阅读说明：本技术 一种开箱机器人防纸箱脱落装置 (carton falling-off preventing device of carton opening robot ) 是由 马剑坤 姚志超 田竟超 魏耀武 张久雷 许志兵 于 2019-11-13 设计创作，主要内容包括：本发明涉及一种开箱机器人防纸箱脱落装置,包括机器人、在机器人的端部设置有相对的两个大夹爪,用于夹取纸箱；在每个大夹爪上均设置有吸盘,用于吸附纸箱；在大夹爪上设置有光电开关,用于检测大夹爪与纸箱接触信号给机器人；在每个大夹爪上均设置有一个防纸箱脱落装置。本技术方案通过在机器人的两个大夹爪上设置防纸箱脱落装置,当大夹爪在夹取成箱烟块时,因为穿钉的长度超过吸盘的端面,会插入到纸箱内,这样大夹爪在夹取过程中,不会导致纸箱脱落。(The invention relates to an carton falling prevention device of a carton opening robot, which comprises a robot, two large clamping jaws arranged at the end part of the robot and used for clamping a carton, a sucking disc arranged on each large clamping jaw and used for adsorbing the carton, a photoelectric switch arranged on each large clamping jaw and used for detecting a contact signal between the large clamping jaw and the carton and sending the contact signal to the robot, and carton falling prevention devices arranged on each large clamping jaw.)

The carton falling-off preventing device of the unpacking robots comprises a robot, wherein two large clamping jaws which are opposite to each other are arranged at the end part of the robot and used for clamping a carton;

the robot comprises a robot body, a large clamping jaw and a photoelectric switch, wherein the robot body is provided with a plurality of paper boxes, each large clamping jaw is provided with a sucking disc for adsorbing the paper boxes, the photoelectric switch is arranged on the large clamping jaw and used for detecting contact signals of the large clamping jaw and the paper boxes and sending the contact signals to the robot body, and the robot is characterized in that paper box falling prevention devices are arranged on each large clamping jaw.

2. The carton falling-off preventing device of the carton opening robot according to claim 1, wherein the carton falling-off preventing device comprises a cylinder bracket fixed on the large clamping jaw;

the cylinder is fixed on the cylinder bracket;

the two through-nail supports are respectively fixed on the cylinder supports on the two sides of the cylinder;

through pins are fixed on each through pin bracket;

and the box pushing guide block is fixed on the piston rod of the cylinder.

3. The carton falling-off preventing device of the carton opening robot as claimed in claim 2, wherein the through nail extends to the direction of the large jaw on the other side for a length exceeding the end face of the suction cup.

4. The carton falling-off preventing device of the carton opening robot according to claim 2, wherein the starting of the air cylinder and the opening signal of the large clamping jaw are synchronously transmitted by the robot.

5. The carton falling prevention device of an unpacking robot as set forth in claim 2, wherein the robot is fixed to the robot base.

6. The carton fall-off prevention device of the carton opening robot according to claim 2, further comprising a shuttle car for transporting the carton-forming tobacco pieces.

Technical Field

The invention belongs to the technical field of auxiliary devices for tobacco shred manufacturing, and particularly relates to a carton falling-off prevention device of a carton opening robot in shred manufacturing production lines.

Background

The raw material tobacco leaves used in the tobacco industry shred production line are boxed tobacco blocks which are processed in a redrying plant and have the weight of about 200Kg, and the raw material tobacco leaves enter the th procedure of the shred production line to be removed from a packing carton.

In the existing silk production line, no matter a fine product line, a brand line and a large scale line are opened by a robot, when a large clamping jaw of the opening robot clamps a carton, if the carton is damaged, deformed or aged and hardened on the surface, the carton is easy to fall off from the large clamping jaw in the clamping process, and the carton falls off, the production is stopped, only manual treatment can be carried out by maintenance personnel, not only is labor and time wasted, but also the downstream process is likely to be cut off due to untimely feeding, and the product quality is affected.

Disclosure of Invention

The invention aims to provide an carton falling prevention device of a carton opening robot, which aims to solve the problems that the carton falling is easy to occur in the clamping process of the carton opening robot, the normal production of downstream processes is influenced, and the product quality is influenced.

The invention is realized by the following technical scheme:

carton falling-off preventing device of unpacking robot, comprising a robot, two opposite large clamping jaws arranged at the end of the robot for clamping carton;

each large clamping jaw is provided with a sucking disc for adsorbing a carton; the large clamping jaw is provided with a photoelectric switch for detecting a contact signal of the large clamping jaw and the carton and sending the contact signal to the robot;

and each large clamping jaw is provided with carton falling-off prevention devices.

The carton falling-off preventing device comprises a cylinder bracket which is fixed on the large clamping jaw;

the cylinder is fixed on the cylinder bracket;

the two through-nail supports are respectively fixed on the cylinder supports on the two sides of the cylinder;

through pins are fixed on each through pin bracket;

and the box pushing guide block is fixed on the piston rod of the cylinder.

The length of the through nail extending towards the other side large clamping jaw direction exceeds the end surface of the suction cup.

The starting of the cylinder and the opening signal of the large clamping jaw are synchronously transmitted by the robot.

The robot is fixed on the robot base.

The device also comprises a shuttle vehicle used for conveying the boxed tobacco blocks.

The invention has the beneficial effects that:

this technical scheme prevents the carton sheds device through setting up on two big clamping jaws at the robot, when big clamping jaw is pressing from both sides and is getting into the case tobacco cube, because the length of drift bolt surpasss the terminal surface of sucking disc, can insert in the carton, big clamping jaw is getting the in-process like this, can not lead to the carton to drop.

Drawings

FIG. 1 is a schematic view of the installation position of the device for preventing the falling of the paper box;

FIG. 2 is a front view of the device for preventing the falling of the paper box;

fig. 3 is a side view of the carton falling-off preventing device.

Description of the reference numerals

The automatic paper box punching machine comprises a shuttle car 1, a large clamping jaw 2, a paper box 3, a sucking disc 4, a robot 5, a robot base 6, a photoelectric switch 7, a paper box falling prevention device 8, an air cylinder support 81, a box pushing guide block 82, an air cylinder 83, a nail penetrating support 84 and a nail penetrating 85.

Detailed Description

The technical solutions of the present invention are described in detail below by examples, and the following examples are only exemplary and can be used only for explaining and explaining the technical solutions of the present invention, but not construed as limiting the technical solutions of the present invention.

As shown in figure 1, the application provides kinds of unpacking robot carton anti-falling devices, a robot base 6 is installed on the ground or a reference surface of a production workshop, a robot 5 for clamping a carton 3 is installed on the robot base 6, two large clamping jaws 2 are arranged at the front end of the robot, when the two large clamping jaws move relatively, the carton is clamped, whether a carton exists between the two large clamping jaws is realized through a photoelectric switch 7 arranged on the large clamping jaws, the robot is started to clamp the carton, and meanwhile, whether the carton is clamped in place is detected through the photoelectric switch when the carton is clamped, so that the carton is lifted conveniently.

When two big clamping jaws get the carton, realize the absorption to the carton wall through setting up sucking disc 4 on two big clamping jaws to prevent that the cigarette case from droing.

carton falling-off prevention devices 8 are respectively arranged on the two large clamping jaws to prevent the cartons from falling off in the clamping process.

As shown in fig. 2 and 3, the carton falling off preventing device 8 on each large clamping jaw is the same and comprises a cylinder bracket 81 which is fixed on the large clamping jaw through a bolt and is provided with cylinders 83.

penetrating nail brackets 84 are respectively fixed on the cylinder brackets on the two sides of the cylinder, and the penetrating nail brackets and the cylinder are respectively fixed on the two sides of the cylinder bracket, wherein the penetrating nail brackets are positioned on the inner side of the cylinder bracket, the cylinder is positioned on the outer side of the cylinder bracket, the inner side is the side which is contacted with the carton as the inner side, and the opposite side is the outer side.

In other embodiments of the present application, the piercing pin holder may also be pieces fixed to the inside of the cylinder holder.

When the number of the penetrating nail supports is two, penetrating nails 85 are fixed on each penetrating nail support, and when the penetrating nails extend towards the direction of the large clamping jaw on the other side, the inner end face of the suction cup is 3-10mm longer.

box pushing guide blocks 82 are arranged between the two through-nail supports, and the box pushing guide blocks 82 are fixedly connected with a piston rod of the air cylinder 83 and driven by the piston rod to perform telescopic motion.

When the number of the nail penetrating supports is , nails are respectively fixed on two sides of each nail penetrating support, box pushing guide block through holes are formed in the nail penetrating supports, and the box pushing guide blocks stretch and retract under the action of the piston rods through the box pushing guide block through holes.

Under the two conditions, the starting of the air cylinder is controlled by the robot, and the starting signal is synchronous with the opening control signal of the large clamping jaw, so that when the two large clamping jaws are opened, the box pushing guide block is pushed outwards, the threading needle is separated from the carton, and the carton is convenient to fall off.

The specific working principle is as follows:

when the carton is got to big clamping jaw clamp, drive the drift bolt and pierce through the carton wall paper, help big clamping jaw to grab firm carton, prevent that the carton from droing, when big clamping jaw is released the carton, the cylinder action promotes to push away the case guide block and makes the drift bolt dial out from the carton wall, and the carton drops.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.