by two pipe links (51,48) connect two extrinsic articulation joints (52 respectively, 47), two extrinsic articulation joints (52,47) point (30 and 46 respectively with up and down by bearing pin, 31 and 45,32 and 44) hinge.
5. a kind of tobacco bale according to claim 1 is opened the bag multifunction manipulator automatically, the structure that it is characterized in that clamping automatically each clamping mechanism of packaging plank device is: two handgrips (26,21) about including, two handgrips (26,21), two slides that are connected respectively, two guide rails (25,22) that are connected on two slides and following finger (46,45,44) downside are slippery, and two piston rods that are fixed on the cylinder (24,23) of assistant (46,45,44) downside are connected with two handgrips (26,21) respectively.
6. a kind of tobacco bale according to claim 1 is opened the bag multifunction manipulator automatically, the structure that it is characterized in that tying each jacking mechanism of packing chest device is: the cylinder body of a cylinder (4) is by being bolted on the erecting frame (7), the piston of cylinder (4) with hold out against adapter plate (3) and be connected, hold out against adapter plate (3) and fix two guide pillars (6), thimble (5) is fixed on the thimble adapter plate (3), the guide pin bushing that is complementary with guide pillar (6) is by being bolted on the erecting frame (7), and erecting frame (7) is by being bolted to finger (30,31,32,46,45,44) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03229938 CN2612615Y (en) | 2003-04-01 | 2003-04-01 | Multifunctional manipulator for automatically opening cigarette sack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03229938 CN2612615Y (en) | 2003-04-01 | 2003-04-01 | Multifunctional manipulator for automatically opening cigarette sack |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2612615Y true CN2612615Y (en) | 2004-04-21 |
Family
ID=34165113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03229938 Expired - Fee Related CN2612615Y (en) | 2003-04-01 | 2003-04-01 | Multifunctional manipulator for automatically opening cigarette sack |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2612615Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100364862C (en) * | 2004-11-08 | 2008-01-30 | 云南昆船设计研究院 | Full automatic opening method and device for paper box |
| CN102407962A (en) * | 2011-07-08 | 2012-04-11 | 重庆朗正科技有限公司 | Automatic centering mechanism |
| CN104528403A (en) * | 2014-12-29 | 2015-04-22 | 红塔烟草(集团)有限责任公司 | Automatic collecting device for tobacco bale plywood |
| CN104609150A (en) * | 2015-01-12 | 2015-05-13 | 广东中烟工业有限责任公司 | Automatic discharging method for stem strips packaged in boxes |
| CN107458887A (en) * | 2017-09-13 | 2017-12-12 | 云南昆船电子设备有限公司 | A kind of Lamina bale unstacking and stacking machine device people's fixture |
| CN107554874A (en) * | 2017-08-30 | 2018-01-09 | 中国电器科学研究院有限公司 | A kind of carton mechanical positioner |
-
2003
- 2003-04-01 CN CN 03229938 patent/CN2612615Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100364862C (en) * | 2004-11-08 | 2008-01-30 | 云南昆船设计研究院 | Full automatic opening method and device for paper box |
| CN102407962A (en) * | 2011-07-08 | 2012-04-11 | 重庆朗正科技有限公司 | Automatic centering mechanism |
| CN104528403A (en) * | 2014-12-29 | 2015-04-22 | 红塔烟草(集团)有限责任公司 | Automatic collecting device for tobacco bale plywood |
| CN104528403B (en) * | 2014-12-29 | 2017-02-22 | 红塔烟草(集团)有限责任公司 | Automatic collecting device for tobacco bale plywood |
| CN104609150A (en) * | 2015-01-12 | 2015-05-13 | 广东中烟工业有限责任公司 | Automatic discharging method for stem strips packaged in boxes |
| CN107554874A (en) * | 2017-08-30 | 2018-01-09 | 中国电器科学研究院有限公司 | A kind of carton mechanical positioner |
| CN107554874B (en) * | 2017-08-30 | 2024-04-05 | 中国电器科学研究院股份有限公司 | Mechanical positioning device for paper box |
| CN107458887A (en) * | 2017-09-13 | 2017-12-12 | 云南昆船电子设备有限公司 | A kind of Lamina bale unstacking and stacking machine device people's fixture |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |