Cigarette packet outer layer material recycling robot and recycling method

Abstract

A robot for recovering the outer layer of cigarette packs and a recovery method thereof relate to a robot and a method for using the robot, including a visual recognition device, an end-picking shaft assembly, a film pressing cylinder, a clamping claw, a pin assembly, a contact sensor, a scraper, and an automatic control system. The method is to identify the type of the outer layer of cigarette packs through a visual recognition device; the automatic control system controls the corresponding grabbing action according to the recognition result. If the material is a piece of paper, the pin is extended to recover the paper; if the material is a film, the film is separated and gathered through the combined action of the end-picking shaft assembly, the scraper, and the clamping claw, so as to accurately classify and recover the outer layer of cigarette packs. The present invention can realize the full automation of the operation of removing the outer layer of cigarette packs, reduce labor costs and labor intensity, improve production efficiency and the success rate of identifying the type of the outer layer of cigarette packs, have the ability to process cigarette packs with irregular surfaces, have the characteristics of reliable structure, strong adaptability, high flexibility, etc., and is easy to promote and apply.

Description

Technical Field

[0001] The present invention relates to a robot and a method for using the same, and in particular to a robot and a method for recovering outer layer materials of cigarette packs, which can replace manual labor in recovering outer layer materials of cigarette packs during tobacco production. Background Art

[0002] The huge market demand places high demands on the production efficiency of tobacco companies. The rapid recycling of cigarette pack outer layer materials can effectively improve the production efficiency and increase corporate profits of tobacco companies. Therefore, achieving rapid and effective recycling of cigarette pack outer layer materials has become one of the most important tasks in the tobacco industry.

[0003] The outer layer materials of cigarette packs can be divided into thin films wrapped around the surface of the cigarette packs to prevent them from getting damp, and paper sheets that act as buffers and protect them during transportation. Due to the high degree of overlap between cigarette packs and their outer layer materials, the current operation of removing the outer layer materials of cigarette packs has a low degree of automation and is usually completed manually. This method will incur a large labor cost in this production link, and has high labor intensity, low production efficiency, and a high rate of manual error operations, which can no longer meet the requirements of modern industrial development. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a cigarette pack outer material recovery robot and a recovery method thereof, so as to overcome the problems of low automation level, high labor cost, high labor intensity and low production efficiency in the prior art for removing cigarette pack outer material.

[0005] The technical solution to solve the above technical problems is: a cigarette pack outer layer material recovery robot, installed on a support frame above the cigarette pack conveying channel, including a visual recognition device, an end picking shaft assembly, a clamping claw, a pin assembly, a contact sensor, and an automatic control system; the visual recognition device is installed on the support frame; the end picking shaft assembly is connected to the support frame and can move in rectangular coordinates along the support frame; the clamping claw and the contact sensor are respectively installed at both end ends of the end picking shaft assembly; the pin assembly is installed on the end picking shaft assembly; the output ends of the visual recognition device and the contact sensor are respectively connected to the input end of the automatic control system, and the output end of the automatic control system is respectively connected to the input end of the end picking shaft assembly, the clamping claw, and the pin assembly.

[0006] A further technical solution of the present invention is: the end picking shaft assembly includes a guide shaft, a main shaft frame, and a four-bar linkage mechanism respectively connected to both sides of the main shaft frame; the top end of the guide shaft is connected to the support frame through a rectangular coordinate guide rail, and the bottom end of the guide shaft is fixedly connected to the four-bar linkage mechanism; the pin assembly is installed on the four-bar linkage mechanism; and the two end ends of the four-bar linkage mechanism are installed with the clamping claw and contact sensor, and the clamping claw is a pneumatic clamping claw that can open 180°.

[0007] A further technical solution of the present invention is: the four-bar linkage includes a first link, a second link, a third link, and a fourth link; the fourth link is composed of rod I, rod II, rod III, and rod IV, and rod I is fixedly connected to rod II to form a T-shaped structure, one end of rod III and rod IV are respectively connected to the two end ends of rod II, and the other ends of rod III and rod IV are free ends; the first link is fixedly connected to the main shaft frame, one end of the first link is fixedly connected to the bottom end of the guide shaft, and the other end of the first link is respectively hinged to one end of the second link and the third link; the other end of the second link is hinged to rod I, and the other end of the third link is installed between rod I and rod IV through a pin shaft; the pin assemblies are respectively installed on the free ends of rod III and rod IV, the contact sensor is installed in the middle of rod II, and the clamps are respectively installed at both ends of rod II.

[0008] A further technical solution of the present invention is that the robot further comprises a film pressing cylinder, which is fixedly mounted at both ends of the support frame, and the input end of the film pressing cylinder is connected to the output end of the automatic control system.

[0009] A further technical solution of the present invention is: the robot also includes a scraper rod, which is slidably installed on the rectangular coordinate guide rails on both sides of the end picking shaft assembly through a connecting bracket. The scraper rod, the clamping claw and the end picking shaft assembly act in combination under the control of an automatic control system to separate the film that is highly overlapped with the cigarette package and gather it together.

[0010] A further technical solution of the present invention is that the visual recognition device, the clamping claw, the pin assembly and the motors of each motion axis are all connected to the automatic control system via a PROFINET network.

[0011] Another technical solution of the present invention is: a method for recycling the outer layer materials of cigarette packs, which is a method for recycling the outer layer materials of cigarette packs by using a cigarette pack outer layer material recycling robot. This method identifies the type of cigarette pack outer layer materials through a visual recognition device; the automatic control system controls the cigarette pack outer layer material recycling robot to perform corresponding grasping actions according to the recognition results of the visual recognition device. If the identified material is a piece of paper, the pin of the pin assembly is extended to recycle the paper; if the identified material is a film, the film overlapping with the cigarette pack is separated and gathered through the combined action of the end picking shaft assembly, the scraper rod and the clamping claw to accurately classify and recycle the outer layer materials of the cigarette pack.

[0012] A further technical solution of the present invention is: the method comprises the following steps:

[0013] A. Identify the type of material

[0014] First, the type of material on the outer layer of the cigarette pack is identified by a visual recognition device;

[0015] B. Robot movement

[0016] After the visual recognition device identifies the type of material, it outputs a material type label to the automatic control system. The automatic control system controls the cigarette pack outer layer material recovery robot to move along the X-axis guide rail and the Y-axis guide rail to directly above the cigarette pack, and then controls the robot to descend along the Z-axis guide rail to a certain height. The end pick-up shaft assembly begins to descend. When the contact sensor on each side of the end pick-up shaft assembly detects the cigarette pack, it returns a signal to the automatic control system, causing the cigarette pack outer layer material recovery robot to stop descending on that side until both sides stop moving.

[0017] C. Action based on recognition results

[0018] The cigarette pack outer layer material recovery robot takes corresponding actions based on the recognition results of the visual recognition device to accurately grasp the cigarette pack outer layer material. If the material is identified as a piece of paper, the pin assembly is extended to recover the paper; if the material is identified as a film, the end pick-up shaft assembly, scraper and clamping claws are combined to separate and gather the film that is highly overlapped with the cigarette pack.

[0019] D. Material recycling

[0020] Put the grabbed materials onto the conveyor belt for classification and recycling;

[0021] E. End

[0022] Send a waiting signal to the automatic control system to confirm that the cigarette pack outer material recovery robot can perform the next grasping action until all materials are recovered.

[0023] A further technical solution of the present invention is: the step C includes the following specific processes:

[0024] If the recognition result is a piece of paper, the automatic control system controls the pins of the pin assembly to extend to recycle the paper; if the recognition result is a film, the automatic control system controls the opening of the clamp to grab the film, lift it to a certain height and then release it to shake off the tobacco leaves in the film and make the film fluffy, then lower it again to grab it, and use a scraper to gather and recycle the film, thereby separating and removing the film that overlaps highly with the cigarette pack.

[0025] A further technical solution of the present invention is: the visual recognition device uses a convolutional neural network algorithm to accurately identify the type of material on the outer layer of the cigarette package.

[0026] Due to the above structure, the cigarette packet outer layer material recovery robot and recovery method of the present invention have the following advantages compared with the prior art:

[0027] 1. Achieve full automation of the removal of materials outside cigarette packs

[0028] The cigarette pack outer layer material recovery robot of the present invention includes a visual recognition device, an end picking shaft assembly, a clamping claw, a pin assembly, a contact sensor, and an automatic control system; wherein, the end picking shaft assembly can perform rectangular coordinate motion along a support frame located above the cigarette pack conveying channel. When in use, the type of cigarette pack outer layer material is identified by the visual recognition device; the automatic control system controls the movement of the cigarette pack outer layer material recovery robot and performs corresponding grasping actions based on the recognition result of the visual recognition device, that is, if the material is a piece of paper, the pin of the pin assembly is extended to recover the paper; if the material is a film, the film that is highly overlapped with the cigarette pack is separated and gathered through the combined action of the end picking shaft assembly, the scraper rod, and the clamping claw, so as to accurately classify and recover the cigarette pack outer layer material. Therefore, the present invention can realize the full automation of the operation of removing cigarette pack outer layer material.

[0029] 2. Reduce labor costs and labor intensity, and improve production efficiency

[0030] Since the cigarette pack outer layer material recovery robot of the present invention can accurately identify and grab the cigarette pack outer layer material and place it in a designated location for classified recovery, it realizes the fully automated operation of removing the cigarette pack outer layer material, and there is no need to complete the material recovery work manually. It can not only greatly reduce labor costs and labor intensity, but also greatly improve production efficiency, thereby meeting the requirements of modern industrial development.

[0031] 3. It can improve the success rate of identifying the type of material on the outer layer of cigarette packs

[0032] Since the present invention can realize the full automation of the operation of removing the outer material of the cigarette package without manual operation, the rate of manual error operation can be reduced and the success rate of identifying the type of the outer material of the cigarette package can be improved.

[0033] In addition, the visual recognition device of the present invention applies a convolutional neural network algorithm, which can further improve the success rate of identifying the type of material on the outer layer of the package.

[0034] 4. Ability to process cigarette packs with irregular surfaces

[0035] Since the end picking shaft assembly of the present invention includes a guide shaft, a main shaft frame, and a four-bar linkage mechanism respectively connected to both sides of the main shaft frame, by adopting the flexible structure of the four-bar linkage mechanism, the left and right sides of the end picking shaft assembly can perform asynchronous movements according to the cigarette packs being processed, thereby having the ability to process cigarette packs with irregular surfaces.

[0036] 5. Suitable for narrow spaces

[0037] In confined spaces, a long-stroke motion mechanism cannot be directly used due to limited space. Cigarette packs vary greatly in height, and insufficient stroke will affect the film grabbing efficiency. The end-pickup shaft assembly of the present invention cleverly utilizes the flexible structure of a four-bar linkage. This four-bar linkage can multiply the stroke, enabling long-stroke motion even in confined spaces. This ensures the robot's adaptability to cigarette packs of varying heights, enabling the robot to perform a series of actions, including grabbing, lifting, removing, and placing film, even in confined spaces.

[0038] In addition, the present invention also uses a pneumatic gripper to grab the film. The pneumatic gripper can be opened 180 degrees. After opening, it will not occupy a high space, thereby preventing the gripper from colliding with the cigarette package.

[0039] 6. Good recycling effect

[0040] When the clamping jaws of the present invention grab the film, they first lift the film to a certain height, then release the clamping jaws to allow the tobacco leaves clamped at the same time to fall down, and make the film fluffy, and then lower the clamping jaws again to grab the film. At this time, the tobacco leaves clamped will be greatly reduced, thereby solving the problem of easily grabbing the tobacco leaves together when grabbing the film.

[0041] In addition, the present invention also adds scraper rods on both sides of the end picking shaft assembly. When the clamping claws clamp the film and lift it up to the limit, the scraper rods move toward the middle, and at the same time drive the film still on the cigarette pack to fold toward the middle. After the film is folded, it can be separated from the cigarette pack, which can avoid the problem of most of the film still being on the cigarette pack, and the recycling effect is better.

[0042] 7. Strong adaptability and high flexibility

[0043] The present invention adopts a cigarette pack outer layer material recovery robot with a flexible structure. Compared with the traditional rectangular coordinate robot, the left and right sides of its end picking axis assembly can perform asynchronous descending movements according to the surface shape of the cigarette pack; when grasping, the combined action of each axis can accurately separate and remove the outer layer material that highly overlaps with the cigarette pack, making it more adaptable and greatly improving its flexibility.

[0044] 8. Simple structure, low cost, easy to promote and apply.

[0045] Below, the technical features of the cigarette packet outer layer material recovery robot and recovery method of the present invention are further described in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 : A schematic structural diagram of the cigarette pack outer layer material recovery robot of the present invention as described in Example 1,

[0047] Figure 2: A schematic diagram of the structure of the cigarette pack outer layer material recovery robot of the present invention after removing the supporting frame, cigarette pack, cigarette pack conveying channel and other parts of the structure,

[0048] Figure 3 : A schematic diagram from another angle of the cigarette pack outer layer material recovery robot of the present invention described in Example 1,

[0049] Figure 4 : The main view of the end pick-up shaft assembly described in Example 1,

[0050] Figure 5 : Figure 4 A top view of

[0051] Figure 6 : A schematic diagram of the three-dimensional structure of the end pick-up shaft assembly described in Example 1;

[0052] In the above drawings, the descriptions of the reference numerals are as follows:

[0053] 1- Visual recognition device,

[0054] 2-end pick-up shaft assembly, 201-guide shaft, 202-spindle frame,

[0055] 203-four-bar linkage, 2031-first link, 2032-second link, 2033-third link,

[0056] 2034-the fourth connecting rod, 20341-rod I, 20342-rod II, 20343-rod III, 20344-rod IV,

[0057] 3-film pressing cylinder, 4-gripper,

[0058] 5-pin assembly, 501-pin cylinder, 502-pin, 6-contact sensor,

[0059] 7-scraping rod, 701-connecting bracket, 8-support frame, 9-rectangular coordinate guide rail, 10-cigarette package, 11-cigarette package conveying channel. DETAILED DESCRIPTION

[0060] Example 1

[0061] A cigarette pack outer layer material recovery robot is a rectangular coordinate robot used in an automated production process. It is mounted on a support frame 8 above a cigarette pack conveying channel and comprises a visual recognition device 1, an end pickup shaft assembly 2, a film pressing cylinder 3, a gripper 4, a pin assembly 5, a contact sensor 6, a scraper 7, and an automatic control system. The robot comprises:

[0062] The visual recognition device 1 is a camera mounted on a support frame 8. Also mounted on the support frame 8 are rectangular coordinate guide rails 9. These are conventional and include an X-axis guide rail, a Y-axis guide rail, and a Z-axis guide rail. The Z-axis guide rail is mounted on the Y-axis guide rail via a slider, which in turn is mounted on the X-axis guide rail via a slider. The X-axis guide rail is fixedly mounted on the support frame 8. Each slider is powered by a servo motor and a reducer. The sliders on the X-axis and Y-axis guide rails are driven by rack and pinion gears, while the slider on the Z-axis guide rail moves up and down via a crank-connecting rod mechanism. The Z-axis travel is 120 mm.

[0063] The end picking shaft assembly 2 includes a guide shaft 201, a main shaft frame 202, and a four-bar linkage 203 respectively connected to both sides of the main shaft frame 202; the top end of the guide shaft 201 is slidably connected to the Z-axis guide rail of the rectangular coordinate guide rail 9 through a slider, thereby realizing rectangular coordinate reciprocating motion in the X-axis, Y-axis, and Z-axis directions along the support frame 8; the bottom end of the guide shaft 201 is fixedly connected to the four-bar linkage 203. The four-bar linkage 203 includes a first link 2031, a second link 2032, a third link 2033, and a fourth link 2034; the fourth link 2034 is composed of a rod I 20341, a rod II 20342, a rod III 20343, and a rod IV 20344, wherein the rod I 20341 is fixedly connected to the rod II 20342 to form a T-shaped structure, one end of the rod III 20343 and the rod IV 20344 are respectively connected to the two end portions of the rod II 20342, and the rod III 20341 is fixedly connected to the two end portions of the rod II 20342. 43. The other end of rod IV 20344 is free. The first connecting rod 2031 is fixedly connected to the spindle frame 202. One end of the first connecting rod 2031 is fixedly connected to the bottom end of the guide shaft 201. The other end of the first connecting rod 2031 is hinged to one end of the second connecting rod 2032 and one end of the third connecting rod 2033, respectively. The other end of the second connecting rod 2032 is hinged to rod I 20341, and the other end of the third connecting rod 2033 is mounted between rod I 20341 and rod IV 20344 via a pin. The pin assembly 5 is mounted on the free ends of rods III 20343 and IV 20344, respectively. The contact sensor 6 is mounted in the middle of rod II 20342. The clamping jaws 4 are pneumatic clamps that can open 180 degrees, respectively, and are mounted on both ends of rod II 20342. The left and right sides of the four-bar linkage 203 can perform asynchronous movements according to the cigarette packs being processed, and the four-bar linkage is used to multiply the stroke, so that when the end picking shaft assembly 2 moves 100 mm along the Z axis, the other end of the four-bar linkage can move downward 200 mm.

[0064] The film pressing cylinder 3 is used to press the film to prevent it from being taken out together with the film when the needle assembly removes the cardboard. The film pressing cylinder 3 is fixedly installed at both ends of the support frame 8, and the input end of the film pressing cylinder 3 is connected to the output end of the automatic control system.

[0065] The pin assembly 5 includes a pin cylinder 501 and a pin 502. The pin 502 is installed at the bottom end of the piston rod of the pin cylinder 501. The pin cylinder 501 is installed on the free ends of rod III 20343 and rod IV 20344 through a cylinder mounting bracket.

[0066] The scraper rod 7 is slidably mounted on the Z-axis guide rails on both sides of the end picking shaft assembly 2 through the connecting bracket 701. The scraper rod 7, the clamping claw 4 and the end picking shaft assembly 2 work together under the control of the automatic control system to separate the film that is highly overlapped with the cigarette pack and gather it together.

[0067] The outputs of the visual recognition device 1 and contact sensor 6 are connected to the input of an automatic control system via a PROFINET network. The output of the automatic control system is connected to the inputs of the end pickup shaft assembly 2, the gripper 4, the pin assembly 5, and the motors of each motion axis via a PROFINET network. The automatic control system utilizes known technology and is comprised of a commonly used PLC, etc.

[0068] Example 2

[0069] A method for recycling outer layer materials of cigarette packs is disclosed. The method involves recycling outer layer materials of cigarette packs using the cigarette pack outer layer material recycling robot described in Example 1. The method uses a visual recognition device to identify the type of outer layer materials of cigarette packs. An automatic control system controls the cigarette pack outer layer material recycling robot to perform corresponding grasping actions based on the recognition results of the visual recognition device. If the material is identified as a piece of paper, the pins of the pin assembly are extended to recycle the paper. If the material is identified as a film, the film overlapping with the cigarette pack is separated and gathered through the combined action of the end picking shaft assembly, scraper rod, and clamping claws to accurately classify and recycle the outer layer materials of cigarette packs. The method comprises the following steps:

[0070] A. Identify the type of material

[0071] The cigarette pack outer layer material recovery robot first uses a convolutional neural network algorithm through a visual recognition device 1 to accurately identify the type of cigarette pack outer layer material; wherein the convolutional neural network algorithm is a well-known technology;

[0072] B. Robot movement

[0073] After the visual recognition device identifies the material type, it outputs the material type label to the automatic control system. The automatic control system controls the cigarette pack outer layer material recovery robot to move along the X-axis guide rail and the Y-axis guide rail to just above the cigarette pack, and then controls the robot to descend along the Z-axis guide rail to a certain height. The end picking shaft assembly 2 begins to descend. When the contact sensor 6 on each side of the end picking shaft assembly 2 detects the cigarette pack, it returns a signal to the automatic control system, causing the cigarette pack outer layer material recovery robot to stop descending on that side until both sides stop moving.

[0074] C. Action based on recognition results

[0075] The cigarette pack outer layer material recovery robot performs corresponding actions based on the recognition results of the visual recognition device to accurately grasp the cigarette pack outer layer material. If the recognition result is a piece of paper, the automatic control system controls the pins of the pin assembly to extend to recover the paper. If the recognition result is a film, the automatic control system controls the opening of the gripper to grasp the film, lift it to a certain height, and then release it to shake out the tobacco leaves in the film and make the film fluffy. It then descends again to grasp and use a scraper to gather the film for recovery, thereby separating and removing the film that is highly overlapped with the cigarette pack.

[0076] D. Material recycling

[0077] Put the grabbed materials onto the conveyor belt for classification and recycling;

[0078] E. End

[0079] Send a waiting signal to the automatic control system to confirm that the cigarette pack outer material recovery robot can perform the next grasping action until all materials are recovered.

Claims

1. A cigarette pack outer layer material recovery robot, characterized by: The device is mounted on a support frame (8) above a cigarette pack conveying channel (11), and comprises a visual recognition device (1), an end pick-up shaft assembly (2), a clamping claw (4), an insertion pin assembly (5), a contact sensor (6), and an automatic control system; the visual recognition device (1) is mounted on the support frame (8); the end pick-up shaft assembly (2) is connected to the support frame (8) and can move along the support frame (8) in rectangular coordinates; the clamping claw (4) and the contact sensor (6) are respectively mounted on the two end portions of the end pick-up shaft assembly; the insertion pin assembly (5) is mounted on the end pick-up shaft assembly (2); the output ends of the visual recognition device (1) and the contact sensor (6) are respectively connected to the input end of the automatic control system, and the output end of the automatic control system is respectively connected to the input end of the end pick-up shaft assembly (2), the clamping claw (4), and the insertion pin assembly (5); the end pick-up shaft assembly (2) comprises a guide shaft (201), a main shaft frame (202), a four-link mechanism (201) respectively connected to both sides of the main shaft frame (202), and a plurality of connecting rods (202) connected to the main shaft frame (202). 03); the top end of the guide shaft (201) is connected to the support frame (8) through a rectangular coordinate guide rail (9), and the bottom end of the guide shaft (201) is fixedly connected to the four-bar linkage (203); the pin assembly (5) is installed on the four-bar linkage (203); and the two ends of the four-bar linkage (203) are installed with the clamping claw (4) and the contact sensor (6), and the clamping claw (4) is a pneumatic clamping claw that can open 180 degrees; the robot also includes a film pressing cylinder (3), The film pressing cylinder (3) is fixedly mounted on both ends of the support frame (8), and the input end of the film pressing cylinder (3) is connected to the output end of the automatic control system; the robot also includes a scraper (7), and the scraper (7) is slidably mounted on the rectangular coordinate guide rails (9) on both sides of the end picking shaft assembly (2) through the connecting bracket (701). The scraper (7), the clamping claw (4) and the end picking shaft assembly (2) are combined under the control of the automatic control system to separate the film that is highly overlapped with the cigarette pack and gather it together.

2. The cigarette pack outer layer material recovery robot according to claim 1, characterized in that: The four-bar linkage (203) includes a first link (2031), a second link (2032), a third link (2033), and a fourth link (2034); the fourth link (2034) is composed of a rod I (20341), a rod II (20342), a rod III (20343), and a rod IV (20344); the rod I (20341) and the rod II (20342) are fixedly connected to form a T-shaped structure; one end of the rod III (20343) and the rod IV (20344) are respectively connected to the two end portions of the rod II (20342); the other ends of the rod III (20343) and the rod IV (20344) are free ends; the first link (2031) is fixedly connected to the main shaft frame (20 2), one end of the first connecting rod (2031) is fixedly connected to the bottom end of the guide shaft (201), and the other end of the first connecting rod (2031) is hinged to one end of the second connecting rod (2032) and the third connecting rod (2033) respectively; the other end of the second connecting rod (2032) is hinged to rod I (20341), and the other end of the third connecting rod (2033) is installed between rod I (20341) and rod IV (20344) through a pin; the pin assembly (5) is installed on the free ends of rod III (20343) and rod IV (20344) respectively, the contact sensor (6) is installed in the middle of rod II (20342), and the clamping claws (4) are installed at both ends of rod II (20342).

3. The cigarette pack outer layer material recovery robot according to claim 1 or 2, characterized in that: The visual recognition device (1), the clamping claw (4), the pin assembly (5) and the motors of each motion axis are all connected to the automatic control system via a PROFINET network.

4. A method for recycling outer layer materials of cigarette packets, characterized by: It is a method for recycling the outer layer material of cigarette packs by using the cigarette pack outer layer material recycling robot described in claim 1. The method identifies the type of cigarette pack outer layer material by a visual recognition device; the automatic control system controls the cigarette pack outer layer material recycling robot to perform corresponding grasping actions according to the recognition result of the visual recognition device. If the identified material is a paper sheet, the pin of the pin assembly is extended to recycle the paper sheet; if the identified material is a film, the film overlapping with the cigarette pack is separated and gathered by the combined action of the end picking shaft assembly, the scraper rod and the clamping claw, so as to accurately classify and recycle the cigarette pack outer layer material.

5. The method for recycling cigarette packet outer layer materials according to claim 4, characterized in that: The method includes the following steps: A. Identify the type of material First, the type of the outer layer material of the cigarette package is identified by a visual recognition device (1); B. Robot movement After the visual recognition device identifies the type of material, it outputs the material type label to the automatic control system. The automatic control system controls the cigarette pack outer layer material recovery robot to move along the X-axis guide rail and the Y-axis guide rail to the top of the cigarette pack, and then controls the robot to descend along the Z-axis guide rail to a certain height. The end pick-up shaft assembly (2) begins to descend. When the contact sensor (6) on each side of the end pick-up shaft assembly (2) detects the cigarette pack, it returns a signal to the automatic control system, causing the cigarette pack outer layer material recovery robot to stop descending on that side until both sides stop moving. C. Action based on recognition results The cigarette pack outer layer material recovery robot takes corresponding actions based on the recognition results of the visual recognition device to accurately grasp the cigarette pack outer layer material. If the material is identified as a piece of paper, the pin assembly is extended to recover the paper; if the material is identified as a film, the end pick-up shaft assembly, scraper and clamping claws are combined to separate and gather the film that is highly overlapped with the cigarette pack. D. Material recycling Put the grabbed materials onto the conveyor belt for classification and recycling; E. End Send a waiting signal to the automatic control system to confirm that the cigarette pack outer material recovery robot can perform the next grasping action until all materials are recovered.

6. The method for recycling cigarette packet outer layer materials according to claim 5, characterized in that: Described step C comprises the following specific process: If the recognition result is a piece of paper, the automatic control system controls the pins of the pin assembly to extend to recycle the paper; if the recognition result is a film, the automatic control system controls the opening of the clamp to grab the film, lift it to a certain height and then release it to shake off the tobacco leaves in the film and make the film fluffy, then lower it again to grab it, and use a scraper to gather and recycle the film, thereby separating and removing the film that overlaps highly with the cigarette pack.

7. The method for recycling cigarette packet outer layer materials according to claim 6, characterized in that: The visual recognition device uses a convolutional neural network algorithm to accurately identify the type of material on the outer layer of the cigarette package.

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