Automatic special-shaped box packing cigarette device and operation method thereof

Abstract

The present invention relates to an automatic special-shaped box packing cigarette device and an operation method thereof, comprising a cigarette delivery line, a cigarette box delivery line, a six-axis manipulator, a clamping mechanism and a cigarette box positioning mechanism, wherein the cigarette delivery line is provided with a plurality of cigarette mold boxes, wherein the cigarette mold boxes contain a plurality of cigarettes, the cigarette box delivery line comprises a conveyor belt, a bracket and a conveying mechanism for driving the conveyor belt to operate, the cigarette box is placed on the conveyor belt, the bracket is provided with at least one cigarette filling station, the six-axis manipulator is provided with a clamping mechanism, the clamping mechanism comprises a cigarette clamping mechanism and a cigarette protecting mechanism, the cigarette box positioning mechanism fixes the cigarette box, the six-axis manipulator drives the cigarette clamping mechanism to clamp the cigarettes in the cigarette mold box and extract them outward, the cigarette protecting mechanism protects the extracted cigarettes, and the six-axis manipulator uses the cigarette clamping mechanism to pack the cigarettes into the cigarette box. The present invention has the advantages of high production efficiency, good product quality stability and reduced labor costs.

Description

Technical Field

[0001] The invention relates to a cigarette packing device, in particular to an automatic cigarette packing device for special-shaped boxes and an operating method thereof. Background Art

[0002] At present, some cigarette companies in the tobacco industry have created their own brand of special-shaped cigarette box packaging products in order to carry out brand innovation. However, in the actual production process, since the special-shaped cigarette box is a pre-formed cigarette box and opens vertically, when packing cigarettes in the box, the workers need to first open the upper and lower covers of the cigarette box, then open the decorative lining paper, and then gently put the 20 cigarettes arranged in it into the special-shaped cigarette box, so mechanized continuous production is impossible. When loading cigarettes manually, on the one hand, the workers cannot work for a long time, resulting in low efficiency of loading cigarettes, which ultimately leads to reduced production efficiency. On the other hand, a large number of manpower needs to be hired, which increases labor costs and thus increases production costs. Summary of the invention

[0003] In order to overcome the above-mentioned defects, the present invention provides an automatic device for packing cigarettes into special-shaped boxes. The device mainly comprises a cigarette delivery line, a cigarette box delivery line, a six-axis manipulator, a clamping mechanism and a cigarette box positioning mechanism. The device utilizes the anti-human hand function of the six-axis manipulator, in combination with the clamping mechanism, the cigarette box positioning mechanism, etc., to complete the process of automatically packing cigarettes into special-shaped boxes.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] An automatic device for packing cigarettes in special-shaped boxes comprises a cigarette delivery line, a cigarette box delivery line, a six-axis manipulator, a clamping mechanism and a cigarette box positioning mechanism. The cigarette delivery line is provided with a plurality of cigarette mold boxes, and the cigarette mold boxes contain a plurality of cigarettes. The cigarette box delivery line comprises a conveyor belt, a bracket and a conveying mechanism driving the conveyor belt to operate. The conveyor belt is provided with a plurality of locking plates and a cigarette box pushing plate connected to the locking plates. After the cigarette box is opened, it is placed on the conveyor belt and abuts against the cigarette box pushing plate. The bracket is provided with at least one cigarette filling station, and the station is provided with a cigarette A box positioning mechanism and a six-axis manipulator, the six-axis manipulator is provided with a clamping mechanism, the clamping mechanism includes a cigarette clamping mechanism and a cigarette protecting mechanism. When the cigarette box delivery flow line delivers the empty cigarette box to the workstation, the cigarette box positioning mechanism fixes the cigarette box, the cigarette delivery flow line stops running after delivering the cigarettes to the position corresponding to the cigarette box, the six-axis manipulator drives the cigarette clamping mechanism to clamp the cigarettes in the cigarette mold box and draw them out, the cigarette protecting mechanism protects the drawn cigarettes, and finally the six-axis manipulator uses the cigarette clamping mechanism to load the cigarettes into the cigarette box fixed by the cigarette box positioning mechanism.

[0006] Preferably, a plurality of cigarette box positioning strips are provided on both sides of the bracket, and the cigarette box positioning mechanism is connected to the bracket. The cigarette box positioning mechanism includes a carrier plate, which is slidably connected to the bracket. The carrier plate can move up and down along the bracket to compress or loosen the cigarette box under the drive of the downward pressure cylinder. A cigarette box positioning block, a pressing cover plate, a cigarette box side plate, a small suction pocket plate and a blowing block are fixedly provided on the carrier plate, and the cigarette box positioning block is connected to the telescopic cylinder.

[0007] Preferably, the carrier plate is located above the bracket, the downward pressure cylinder is fixed on one side of the bracket, the downward pressure cylinder is connected to the carrier plate, a vertical linear slide rail is fixed on the other side of the bracket, the carrier plate is slidably connected to the linear slide rail through a fixed plate, the bracket is provided with a guide column, and the carrier plate is mounted on the guide column through a linear bearing sleeve.

[0008] Preferably, a material sensor is fixedly provided on the bracket, and the material sensor and the downward pressure cylinder are located on the same side of the bracket, the pressing cover plate is located above the bracket and connected to one end of the carrier plate, and the small bag suction plate and the blowing block are located above the carrier plate and fixedly connected to the carrier plate.

[0009] Preferably, the cigarette clamping mechanism and the cigarette protecting mechanism are fixed to the six-axis manipulator through a connecting plate, and the cigarette clamping mechanism includes a cigarette clamping cylinder fixed on the connecting plate, and the upper and lower ends of the cigarette clamping cylinder are respectively connected to an upper clamping plate and a lower clamping plate, and the cigarette clamping cylinder can drive the upper clamping plate and the lower clamping plate to run in reverse to clamp or release the cigarette.

[0010] Preferably, a smoke pushing plate is fixedly provided on one side of the lower clamping plate, two smoke guide blocks are fixedly provided on the lower clamping plate, a top column is provided on the lower clamping plate outside the smoke guide block, the lower clamping plate is provided with a mounting groove, a brass bushing is provided in the mounting groove, a guide rod protruding from the lower clamping plate is provided in the brass bushing, and two adjusting screws are provided on the upper clamping plate.

[0011] Preferably, the smoke protection mechanism includes an upper smoke protection cylinder and two side smoke protection cylinders, the upper smoke protection cylinder is fixed to the connecting plate through a support plate and a cylinder fixing plate, the upper smoke protection cylinder is connected to the upper smoke protection plate and can drive the upper smoke protection plate to move up and down, the two side smoke protection cylinders are fixed to the upper smoke protection plate through fixing strips, the two sides of the two side smoke protection cylinders are connected to the side smoke protection thin plates and the two side smoke protection cylinders can drive the two side smoke protection thin plates to move in the opposite direction.

[0012] Preferably, the smoke protection mechanism is located above the clamping mechanism, the two ends of the support plate are respectively fixedly connected to the connecting plate and the cylinder fixing plate, and the side smoke protection sheets are connected to the smoke protection cylinders on both sides through fixing strips.

[0013] Preferably, the six-axis manipulator includes a mounting base, a first joint assembly, a first arm, a second joint assembly, a second arm and a third joint assembly which are connected in sequence, and the third joint assembly is connected to a clamping mechanism.

[0014] Preferably, the cigarette box comprises an upper cover body and a lower box body which are connected to each other, and the lower box body is provided with kraft paper and a small pocket.

[0015] The present invention also provides an operating method of an automatic device for packing cigarettes in special-shaped boxes, the steps of which are as follows:

[0016] Step 1: Delivering cigarettes and cigarette boxes: The cigarette delivery line delivers cigarettes to the cigarette filling station. Each cigarette packing mold box is filled with 20 cigarettes. The cigarette delivery line stops running. At the same time, the cigarette box delivery line also delivers the cigarette box here. The telescopic cylinder drives the cigarette box positioning block to extend to block the cigarette box. At the same time, the cigarette box delivery line stops running;

[0017] Step 2: Cigarette box positioning: The four sides of the cigarette box are positioned by the cigarette box positioning block, two cigarette box positioning strips and the cigarette box pushing plate respectively. The downward pressure cylinder drives the carrier plate to move downward and press the lower box body of the cigarette box. At the same time, the upper cover plate presses the upper cover body of the cigarette box. After the air blowing plate blows air to the cigarette box to blow air into the small pocket, the small pocket suction plate sucks air to suck the small pocket;

[0018] Step 3: Clamping cigarettes: The six-axis manipulator moves the clamping mechanism to the cigarette position of the cigarette delivery line, and makes the upper clamping plate and the lower clamping plate of the clamping mechanism be located at the upper and lower sides of the cigarette respectively. The clamping cylinder drives the upper and lower clamping plates to move relative to each other to clamp 20 cigarettes;

[0019] Step 4: Take out the cigarette: The six-axis manipulator moves to pull the cigarette out. When there is still a small part of the cigarette head left in the mold box, the upper smoke protection cylinder drives the upper smoke protection plate downward to protect the top of the cigarette, and then the two side smoke protection cylinders drive the two side smoke protection thin plates to move relative to each other to protect the two sides of the cigarette, and then the six-axis manipulator moves to continue to pull the cigarette out of the mold box;

[0020] Step 5: Loading cigarettes: The six-axis manipulator moves the clamped cigarettes to the cigarette box at the filling station, and cooperates with the six-axis manipulator's human-like cigarette placing path to put the head of the cigarette into the small pocket of the cigarette box, while letting the filter end of the cigarette lean against the side plate of the cigarette box. The cigarette clamping cylinder drives the upper clamping plate and the lower clamping plate to move back to each other to release the cigarettes, and the side cigarette protection cylinders drive the side cigarette protection thin plates to move back to each other to release the cigarettes. The six-axis manipulator moves upward, and at the same time, the upper cigarette protection cylinder drives the upper cigarette protection plate to retract upward;

[0021] Step 6: Arrange cigarettes: The six-axis robot moves the cigarette push plate to the filter of the cigarette, and uses the cigarette push plate to push the cigarette completely into the cigarette box. The six-axis robot then moves to the cigarette pressing position and uses the lower clamp to press the filter to make the cigarettes neat. Finally, the six-axis robot moves to the cigarette grabbing position, and the carrier moves upward to release the cigarette box. The cigarette box is sent to the next workstation under the drive of the cigarette box delivery streamline, and the six-axis robot repeats steps 1 to 6.

[0022] The beneficial effects of the present invention are as follows: the present invention mainly comprises a cigarette delivery flow line, a cigarette box delivery flow line, a six-axis manipulator, a clamping mechanism and a cigarette box positioning mechanism, and the cigarettes and cigarette boxes are respectively delivered to the cigarette filling station by the cigarette delivery flow line and the cigarette box delivery flow line, and the cigarette filling mold box is filled with twenty cigarettes. The cigarette box positioning mechanism moves downward to fix the cigarette box on the cigarette box delivery flow line, and then the clamping mechanism is delivered to the cigarette position by the six-axis manipulator, and the twenty cigarettes are simultaneously clamped and drawn out of the cigarette filling mold box by the clamping mechanism connected to the six-axis manipulator, and then the two sides and the upper part of the cigarette are pressed and protected by the cigarette protection mechanism, and the clamping mechanism is used by the six-axis manipulator to The clamping mechanism that has taken the cigarette is sent to the cigarette box and places the cigarette in the cigarette box. The clamping mechanism releases the cigarette, and the six-axis manipulator moves the clamping mechanism to the corresponding position. The clamping mechanism is then used to push the cigarette completely into the cigarette box and arrange the cigarettes. The present invention introduces a six-axis manipulator, utilizes the anti-human hand function of the six-axis manipulator, and cooperates with the clamping mechanism, the cigarette box positioning mechanism, etc. to complete the process of fully automatically loading the cigarettes into special-shaped cigarette boxes. The present invention has a compact structure and high action repetition accuracy. Compared with the existing manual cigarette loading process, it has the advantages of high production efficiency, good product quality stability and reduced labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention;

[0024] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0025] Figure 3 for Figure 2 The enlarged view of point B in the middle;

[0026] Figure 4 It is a structural schematic diagram of the six-axis robot in the present invention;

[0027] Figure 5 An exploded view of the clamping mechanism of the present invention;

[0028] Figure 6 An exploded view of the present invention;

[0029] Figure 7 It is a front perspective view of the present invention;

[0030] Figure 8It is a back perspective view of the present invention;

[0031] In the figure: 10-cigarette delivery line, 11-cigarette mold box, 12-cigarettes, 20-cigarette box delivery line, 21-conveyor belt, 22-bracket, 23-cigarette box positioning strip, 24-cigarette box pushing plate, 25-locking plate, 26-conveying mechanism, 30-six-axis manipulator, 31-mounting seat, 32-first joint assembly, 33-first arm, 34-second joint assembly, 35-second arm, 36-third joint assembly, 40-gripping mechanism, 41-cigarette clamping mechanism, 42-connecting plate, 43-cigarette clamping cylinder, 44-upper clamping plate, 45-lower clamping plate, 46-top column, 47-cigarette guide block, 48-cigarette pushing plate, 49-guide rod, 51-brass bushing, 52-adjusting screw, 60-smoke protection mechanism, 61-support plate, 62-cylinder fixing plate, 63-upper smoke protection cylinder, 64-upper smoke protection plate, 65-smoke protection cylinders on both sides, 66-side smoke protection thin plates, 70-cigarette box positioning mechanism, 71-cigarette box positioning block, 72-carrier plate, 73-downward pressure cylinder, 74-linear bearing, 75-linear slide rail, 76-guide column, 77-blowing block, 78-fixed plate, 79-small pocket suction plate, 81-pressing cover plate, 82-material sensor, 83-cigarette box side plate, 90-cigarette box, 91-upper cover, 92-lower box, 93-kraft paper, 94-small pocket. DETAILED DESCRIPTION

[0032] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0035] Example: Figure 1-8As shown, an automatic device for packing cigarettes in special-shaped boxes comprises a cigarette delivery line 10, a cigarette box delivery line 20, a six-axis manipulator 30, a gripping mechanism 40 and a cigarette box positioning mechanism 70. The cigarette delivery line 10 is provided with a plurality of cigarette mold boxes 11, and the cigarette mold boxes 11 are provided with a plurality of cigarettes 12. The cigarette box delivery line 20 comprises a conveyor belt 21, a bracket 22 and a conveying mechanism 26 driving the conveyor belt to operate. The conveyor belt 21 is provided with a plurality of locking plates 25 and a cigarette box pushing plate 24 connected to the locking plates. After the cigarette box 90 is opened, it is placed on the conveyor belt and abuts against the cigarette box pushing plate 24. The bracket 22 is provided with at least one cigarette filling station. A cigarette box positioning mechanism 70 and a six-axis manipulator 30 are provided. The six-axis manipulator 30 is provided with a clamping mechanism 40, and the clamping mechanism 40 includes a cigarette clamping mechanism 41 and a cigarette protecting mechanism 60. When the cigarette box delivery line 20 delivers an empty cigarette box 90 to the workstation, the cigarette box positioning mechanism 70 fixes the cigarette box 90, and the cigarette delivery line 10 stops running after delivering the cigarettes to the position corresponding to the cigarette box. The six-axis manipulator 30 drives the cigarette clamping mechanism 41 to clamp the cigarettes in the cigarette mold box 11 and extract them outward, and the cigarette protecting mechanism 60 protects the extracted cigarettes. Finally, the six-axis manipulator uses the cigarette clamping mechanism 41 to load the cigarettes into the cigarette box 90 fixed by the cigarette box positioning mechanism. In this embodiment, two cigarette filling stations are provided, and two six-axis manipulators and cigarette box positioning mechanisms are provided accordingly. The six-axis manipulators and cigarette delivery branch flow lines are respectively located on both sides of the cigarette box delivery flow line. The cigarette delivery branch flow line 10 also includes a conveyor belt, a bracket and a conveying mechanism. The cigarette mold box is fixed on the conveyor belt. The cigarette delivery branch flow line and the cigarette box delivery flow line are commonly used flow lines and will not be described in detail here. A cigarette mold box 11 is provided at a certain distance on the cigarette delivery branch flow line, and a cigarette box pushing plate is provided at a certain distance on the cigarette box delivery flow line. An opened cigarette box 90 is placed next to each cigarette box pushing plate.The present invention mainly comprises a cigarette delivery line 10, a cigarette box delivery line 20, a six-axis manipulator 30, a gripping mechanism 40 and a cigarette box positioning mechanism 70. The cigarette delivery line and the cigarette box delivery line are used to deliver cigarettes and cigarette boxes to the cigarette filling station respectively. Twenty cigarettes 12 are loaded in the cigarette loading mold box 11. The cigarette box positioning mechanism 70 moves downward to fix the cigarette box on the cigarette box delivery line. Then, the gripping mechanism 40 is delivered to the cigarette by the six-axis manipulator. The twenty cigarettes are simultaneously gripped and drawn out of the cigarette loading mold box by the gripping mechanism connected to the six-axis manipulator. Then, the two sides and the upper part of the cigarette are pressed and protected by the cigarette protection mechanism 60. Then, the six-axis manipulator is used to hold the cigarette box in the cigarette loading station. The hand 30 sends the clamping mechanism that has clamped the cigarette to the cigarette box and puts the cigarette in the cigarette box. The clamping mechanism releases the cigarette. After the six-axis manipulator 30 moves the clamping mechanism to the corresponding position, the clamping mechanism is used to push the cigarette completely into the cigarette box 90 and organize the cigarettes. The present invention introduces a six-axis manipulator, utilizes the anti-human hand function of the six-axis manipulator, and cooperates with the clamping mechanism, the cigarette box positioning mechanism, etc. to complete the process of fully automatically loading cigarettes into special-shaped cigarette boxes. The present invention has a compact structure and high action repetition accuracy. Compared with the existing manual cigarette loading process, it has the advantages of high production efficiency, good product quality stability and reduced labor costs.

[0036] like Figure 1 , Figure 6 and Figure 7 As shown, a plurality of cigarette box positioning strips 23 are provided on both sides of the bracket 22, and the cigarette box positioning mechanism 70 is connected to the bracket 22. The cigarette box positioning mechanism 70 includes a carrier plate 72, which is slidably connected to the bracket 22. The carrier plate 72 can move up and down along the bracket under the drive of the downward pressure cylinder 73 to press or loosen the cigarette box 90. A cigarette box positioning block 71, a pressing cover plate 81, a cigarette box side plate 83, a small suction pocket plate 79 and a blowing block 77 are fixedly provided on the carrier plate 72, and the cigarette box positioning block 71 is connected to the telescopic cylinder. When the cigarette box 90 is transported to the cigarette filling station, the material sensor 82 senses the cigarette box and then feeds back to the controller. The controller controls the telescopic cylinder to drive the cigarette box positioning block 71 to extend and block the cigarette box. At the same time, the cigarette box delivery streamline 20 stops running. The four sides of the cigarette box 90 are positioned by the cigarette box positioning block 71, two cigarette box positioning strips 23 and the cigarette box pushing plate 24 respectively. The downward pressure cylinder 73 drives the carrier plate 72 to move downward and press the lower box body 92 of the cigarette box. At the same time, the upper cover plate 81 presses the upper cover body 91 of the cigarette box. The blowing plate 77 blows air towards the cigarette box to blow up the small pocket 94, and then the small pocket suction plate 79 sucks air to suck the small pocket, which is convenient for loading cigarettes 12. The blowing plate and the small pocket suction plate 79 are connected to the suction and inflation device through an air path.

[0037] The carrier plate 72 is located above the bracket 22, and the downward pressure cylinder 73 is fixed on one side of the bracket. The downward pressure cylinder 73 is connected to the carrier plate 72. A vertical linear slide rail 75 is fixed on the other side of the bracket. The carrier plate 72 is slidably connected to the linear slide rail through a fixed plate 78. The bracket 22 is provided with a guide column 76, and the carrier plate 72 is sleeved on the guide column 76 through a linear bearing 74. The fixed plate 78 is an L-shaped structure, and a slide groove is provided on the fixed plate. Through the slide groove, the carrier plate is slidably connected to the linear slide rail. When the downward pressure cylinder 73 drives the carrier plate 72 to move up and down, the carrier plate moves smoothly under the guidance of the linear slide rail and the guide column 76. A material sensor 82 is fixed on the bracket 22. The material sensor 82 and the downward pressure cylinder are located on the same side of the bracket. The upper cover plate 81 is located above the bracket and connected to one end of the carrier plate. The small bag suction plate 79 and the air blowing block 77 are located above the carrier plate and fixedly connected to the carrier plate.

[0038] like Figure 3 and Figure 4 As shown, the cigarette clamping mechanism 41 and the cigarette protection mechanism 60 are fixed to the six-axis manipulator 30 through the connecting plate 42. The cigarette clamping mechanism 41 includes a cigarette clamping cylinder 43 fixed on the connecting plate 42. The upper and lower ends of the cigarette clamping cylinder 43 are respectively connected to the upper clamping plate 44 and the lower clamping plate 45. The cigarette clamping cylinder 43 can drive the upper clamping plate and the lower clamping plate to run in reverse to clamp or release the cigarette 12. Reverse operation refers to the movement of the upper clamping plate and the lower clamping plate to move closer to or away from each other. When the upper and lower clamping plates move toward the direction of the cigarette at the same time, the cigarette can be clamped from the upper and lower sides of the cigarette respectively. When the upper and lower clamping plates move away from the cigarette at the same time, the cigarette is released. The present invention utilizes the functions of the cigarette clamping mechanism and the cigarette protection mechanism in conjunction with the reasonable path of the six-axis manipulator to avoid scratches or wrinkles on the cigarette.

[0039] A cigarette pushing plate 48 is fixedly provided on one side of the lower clamping plate 45, and two cigarette guide blocks 47 are fixedly provided on the lower clamping plate. A top column 46 is provided on the lower clamping plate outside the cigarette guide block. The lower clamping plate is provided with a mounting groove, and a brass bushing 51 is provided in the mounting groove. A guide rod 49 protruding from the lower clamping plate is provided in the brass bushing. Two adjusting screws 52 are provided on the upper clamping plate 44. When clamping a cigarette, the cigarette is located between the two cigarette guide blocks 47 of the lower clamping plate. The adjusting screw 52 on the upper clamping plate 44 cooperates with the two top columns 46 on the lower clamping plate to ensure the relative position of the upper and lower clamping plates. The smoke protection mechanism 60 includes an upper smoke protection cylinder 63 and two side smoke protection cylinders 65. The upper smoke protection cylinder is fixed to the connecting plate 42 through a support plate 61 and a cylinder fixing plate 62. The upper smoke protection cylinder 63 is connected to the upper smoke protection plate 64 and can drive the upper smoke protection plate to move up and down. The two side smoke protection cylinders 65 are fixed to the upper smoke protection plate 64 through a fixing strip. The two sides of the two side smoke protection cylinders 65 are connected to the side smoke protection sheets 66 and can drive the two side smoke protection sheets to move in the opposite direction. The smoke protection mechanism 60 is located above the clamping mechanism 40. The two ends of the support plate 61 are fixedly connected to the connecting plate 42 and the cylinder fixing plate 62 respectively. The side smoke protection sheets 66 are connected to the two side smoke protection cylinders 65 through a fixing strip.

[0040] After the cigarette is clamped by the cigarette clamping mechanism 41, the six-axis manipulator moves to draw the cigarette out. When there is still a small part of the cigarette head left in the mold box, the upper cigarette protection cylinder 63 drives the upper cigarette protection plate downward to protect the top of the cigarette, and then the two side cigarette protection cylinders drive the two side cigarette protection thin plates to move relative to each other to protect the two sides of the cigarette, and then the six-axis manipulator continues to move to draw the cigarette out of the mold box; the six-axis manipulator moves the clamped cigarette to the filling station, cooperates with the six-axis manipulator's human-like cigarette placing path, and puts the cigarette head into the small pocket of the cigarette box, while letting the filter end of the cigarette lean against the side plate 83 of the cigarette protection box, and the cigarette clamping cylinder 43 drives the upper clamping plate and The lower clamping plates move away from each other to release the cigarette, and the smoke protection cylinders 65 on both sides drive the side smoke protection sheets to move away from each other to release the cigarette, and the six-axis manipulator moves upward while the upper smoke protection cylinder drives the upper smoke protection plate to retract upward, and the six-axis manipulator moves the cigarette pushing plate 48 to the filter of the cigarette, and the six-axis manipulator uses the cigarette pushing plate 48 to push the cigarette completely into the cigarette box, and then the manipulator moves to the cigarette pressing position, and uses the lower clamping plate 45 to press the filter to press the cigarette neatly; the six-axis manipulator moves to the cigarette grabbing position again, and the carrier plate 72 moves upward to release the cigarette box, and the cigarette box is sent away under the drive of the cigarette box delivery streamline 20, and the six-axis manipulator starts the next cigarette grabbing and cigarette loading action.

[0041] like Figure 4As shown, the six-axis manipulator 30 includes a mounting base 31, a first joint assembly 32, a first arm 33, a second joint assembly 34, a second arm 35 and a third joint assembly 36 connected in sequence, and the third joint assembly 36 is connected to a gripping mechanism 40. The six-axis manipulator is a common technology in the art and will not be described in detail here. Figure 8 As shown, the cigarette box 90 includes an upper cover body 91 and a lower box body 92 which are connected to each other. The lower box body is provided with kraft paper 93 and a small pocket 94. The upper cover body and the lower box body of the cigarette box are opened vertically, which is different from the traditional flip-top cigarette box. This is an embodiment of a special-shaped cigarette box. Of course, other commonly used special-shaped cigarette boxes can also be used.

[0042] The operation process of the present invention: the steps are as follows:

[0043] Step 1: delivering cigarettes and cigarette boxes: the cigarette delivery line 10 delivers cigarettes 12 to the cigarette filling station, and each cigarette packing mold box is filled with 20 cigarettes. The cigarette delivery line stops running, and at the same time, the cigarette box delivery line 20 also delivers the cigarette box 90 here, and the telescopic cylinder drives the cigarette box positioning block 71 to extend to block the cigarette box, and at the same time, the cigarette box delivery line 20 stops running;

[0044] Step 2: cigarette box positioning: The four sides of the cigarette box 90 are positioned by the cigarette box positioning block 71, the two cigarette box positioning strips 23 and the cigarette box pushing plate 24 respectively, the downward pressure cylinder 73 drives the carrier plate 72 to move downward and press the lower box body 92 of the cigarette box, and at the same time presses the upper cover body plate 81 to press the upper cover body 91 of the cigarette box, the blowing plate 77 blows air to the cigarette box to blow air into the small pocket 94, and then the small pocket suction plate 79 sucks air to suck the small pocket;

[0045] Step 3: clamping cigarettes: the six-axis manipulator 30 moves the clamping mechanism 40 to the cigarette 12 position of the cigarette delivery line, and makes the upper clamping plate 44 and the lower clamping plate 45 of the clamping mechanism be located at the upper and lower sides of the cigarette respectively, and the clamping cylinder drives the upper and lower clamping plates to move relative to each other to clamp 20 cigarettes;

[0046] Step 4: Taking out the cigarette: The six-axis manipulator 30 moves to pull out the cigarette 12. When a small portion of the cigarette head is left in the mold box, the upper smoke protection cylinder 63 drives the upper smoke protection plate 64 downward to protect the upper part of the cigarette. Then, the two side smoke protection cylinders 65 drive the two side smoke protection thin plates 66 to move relative to each other to protect the two sides of the cigarette. Then, the six-axis manipulator 30 moves to continue pulling the cigarette out of the mold box.

[0047] Step 5: Loading cigarettes: The six-axis manipulator 30 moves the clamped cigarettes to the cigarette box 90 at the filling station, and puts the head of the cigarette into the small pocket 94 of the cigarette box in coordination with the six-axis manipulator's human-hand-like cigarette placing path, while letting the filter end of the cigarette 12 lean against the side plate 83 of the cigarette box, and the cigarette clamping cylinder 43 drives the upper clamping plate 44 and the lower clamping plate 45 to move in opposite directions to release the cigarettes, and the side cigarette protection cylinders 65 drive the side cigarette protection thin plates to move in opposite directions to release the cigarettes, and the six-axis manipulator moves upward while the upper cigarette protection cylinder drives the upper cigarette protection plate to retract upward;

[0048] Step 6: Arrange the cigarettes: The six-axis robot 30 moves the cigarette pushing plate 48 to the filter of the cigarette, and uses the cigarette pushing plate 48 to push the cigarette completely into the cigarette box. Then the six-axis robot moves to the cigarette pressing position, and uses the lower clamping plate 45 to press the filter to press the cigarettes neatly; finally, the six-axis robot moves to the position of grabbing the cigarettes, and the carrier plate 72 moves upward to release the cigarette box. The cigarette box is sent to the next station under the drive of the cigarette box delivery streamline 20, and the six-axis robot 30 repeats steps 1 to 6.

[0049] It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these modifications and improvements all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic device for packing cigarettes in special-shaped boxes, characterized by: The invention comprises a cigarette delivery branch flow line (10), a cigarette box delivery flow line (20), a six-axis manipulator (30), a clamping mechanism (40) and a cigarette box positioning mechanism (70). The cigarette delivery branch flow line (10) is provided with a plurality of cigarette mold boxes (11), and the cigarette mold boxes (11) contain a plurality of cigarettes (12). The cigarette box delivery flow line (20) comprises a conveyor belt (21), a bracket (22) and a conveying mechanism (26) for driving the conveyor belt to operate. The conveyor belt (21) is provided with a plurality of locking plates (25) and a cigarette box pushing plate (24) connected to the locking plates. After the cigarette box (90) is opened, it is placed on the conveyor belt and abuts against the cigarette box pushing plate (24). The bracket (22) is provided with at least one cigarette filling station, and the station is provided with a cigarette box positioning mechanism. A structure (70) and a six-axis manipulator (30), wherein the six-axis manipulator (30) is provided with a gripping mechanism (40), wherein the gripping mechanism (40) comprises a cigarette gripping mechanism (41) and a cigarette protection mechanism (60); when the cigarette box delivery line (20) delivers an empty cigarette box (90) to the workstation, the cigarette box positioning mechanism (70) fixes the cigarette box (90); the cigarette delivery line (10) stops running after delivering the cigarettes to a position corresponding to the cigarette box; the six-axis manipulator (30) drives the cigarette gripping mechanism (41) to grip the cigarettes in the cigarette mold box (11) and extract them outward; the cigarette protection mechanism (60) protects the extracted cigarettes; and finally, the six-axis manipulator uses the cigarette gripping mechanism (41) to load the cigarettes into the cigarette box (90) fixed by the cigarette box positioning mechanism; A plurality of cigarette box positioning strips (23) are provided on both sides of the support (22), the cigarette box positioning mechanism (70) is connected to the support (22), the cigarette box positioning mechanism (70) comprises a carrier plate (72), the carrier plate (72) is slidably connected to the support (22), the carrier plate (72) can move up and down along the support to press or release the cigarette box (90) under the drive of the downward pressure cylinder (73), the cigarette box positioning block (71), the upper cover plate (81), the cigarette box side plate (83), the small suction pocket plate (79) and the blowing block (77) are fixedly provided on the carrier plate (72), and the cigarette box positioning block (71) is connected to the telescopic cylinder; The cigarette clamping mechanism (41) and the cigarette protection mechanism (60) are fixed to the six-axis manipulator (30) via a connecting plate (42); the cigarette clamping mechanism (41) comprises a cigarette clamping cylinder (43) fixed to the connecting plate (42); the upper and lower ends of the cigarette clamping cylinder (43) are respectively connected to an upper clamping plate (44) and a lower clamping plate (45); the cigarette clamping cylinder (43) can drive the upper clamping plate and the lower clamping plate to run in reverse order to clamp or release the cigarette (12); The smoke protection mechanism (60) comprises an upper smoke protection cylinder (63) and two side smoke protection cylinders (65); the upper smoke protection cylinder is fixed to the connecting plate (42) via a supporting plate (61) and a cylinder fixing plate (62); the upper smoke protection cylinder (63) is connected to the upper smoke protection plate (64) and can drive the upper smoke protection plate to move up and down; the two side smoke protection cylinders (65) are fixed to the upper smoke protection plate (64) via fixing strips; the two sides of the two side smoke protection cylinders (65) are connected to the side smoke protection thin plates (66) and can drive the two side smoke protection thin plates to move in the opposite direction; The smoke protection mechanism (60) is located above the clamping mechanism (40), the two ends of the support plate (61) are respectively fixedly connected to the connecting plate (42) and the cylinder fixing plate (62), and the side smoke protection thin plates (66) are connected to the smoke protection cylinders (65) on both sides through fixing strips.

2. The automatic device for packing cigarettes into special-shaped boxes according to claim 1, characterized in that: The carrier plate (72) is located above the bracket (22), the downward pressure cylinder (73) is fixed on one side of the bracket, the downward pressure cylinder (73) is connected to the carrier plate (72), a vertical linear slide rail (75) is fixed on the other side of the bracket, the carrier plate (72) is slidably connected to the linear slide rail through a fixed plate (78), the bracket (22) is provided with a guide column (76), and the carrier plate (72) is sleeved on the guide column (76) through a linear bearing (74).

3. The automatic device for packing cigarettes into special-shaped boxes according to claim 2, characterized in that: A material sensor (82) is fixedly provided on the bracket (22), and the material sensor (82) and the downward pressure cylinder are located on the same side of the bracket. The upward pressure cover plate (81) is located above the bracket and connected to one end of the carrier plate. The small bag suction plate (79) and the blowing block (77) are located above the carrier plate and are fixedly connected to the carrier plate.

4. The automatic device for packing cigarettes into special-shaped boxes according to claim 3 is characterized in that: A cigarette pushing plate (48) is fixedly provided on one side of the lower clamping plate (45), two cigarette guide blocks (47) are fixedly provided on the lower clamping plate, a top column (46) is provided on the lower clamping plate outside the cigarette guide blocks, the lower clamping plate is provided with a mounting groove, a brass bushing (51) is provided in the mounting groove, a guide rod (49) protruding from the lower clamping plate is provided in the brass bushing, and two adjusting screws (52) are provided on the upper clamping plate (44).

5. The automatic device for packing cigarettes into special-shaped boxes according to claim 4 is characterized in that: The six-axis manipulator (30) includes a mounting seat (31), a first joint assembly (32), a first arm (33), a second joint assembly (34), a second arm (35) and a third joint assembly (36) which are connected in sequence, and the third joint assembly (36) is connected to a clamping mechanism (40). The cigarette box (90) includes an upper cover body (91) and a lower box body (92) which are connected to each other, and the lower box body is provided with kraft paper (93) and a small pocket (94).

6. An operating method of the automatic device for packing cigarettes into special-shaped boxes according to any one of claims 1 to 5, characterized in that: Here are the steps: Step 1: delivering cigarettes and cigarette boxes: the cigarette delivery line (10) delivers the cigarettes (12) to the cigarette filling station, and each cigarette packing mold box is filled with 20 cigarettes. The cigarette delivery line stops running, and at the same time, the cigarette box delivery line (20) also delivers the cigarette box (90) to this place, and the telescopic cylinder drives the cigarette box positioning block (71) to extend to block the cigarette box, and at the same time, the cigarette box delivery line (20) stops running; Step 2: cigarette box positioning: the four sides of the cigarette box (90) are positioned by the cigarette box positioning block (71), the two cigarette box positioning strips (23) and the cigarette box pushing plate (24), the downward pressure cylinder (73) drives the carrier plate (72) to move downward and press the lower box body (92) of the cigarette box, and at the same time, the upper cover plate (81) presses the upper cover body (91) of the cigarette box, the blowing plate (77) blows air towards the cigarette box to blow air into the small pocket (94), and then the small pocket suction plate (79) sucks air to suck the small pocket; Step 3: clamping cigarettes: the six-axis manipulator (30) moves the clamping mechanism (40) to the cigarette (12) position of the cigarette delivery line, and makes the upper clamping plate (44) and the lower clamping plate (45) of the clamping mechanism be located at the upper and lower sides of the cigarettes respectively, and the clamping cylinder drives the upper and lower clamping plates to move relative to each other to clamp the 20 cigarettes; Step 4: Taking out the cigarette: the six-axis manipulator (30) moves to draw out the cigarette (12). When a small portion of the cigarette head is left in the mold box, the upper smoke protection cylinder (63) drives the upper smoke protection plate (64) downward to protect the upper part of the cigarette. Then, the two side smoke protection cylinders (65) drive the two side smoke protection thin plates (66) to move relative to each other to protect the two sides of the cigarette. Then, the six-axis manipulator (30) moves to continue drawing the cigarette out of the mold box. Step 5: Loading cigarettes: The six-axis manipulator (30) moves the clamped cigarettes to the cigarette box (90) at the loading station, and cooperates with the six-axis manipulator to simulate the human hand cigarette placement path to put the head of the cigarette into the small pocket (94) of the cigarette box, while letting the filter end of the cigarette (12) lean against the side plate (83) of the cigarette box, and the cigarette clamping cylinder (43) drives the upper clamping plate (44) and the lower clamping plate (45) to move in opposite directions to release the cigarettes, and the two side cigarette protection cylinders (65) drive the side cigarette protection thin plates to move in opposite directions to release the cigarettes, and the six-axis manipulator moves upward, while the upper cigarette protection cylinder drives the upper cigarette protection plate to retract upward; Step 6: Arrange the cigarettes: The six-axis manipulator (30) moves the cigarette pusher plate (48) to the filter tip of the cigarette, and uses the cigarette pusher plate (48) to push the cigarette completely into the cigarette box. Then the six-axis manipulator moves to the cigarette pressing position, and uses the lower clamping plate (45) to press the filter tip to press the cigarettes neatly; finally, the six-axis manipulator moves to the cigarette grabbing position, and the carrier plate (72) moves upward to release the cigarette box. The cigarette box is sent to the next station under the drive of the cigarette box delivery streamline (20), and the six-axis manipulator (30) repeats steps 1 to 6.

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