Device and method for automatically and flexibly loading cigarettes into a side-opening cigarette box

Abstract

The present invention discloses a device and method for automatically and flexibly loading cigarettes into a side-opening cigarette box, and relates to the technical field of tobacco packaging machinery; the device comprises a mounting base, a plurality of intermittent conveyor belts are arranged on the mounting base, a cigarette box cover-opening mechanism and a liner opening mechanism for pre-processing the cigarette boxes, a follow-up tilted cigarette bundle conveying mechanism for realizing flexible cigarette loading, and a flexible cigarette-pushing-into-box mechanism for pushing and straightening cigarettes are sequentially arranged on the mounting base along the transport direction of the intermittent conveyor belts; the present invention realizes automatic supply and transportation of cigarette boxes through the intermittent conveyor belts, and automatically opens the cigarette boxes by utilizing the cigarette box cover-opening mechanism and the liner opening mechanism, and then realizes the flexible cigarette loading follow-up tilted cigarette bundle conveying mechanism and the flexible cigarette-pushing-into-box mechanism for pushing and straightening cigarettes to carry out the process of loading cigarette bundles and flexibly putting cigarettes into the box, thereby fully realizing automated production and greatly improving efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of tobacco packaging machinery, in particular to a device and method for automatically and flexibly loading cigarettes into a side-opening cigarette box. Background Art

[0002] Side-opening cigarette boxes are pre-formed, side-opening tops, and fall into the category of non-standard, irregularly shaped cigarette boxes. Due to limitations in the opening method and cigarette packing format, there's currently no mature equipment in the industry capable of automated, mechanized production. Tobacco companies pack cigarettes in side-opening boxes, they must first manually open the box lid, peel back the decorative lining paper, then remove the outer packaging of 20 cigarettes pre-packed by other cigarette packaging equipment. Finally, they remove the 20 pre-packed cigarettes and gently place them into the irregularly shaped box.

[0003] The manual production model mainly has the following problems:

[0004] First, due to the limitations of the side-opening cigarette box structure and the lower lining paper, the manual packing process requires cigarettes to be placed step by step at a specific angle to ensure the appearance and quality of the cigarettes, resulting in low efficiency. Each company recruits a large number of workers for centralized production, and worker wages and management costs are also a huge recurring expense for cigarette companies.

[0005] Second, the 20 cigarettes packed into the special-shaped cigarette boxes must be mass-produced in advance by other cigarette packaging equipment according to the required arrangement format, which occupies other normal production resources, resulting in a decrease in the utilization rate of normal equipment and a waste of production resources;

[0006] Third, pre-packaged cigarette packets must be manually sorted before they can be stored and transported. Moreover, before packaging in side-opening small boxes, the inner and outer packaging materials of the original wrapped cigarette packets must be manually removed and the cigarettes taken out, resulting in a direct waste of human resources and raw and auxiliary materials.

[0007] Fourth, regarding product quality control, differences in individual human responsibility and proficiency, coupled with the long, continuous, and repetitive daily mechanical loading of cigarettes, can easily lead to mental drowsiness and physical fatigue, potentially hindering online quality control. To address these issues, we provide a device and method for automatic, flexible loading of cigarettes into side-opening cigarette boxes. Summary of the Invention

[0008] The present invention aims to provide a device and method for automatic, flexible cigarette loading in side-opening cigarette boxes, enabling flexible, automatic cigarette loading in side-opening cigarette boxes. Due to limitations in the internal process structure of side-opening cigarette boxes, cigarettes cannot be directly loaded into the box all at once. The key point is that the bottom of the cigarette box cavity is shielded by a semi-enclosed liner paper, rather than an open design. Therefore, cigarettes cannot be inserted vertically or horizontally, requiring manual tilting of the cigarettes at a certain angle and gentle insertion into the box. The present invention primarily comprises three components: an automatic cigarette box conveying and opening mechanism, a cigarette bundle supply and forming mechanism, and an automatic, flexible cigarette loading device.

[0009] The present invention can be implemented through the following technical solution: a device for automatically and flexibly loading cigarettes into a side-opening cigarette box, comprising a mounting base, on which a plurality of intermittent conveyor belts are provided, and on which a cigarette box cover opening mechanism and a liner paper opening mechanism for pre-processing the cigarette boxes are sequentially arranged along the transport direction of the intermittent conveyor belts, a follow-up inclination angle cigarette bundle conveying mechanism for realizing flexible cigarette loading, and a flexible cigarette pushing mechanism for pushing and sizing cigarettes.

[0010] A further technical improvement of the present invention is that the cigarette box opening mechanism includes a rocking link that moves back and forth and a suction cup rotating rod that moves in a circular motion. A plurality of rotating sleeves are rotatably arranged above the rocking link. Each rotating sleeve is connected to the rocking link by a connecting rod. One end of the connecting rod is fixedly connected to the rotating sleeve, and the other end is rotatably connected to the rocking link. A vacuum suction cup is provided at the end of the suction cup rotating rod.

[0011] A further technical improvement of the present invention is that the structural components of the liner paper opening mechanism are exactly the same as those of the cigarette box cover opening mechanism, including a liner paper suction cup that opens the liner paper in the box at a uniform speed with the bonding line between the liner paper and the cigarette box as the center of the circle, and a liner paper fork that pushes the liner paper in the box to move.

[0012] A further technical improvement of the present invention is that the follower tilt angle cigarette bundle conveying mechanism includes a precision screw assembly with a rotatable angle, a slider of the precision screw assembly is fixedly connected to a telescopic conveying rod, and the end of the telescopic conveying rod is fixedly connected to a follower mold box.

[0013] A further technical improvement of the present invention is that the follower mold box includes a mold box body, a bottom lining paper guide plate is symmetrically arranged at the smoke outlet of the mold box body, and a mold box fixing seat is fixed to the rear end side of the mold box body.

[0014] A further technical improvement of the present invention is that the flexible cigarette-pushing mechanism includes a flexible cigarette-loading assembly device, which is provided with a smoke outlet baffle for pushing cigarettes into the box and a cigarette limiting plate for limiting the position of cigarettes. The smoke outlet baffle and the cigarette limiting plate move synchronously in the same direction. The flexible cigarette-pushing mechanism is also provided with a horizontal pressing block for arranging cigarette bundles, and the horizontal pressing block moves synchronously in the opposite direction with the smoke outlet baffle.

[0015] A further technical improvement of the present invention is that the flexible cigarette-pushing mechanism also includes two symmetrically arranged groups of precision screws, and the two ends of the flexible cigarette loading assembly device are mounted on the top positions of the sliders of the two groups of precision screws. The end of each group of the precision screws is provided with a flexible manipulator motor 2 to provide power for it.

[0016] A further technical improvement of the present invention is that a flexible manipulator motor is installed on the side of the flexible cigarette loading assembly device, and its output end is fixedly connected to a transmission shaft. A plurality of transmission gears are fixed to the outside of the transmission shaft, and each transmission gear is meshed with two transmission racks on both sides. The smoke outlet baffle and the cigarette limit plate are fixedly connected to one of the transmission racks, and the horizontal pressure block is fixedly connected to the other transmission rack.

[0017] A cigarette loading method for an automatic flexible cigarette loading device for a side-opening cigarette box, the method comprising the following steps:

[0018] Step 1: Opening the cigarette box cover: The cigarette box cover opening mechanism (3) uses a vacuum suction cup that moves in a circular trajectory to absorb the cigarette box cover, and then flips the cover 90 degrees to open the cigarette box cover. At the same time, the cigarette box cover is supported and kept open before the vacuum suction cup releases the adsorption;

[0019] Step 2: Open the backing paper: the method is exactly the same as opening the cigarette box in step 1;

[0020] Step 3: Follow-up tilting cigarette feeding: When the cigarette box arrives at the cigarette loading position along the gap conveyor belt, the follow-up tilting cigarette bundle conveying mechanism rotates and tilts the follow-up mold box on it forward in a straight line, so that the end of the cigarette bundle enters the cigarette box smoothly;

[0021] Step 4: Flexible cigarette loading into the box: The cigarette pushing baffle in the flexible cigarette pushing mechanism pushes the cigarette bundle into the cigarette box during the return stroke of the follower mold box, and the cigarette limit plate limits the position. Then the cigarette pushing baffle and the cigarette limit plate are lifted, and the horizontal pressing block flattens the cigarette bundle in the cigarette box to complete the cigarette loading.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. This invention focuses on automated production of flexible side-opening cigarette boxes to replace manual packaging. The designed packaging capacity is 140-160 packs per minute (compared to an average of 6-7 packs per minute for manual packaging), which is 20 times the speed of manual packaging. This means that one unit of equipment can complete the work of 20 workers per unit time.

[0024] 2. Ensure the consistency of product quality and avoid product defects occasionally caused by human factors.

[0025] 3. The original pre-packaging process is cancelled, which avoids the utilization rate of other online equipment and the waste of raw and auxiliary materials.

[0026] 4. It saves the enterprise considerable wages and management costs of manual cigarette filling workers, and is more conducive to the on-site management of the production enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0028] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the structural connection of the cigarette box cover opening mechanism of the present invention;

[0030] Figure 3 It is a schematic diagram of the transmission structure of the suction cup rotating rod of the present invention;

[0031] Figure 4 For the present invention Figure 2 A partial enlarged view of point A in the middle;

[0032] Figure 5 This is a schematic diagram of the connection structure of the liner opening mechanism of the present invention;

[0033] Figure 6 For the present invention Figure 1 A partial enlarged view of point B in the middle;

[0034] Figure 7 This is a schematic diagram of the structural connection of the follow-up angle smoke bundle conveying mechanism of the present invention.

[0035] Figure 8 It is a structural schematic diagram of the follower mold box of the present invention;

[0036] Figure 9 It is a schematic diagram of the transmission structure of the smoke outlet baffle, cigarette limiting plate and horizontal pressing block of the present invention.

[0037] In the figure: 1, first mounting plate; 2, intermittent conveyor belt; 3, cigarette box cover opening mechanism; 4, liner paper opening mechanism; 5, flexible cigarette pushing mechanism; 6, follow-up tilt cigarette bundle conveying mechanism; 301, first mounting plate; 302, guide rod servo motor; 303, box opening servo motor; 304, guide rod rocker arm; 305, rocking link; 306, rotating sleeve; 307, connecting rod; 308, box cover guide rod; 309, arc groove; 310, suction cup rotating rod; 311, fixing frame; 312, box cover fixing guide rail; 313, box opening gear; 314, box opening rack; 315, box opening arc gear ; 41. Connecting shaft; 501. Flexible cigarette loading assembly; 502. Flexible manipulator motor 1; 503. Flexible manipulator motor 2; 5011. Transmission gear; 5012. Transmission rack; 5013. Smoke outlet baffle; 5014. Cigarette limit plate; 5015. Horizontal pressure block; 601. Vertical mounting plate; 602. Inclination transmission shaft; 603. Precision screw assembly; 604. Servo transmission system; 605. Telescopic conveying rod; 7. Follow-up mold box; 701. Mold box body; 702. Bottom lining paper guide plate; 703. Smoke outlet baffle slot; 704. Mold box fixing seat. DETAILED DESCRIPTION

[0038] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0039] See also Figure 1 As shown, a device for automatically and flexibly loading cigarettes into a side-opening cigarette box comprises a mounting base, an intermittent conveyor belt 2, a cigarette box cover opening mechanism 3, a liner opening mechanism 4, a follower tilt cigarette bundle conveying mechanism 6, and a flexible cigarette pushing mechanism 5. The intermittent conveyor belt 2 is mounted on the mounting base, and multiple intermittent conveyor belts 2 are installed. In this embodiment, a three-channel mode is configured, i.e., three intermittent conveyor belts 2 are evenly arranged.

[0040] Along the transmission direction of the intermittent conveyor belt 2, a cigarette box cover opening mechanism 3, a liner opening mechanism 4, a follow-up tilt cigarette bundle conveying mechanism 6 and a flexible cigarette pushing mechanism 5 are arranged on the mounting base;

[0041] Specifically, if Figure 2-Figure 4 As shown, the cigarette box cover opening mechanism 3 includes a first mounting plate 3011, on the top of which are mounted a box opening servo motor 303 and a guide rod servo motor 302. Three sets of components for cigarette box cover opening are mounted on one side of the first mounting plate 3011, which are respectively arranged directly above the three intermittent conveyor belts 2 and rotatably provided with a rotating sleeve 306.

[0042] Semicircular gaps are evenly provided on the bottom of the first mounting plate 3011, and are respectively located directly above the three intermittent conveyor belts 2. A rotating sleeve 306 is rotatably provided directly above each semicircular gap. A swing link 305 is commonly provided below the three rotating sleeves 306. A connecting rod 307 is provided between the swing link 305 and the rotating sleeve 306. One end of the connecting rod 307 is fixedly connected to the rotating sleeve 306, and the other end of the connecting rod 307 is rotatably connected to the swing link 305. A guide rod rocker arm 304 is provided at one end of the swing link 305, and one end of the guide rod rocker arm 304 is fixedly connected to the output end of the guide rod servo motor 302. The other end of the guide rod rocker arm 304 is rotatably connected to the swing link 305. A box cover guide rod 308 is fixedly provided on the periphery of the rotating sleeve 306.

[0043] An arc groove 309 is provided just above the semicircular clearance hole, and an arc tooth 315 for opening a box is slidably provided in the arc groove 309. The output end of the servo motor 303 drives the arc tooth 315 for opening a box to move in the arc groove 309 through a gear rack mechanism. The gear rack mechanism includes a gear 313 for opening a box and a rack 314 for opening a box that are meshed and matched. A suction cup rotating rod 310 is fixedly provided on one side of the arc tooth 315, and a vacuum suction cup is installed on one end of the suction cup rotating rod 310. In addition, a fixing frame 311 fixedly connected to the first mounting plate 3011 is provided above the intermittent conveyor belt 2 in the extending direction, and a box cover fixing guide rail 312 is installed at a certain height below the fixing frame 311.

[0044] When the cigarette box lid opening mechanism 3 is in operation, the opening servo motor 303 drives the opening gear 313, the opening rack 314 and the opening arc gear 315 to reciprocate, driving three sets of vacuum suction cups to move in a circular trajectory. The suction cups have a built-in hidden negative pressure chamber, which is responsible for the on-off supply of negative pressure when the suction cups are working. The negative pressure chamber sucks the cigarette box lid in a horizontal position, and the negative pressure is closed and released when the lid is flipped 90 degrees to open.

[0045] At the same time, a mechanical cam driven by the guide rod servo motor 302 moves the guide rod rocker arm 304, thereby rotating the rotating sleeve 306 and, in turn, the lid guide rod 308, which is fixedly connected to the rotating sleeve 306, moves accordingly. Its primary function is to support the lid of the cigarette box and keep it open before the vacuum suction cup releases it. During this time, the cigarette boxes on the intermittent conveyor 2 are at a standstill. As the cigarette boxes continue to move along the intermittent conveyor 2, the lid guide rod 308 guides the opened lid of the cigarette box onto the lid fixing guide rail 312 mounted on the fixing frame 311. Thereafter, it moves along the guide rail with the lid open to proceed to the next process. This completes the automatic lid opening function of three groups at a time in this embodiment.

[0046] Specifically, if Figure 5As shown, the structure of the liner opening mechanism 4 is identical to that of the lid opening mechanism. In this mechanism, the vacuum suction cup is driven by the drive of the lid opening mechanism, via a linkage shaft 41 between the two mechanisms. This eliminates the need for additional servo drive costs and ensures synchronization between the actuator and the lid opening process. The liner opening mechanism 4 is designed to completely remove the liner covering the lid after it is opened, facilitating the entry of the cigarette bundle.

[0047] When the cigarette box reaches the lining paper opening position after the lid is opened, the dedicated non-marking lining paper suction cup immediately absorbs the lining paper and opens at a uniform speed with the bonding line between the lining paper and the cigarette box as the center. At the same time, the lining paper shifting fork (equivalent to the lid guide rod 308) quickly follows up, supporting the opened lining paper and guiding it into the lining paper fixing guide rail (equivalent to the lid fixing guide rail 312). This completes the first step of the flexible cigarette loading process of the present invention, that is, the cigarette box lid and the lining paper are fully opened and the process begins.

[0048] Specifically, if Figure 6-7 As shown, the follower tilt cigarette bundle conveying mechanism 6 includes a vertical mounting plate 601 mounted on one side of the intermittent conveyor belt 2, a tilt transmission shaft 602 is provided on the vertical mounting plate 601, and a carrier plate is fixedly provided on the outside of the tilt transmission shaft 602, a precision screw assembly 603 is fixedly provided on the top of the carrier plate, and the precision screw assembly 603 is driven by a servo transmission system 604, a telescopic conveying rod 605 is fixedly connected to the slider of the precision screw assembly 603, and the end of the telescopic conveying rod 605 is fixedly connected to the follower mold box 7;

[0049] Among them, such as Figure 8 As shown, the follower mold box 7 is designed for the internal structure of a side-opening cigarette box. Because loose cigarette bundles cannot be directly loaded into the cigarette box vertically or horizontally, twenty cigarettes must be prefabricated into a cigarette bundle. The follower mold box 7 mainly consists of a mold box body 701, a bottom liner guide plate 702, and a mold box fixing seat 704. A cigarette outlet baffle groove 703 is opened in the middle of the top surface of the mold box body 701. The bottom liner guide plate 702 is symmetrically arranged at the cigarette outlet of the mold box body 701. The mold box fixing seat 704 is arranged on the side of the rear end of the mold box body 701. The mold box body 701 is fixedly connected to the end of the telescopic conveying rod 605 through the mold box fixing seat 704.

[0050] In the follower tilt cigarette bundle conveying mechanism 6, the follower mold box 7 is connected to the conveying telescopic rod. When it is in the return position and in a horizontal state, the cigarette storage device outputs the cigarette bundle that has passed the quality inspection and loads it into the follower mold box 7. At this time, one step of the flexible cigarette loading of this device is completed, that is, the horizontal output of the cigarette bundle.

[0051] When the cigarette box, after the liner paper opening process, moves to the corresponding loading position, the tilt transmission shaft 602, driven by the follower servo motor, drives the tilt cigarette conveyor device to rotate downward with reference to the angle formed with the cigarette box in the intermittent static position. At the same time, the servo transmission system 604 drives the telescopic conveying rod 605 driven by the precision screw assembly 603 and the follower mold box 7 thereon to tilt forward and convey in a straight line, completing another step of the flexible cigarette loading of the present invention, namely, the tilt output of the cigarette bundle.

[0052] The inclined follower mold box 7 directly delivers the cigarette bundle into the opened cigarette box at a calculated angle. In order to prevent the cigarettes from touching the bottom lining paper when being output, the bottom lining paper guide plate 702 comes into play. When conveying forward, since the front end of the bottom lining paper guide plate 702 is designed to be inclined downward, when the cigarettes are output, the bottom lining paper guide plate 702 will be lifted up and support the bottom lining paper as the cigarettes are pushed, thereby completing the smooth entry of the end of the cigarette bundle so that the cigarettes can be pushed into the box later.

[0053] Specifically, if Figure 1 、 Figure 6 and Figure 9 As shown, the flexible cigarette pushing mechanism 5 includes a flexible cigarette loading assembly 501, a flexible manipulator motor 1 502, and a flexible manipulator motor 2 503. The flexible manipulator motor 2 503 is symmetrically arranged at the bottom of the flexible cigarette loading assembly 501, and the output ends of the two flexible manipulator motors 2 503 are both provided with precision screws. The flexible cigarette loading assembly 501 is fixedly connected to the slider of the precision screw.

[0054] The flexible manipulator motor 1 502 is installed on one side of the flexible cigarette loading assembly device 501 and is used to provide power for the flexible cigarette loading assembly device 501. The flexible cigarette loading assembly device 501 includes a transmission shaft fixedly connected to the output end of the flexible manipulator motor 1 502. Three groups of cigarette assemblies are arranged on the outside of the transmission shaft. Each group of cigarette assemblies includes a transmission gear 5011 fixedly connected to the transmission shaft. Two transmission racks 5012 are meshed and matched on both sides of the transmission gear 5011. A cigarette outlet baffle 5013 is fixedly connected to the side of one of the transmission racks 5012, and a cigarette limit plate 5014 is fixedly connected to the bottom of the transmission rack 5012. A horizontal pressure block 5015 is fixedly provided on the side of the other transmission rack 5012.

[0055] When loading cigarettes, the smoke outlet baffle 5013 and the cigarette limit plate 5014 move downward 25 mm to the smoke outlet position under the drive of the flexible manipulator motor 502. The smoke outlet baffle 5013 is in the inner cavity position of the follower mold box 7. Under the action of the telescopic conveying rod 605, the follower mold box 7 quickly retreats from the cigarette box and returns to a horizontal state to wait for the entry of the next group of cigarette bundles. The cigarettes in the follower mold box 7 are retained in the opened cigarette box by the damping of the cigarette outlet baffle 5013. The cigarette limit plate 5014 is designed to prevent the cigarette bundle from being scattered in a semi-free state after the follower mold box 7 is separated, and can effectively confine the cigarette bundle to its theoretical position in the cigarette box. It should be noted that the cigarette outlet baffle 5013 has two functions. The first function is to push the cigarettes out of the follower mold box 7. The second function is that when the follower mold box 7 is completely separated from the cigarettes, the flexible manipulator motor 503 drives the precision lead screw to move the entire flexible cigarette loading assembly 501 horizontally and intermittently, driving the cigarette outlet baffle 5013 to act like a clapper to push the cigarette bundle into the cigarette box in two flexible steps.

[0056] After the cigarette bundle has completely entered the cigarette box, it undergoes a final, necessary leveling to ensure its neat and orderly arrangement within the box. At this point, the transmission gear 5011 and transmission rack 5012, driven by flexible manipulator motor 1 502, interact with each other. One transmission rack 5012 rapidly lifts the cigarette baffle 5013 and cigarette retaining plate 5014 out of the cigarettes, while the other transmission rack 5012 controls the horizontal pressing block 5015 to drop synchronously. Simultaneously, flexible manipulator motor 2 503 drives the precision lead screw to level the entire flexible cigarette loading assembly 501 according to the calculated theoretical dimensions, completing the final flexible loading step. The entire flexible cigarette loading assembly 501 then returns to its original position, awaiting the next cycle.

[0057] Thus, through the above specific embodiments, the present invention realizes the design function of automated production of flexible cigarette packing for side-opening cigarette boxes. The three-channel design significantly improves work efficiency and reduces labor costs. The series of online quality inspection functions avoids product quality fluctuations caused by human factors, thereby improving product quality.

[0058] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A device for automatically and flexibly loading cigarettes into a side-opening cigarette box, comprising a mounting base, on which a plurality of intermittent conveyor belts (2) are arranged, characterized in that: A cigarette box cover opening mechanism (3) and a lining paper opening mechanism (4) for pre-processing cigarette boxes, a follow-up tilted cigarette bundle conveying mechanism (6) for realizing flexible cigarette loading, and a flexible cigarette pushing mechanism (5) for pushing and arranging cigarettes are sequentially arranged on the mounting base along the transport direction of the intermittent conveyor belt (2); The flexible cigarette-pushing mechanism (5) comprises a flexible cigarette-loading assembly (501), wherein a cigarette-discharging baffle (5013) for pushing cigarettes into the box and a cigarette-limiting plate (5014) for limiting the position of cigarettes are provided in the flexible cigarette-loading assembly (501), wherein the cigarette-discharging baffle (5013) and the cigarette-limiting plate (5014) move synchronously in the same direction, and wherein a horizontal pressing block (5015) for arranging cigarette bundles is further provided in the flexible cigarette-pushing mechanism (5), wherein the horizontal pressing block (5015) and the cigarette-discharging baffle (5013) move synchronously in opposite directions. The flexible cigarette pushing mechanism (5) further comprises two sets of symmetrically arranged precision screws, the two ends of the flexible cigarette loading assembly (501) are mounted on the top positions of the sliders of the two sets of precision screws, and the ends of each set of precision screws are provided with flexible manipulator motor 2 (503) to provide power therefor; A flexible manipulator motor (502) is mounted on the side of the flexible cigarette loading assembly device (501), the output end of which is fixedly connected to a transmission shaft, a plurality of transmission gears (5011) are fixed on the outside of the transmission shaft, and two transmission racks (5012) are respectively meshed and connected on both sides of each transmission gear (5011), a smoke outlet baffle (5013) and a cigarette limiting plate (5014) are fixedly connected to one of the transmission racks (5012), and a horizontal pressing block (5015) is fixedly connected to the other transmission rack (5012).

2. The device for automatically and flexibly loading cigarettes into a side-opening cigarette box according to claim 1, characterized in that: The cigarette box cover opening mechanism (3) comprises a reciprocating swing link (305) and a suction cup rotating rod (310) that performs circular motion. A plurality of rotating sleeves (306) are rotatably arranged above the swing link (305). Each rotating sleeve (306) is connected to the swing link (305) via a connecting rod (307). One end of the connecting rod (307) is fixedly connected to the rotating sleeve (306), and the other end is rotatably connected to the swing link (305). A vacuum suction cup is arranged at the end of the suction cup rotating rod (310).

3. The device for automatically and flexibly loading cigarettes into a side-opening cigarette box according to claim 2, characterized in that: The structural components of the lining paper opening mechanism (4) are identical to those of the cigarette box cover opening mechanism (3), including a lining paper suction cup for uniformly opening the lining paper in the box with the bonding line between the lining paper and the cigarette box as the center of the circle, and a lining paper shifting fork for pushing the lining paper in the box to move.

4. The device for automatically and flexibly loading cigarettes into a side-opening cigarette box according to claim 1, characterized in that: The follow-up tilt-angle cigarette bundle conveying mechanism (6) comprises a precision screw assembly (603) that can rotate at an angle, a sliding block of the precision screw assembly (603) is fixedly connected to a telescopic conveying rod (605), and the end of the telescopic conveying rod (605) is fixedly connected to a follow-up mold box (7).

5. The device for automatically and flexibly loading cigarettes into a side-opening cigarette box according to claim 4, characterized in that: The follower mold box (7) comprises a mold box body (701), a bottom lining paper guide plate (702) is symmetrically arranged at the smoke outlet of the mold box body (701), and a mold box fixing seat (704) is fixed to the rear end side of the mold box body (701).

6. A cigarette loading method for the automatic flexible cigarette loading device for a side-opening cigarette box according to any one of claims 1 to 5, characterized in that: The method comprises the following steps: Step 1: Opening the cigarette box cover: The cigarette box cover opening mechanism (3) uses a vacuum suction cup that moves in a circular trajectory to absorb the cigarette box cover, and then flips the cover 90 degrees to open the cigarette box cover. At the same time, the cigarette box cover is supported and kept open before the vacuum suction cup releases the adsorption; Step 2: Open the backing paper: the method is exactly the same as opening the cigarette box in step 1; Step 3: Follow-up tilting cigarette feeding: When the cigarette box arrives at the cigarette loading position along with the gap conveyor belt (2), the follow-up tilting cigarette bundle feeding mechanism (6) rotates the angle and the follow-up mold box (7) on it is tilted forward and fed straightly, so that the end of the cigarette bundle can smoothly enter the cigarette box; Step 4: Flexible cigarette loading into the box: The cigarette pushing baffle (5013) in the flexible cigarette pushing mechanism (5) pushes the cigarette bundle into the cigarette box during the return process of the follower mold box (7), and the cigarette limiting plate (5014) limits the position. Then the cigarette pushing baffle (5013) and the cigarette limiting plate (5014) are lifted, and the horizontal pressing block (5015) flattens the cigarette bundle in the cigarette box to complete the cigarette loading.

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