A multi-specification cigarette auxiliary material automatic tray arranging device, method and system thereof

Abstract

The application discloses a kind of multi-specification cigarette auxiliary material automatic tray equipment, method and system thereof, wherein multi-specification cigarette auxiliary material automatic tray equipment includes two auxiliary material configuration machines, and auxiliary material configuration machine includes rack component, translation arm component, lifting arm component and auxiliary material grabbing component;Translation arm component is transversely slidably connected to rack component;Lifting arm component is vertically slidably connected to translation arm component;Auxiliary material grabbing component is longitudinally slidably connected to lifting arm component;A tray configuration machine, tray configuration machine includes fixed flange, mechanical arm and tray grabbing device, and one end of mechanical arm is connected with fixed flange, and the other end is connected with the tray grabbing device;Two auxiliary material configuration machines are oppositely arranged on the two sides of tray configuration machine, and several conveyors are arranged at the bottom of auxiliary material configuration machine and tray configuration machine to form a conveying belt.The application can replace traditional manual handling tray work, improve production efficiency and tray accuracy, and reduce manual labor intensity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tobacco production, in particular to a multi-specification cigarette auxiliary material automatic tray distribution device, method and system. BACKGROUND

[0002] The various auxiliary materials required by the cigarette making and packaging workshop of a cigarette factory are of many types, and in the use process, due to the different consumption speeds of various auxiliary materials, the different sizes and shapes of auxiliary materials, and the different amounts of auxiliary materials that can be carried by auxiliary material trays, and the space for storing auxiliary materials of the production machine cannot allow each type of auxiliary material to occupy a single type of raw material tray, so it is necessary to place multiple types of auxiliary materials on a tray, integrate the auxiliary materials, and distribute the amounts of auxiliary materials on the same tray according to the consumption speed of the auxiliary materials in production, so as to store more types of goods in a smaller space, and the consumption speeds of the auxiliary materials are close, and the multiple types of auxiliary materials on the same tray can be consumed in a close time period, and then a new auxiliary material tray is replaced.

[0003] At present, the auxiliary materials required by the cigarette making and packaging workshop of a cigarette factory include cigarette paper, water-based paper, card paper, seal paper, aluminum foil paper, soft box small package trademark paper, soft box strip package trademark paper, hard box small package trademark paper, hard box strip package trademark paper, small package pull line, strip package pull line, small package transparent paper, strip package transparent paper, forming disc paper, acetate fiber tow, box skin, etc., and the sizes of the corresponding auxiliary materials are slightly different for different cigarette specifications, and errors are extremely likely to occur when manually distributing. A device and method for distributing, unstacking, stacking, conveying auxiliary materials such as trays and boxes, and stacking, unstacking, collecting, and conveying auxiliary material trays and auxiliary material partitions are needed to replace the traditional manual carrying and distribution work, improve production efficiency and distribution accuracy, and reduce labor intensity. SUMMARY

[0004] In order to overcome the deficiencies of the prior art, the present application provides a multi-specification cigarette auxiliary material automatic tray distribution device, method and system, which can replace the traditional manual carrying and distribution work, improve production efficiency and distribution accuracy, and reduce labor intensity.

[0005] The first aspect of the present application is to provide a multi-specification cigarette auxiliary material automatic tray distribution device, comprising:

[0006] Two auxiliary material configuration machines, the auxiliary material configuration machine comprising a rack component, a translation arm component, a lifting arm component and an auxiliary material grabbing component; the translation arm component is transversely slidingly connected to the rack component; the lifting arm component is vertically slidingly connected to the translation arm component; and the auxiliary material grabbing component is longitudinally slidingly connected to the lifting arm component, so as to grab and position the auxiliary material and then place it;

[0007] A tray configuration machine is used for grabbing and placing the tray or partition after position adjustment, which comprises a fixed flange, a mechanical arm and a tray grabbing device, one end of the mechanical arm is connected with the fixed flange, and the other end is connected with the tray grabbing device;

[0008] Several conveyors are used for conveying the tray to move the tray between different stations.

[0009] Two auxiliary material configuration machines are oppositely arranged on both sides of the tray configuration machine, and several conveyors are arranged on the bottom of the auxiliary material configuration machine and the tray configuration machine to form a conveying belt.

[0010] In the first aspect of the present application, as a preferred embodiment, the first transmission assembly is arranged at the connection between the translation arm component and the rack component; the second transmission assembly is arranged at the connection between the lifting arm component and the translation arm component; the third transmission assembly is arranged at the connection between the auxiliary material grabbing component and the lifting arm component; the first transmission assembly, the second transmission assembly and the third transmission assembly are all synchronous belt wheel transmission structures.

[0011] In the first aspect of the present application, as a preferred embodiment, the auxiliary material grabbing component comprises a connecting assembly, a claw clamp assembly and an auxiliary material suction cup assembly; the connecting assembly comprises a first connecting plate, a second connecting plate and a flange shaft, the first connecting plate and the second connecting plate are respectively arranged at both ends of the flange shaft; the claw clamp assembly is arranged at the bottom of the second connecting plate, the claw clamp assembly has a plurality of clamping claws, the clamping claws of the claw clamp assembly can be expanded or retracted, which are used for retracting into the disc-shaped auxiliary material and expanding for grabbing; the auxiliary material suction cup assembly is arranged on the side surface of the second connecting plate, the auxiliary material suction cup assembly comprises a plurality of suction cups, the plurality of suction cups are telescopically connected to the side surface of the second connecting plate, which are used for adsorbing and grabbing the auxiliary material.

[0012] In the first aspect of the present application, as a preferred embodiment, the tray grabbing device comprises a third support, a grabbing assembly and a tray suction cup assembly; the grabbing assembly comprises a grabbing hand driving mechanism, a first grabbing mechanism and a second grabbing mechanism, the first grabbing mechanism and the second grabbing mechanism are respectively rotatably connected to the opposite ends of the third support, the first grabbing mechanism and the second grabbing mechanism are driven to rotate relative to the third support by the grabbing hand driving mechanism, so that the end portions of the first grabbing mechanism and the second grabbing mechanism are close to or separated from each other, so as to grab or release the material; the tray suction cup assembly is arranged at the bottom of the third support, and the tray suction cup assembly comprises a plurality of suction cups for adsorbing the material.

[0013] In the first aspect of the present application, as a preferred embodiment, the first grabbing mechanism comprises a rotating shaft and two grippers, the two grippers are respectively fixed on both ends of the rotating shaft, and the rotating shaft is rotatably connected with the end of the third support, so that the grippers can rotate relative to the third support;

[0014] One end of the gripper driving mechanism is hingedly connected with the third support, and the other end is hingedly connected with a grabbing connecting rod, the other end of the grabbing connecting rod is fixed with the middle part of the rotating shaft, the rotating shaft is driven by the gripper driving mechanism to rotate forward or reversely, so as to drive the grippers connected with both ends of the rotating shaft to rotate, and the grabbing and releasing are realized.

[0015] In the first aspect of the present application, as a preferred embodiment, the mechanical arm comprises a base assembly, a first swing arm assembly, a second swing arm assembly and a third swing arm assembly; the first swing arm assembly is rotatably connected with the base assembly, one end of the second swing arm assembly is hingedly connected with the first swing arm assembly, and the other end is hingedly connected with the third swing arm assembly, and the third swing arm assembly is rotatably connected with a second mounting flange, and the second mounting flange is used for mounting the palletizing grabbing device.

[0016] In the first aspect of the present application, as a preferred embodiment, the conveyor comprises a fourth support, a chain wheel assembly, a fourth guide assembly and a conveyor driving assembly; the fourth guide assembly is arranged on both sides of the top of the fourth support, and the fourth guide assembly comprises a chain plate and a conveying guide rail, the chain plate is arranged on the top of the fourth support, and the conveying guide rail is arranged outside the chain plate; the conveyor driving assembly comprises a third motor, a motor adjusting seat and a transmission shaft, the motor adjusting seat is connected with the fourth support through a pull groove and a fastener, and the third motor is fixed on the motor adjusting seat; the transmission shaft is rotatably connected with the fourth support, and the transmission shaft is provided with a first transmission sprocket and a second transmission sprocket, and the third motor and the transmission shaft are connected through the first transmission sprocket and a transmission chain;

[0017] The chain wheel assembly comprises a chain guide wheel, a chain winding wheel and a chain, two groups of chain guide wheels are arranged at both ends of the two chain plates respectively, and two groups of chain winding wheels are mounted on both sides below the chain plates respectively, and the chain is wound on the surfaces of the chain plates, the chain guide wheels, the chain winding wheels and the second transmission sprocket in the circumferential direction.

[0018] The second aspect of the present application provides an automatic tray dispensing method for multi-specification cigarette auxiliary materials, which comprises the following steps:

[0019] The configuration step S1: providing the automatic tray dispensing equipment for multi-specification cigarette auxiliary materials and a plurality of shuttle vehicles according to any one of the first aspect of the present application;

[0020] Pre-set step S2: set the tray model and the number of trays according to the tray demand; wherein the tray model comprises the type information, the proportion information, the position information and the layer number information of each auxiliary material;

[0021] Material preparation step S3: read the type information in the tray model, provide raw materials, separators and trays according to the type information, and put the raw materials, separators and trays into the corresponding workstations of the multi-specification cigarette auxiliary material automatic tray equipment through the shuttle machine;

[0022] Tray arrangement step S4: place the trays in the required positions by the tray arrangement machine, and output the material arrangement signal after the placement is completed;

[0023] Material arrangement step S5: the auxiliary material arrangement machine arranges materials according to the material arrangement signal, places the corresponding proportion of auxiliary materials in the corresponding positions on the trays in the corresponding workstations based on the proportion information, position information and layer number information in the tray model, places the separators on the upper layer of the auxiliary materials after the single-layer material arrangement is completed, and arranges the next layer of materials until the preset number of layers is completed, and outputs the material taking information; and transports the auxiliary material trays with completed materials to the fixed area for storage by the shuttle vehicle;

[0024] Material arrangement step S8: repeat the tray arrangement step and the material arrangement step until the set number of trays is completed, and output the completion information.

[0025] The third aspect of the present application provides a multi-specification cigarette auxiliary material automatic tray system, comprising,

[0026] An execution module, which comprises the multi-specification cigarette auxiliary material automatic tray equipment according to any one of the first aspect of the present application and a plurality of shuttle vehicles;

[0027] A tray model construction module for receiving tray demand information and constructing a tray model according to the tray demand information, wherein the tray model comprises the type information, the proportion information, the position information and the layer number information of each auxiliary material;

[0028] A material preparation module for analyzing and forming a material preparation task according to the tray model, and sending the material preparation task to the execution module;

[0029] A tray arrangement module for identifying whether there is a tray in the workstations, forming a tray arrangement task according to the identification structure, and sending the tray arrangement task to the execution module;

[0030] A material arrangement module for analyzing and forming a material arrangement task according to the tray model, and sending the material arrangement task to the execution module.

[0031] In the third aspect of the present application, as a preferred embodiment, it further comprises,

[0032] The feeding module is used for monitoring material conditions of each station in real time, forming a feeding task when the material amount exceeds a preset interval, and sending the feeding task to the execution module; meanwhile, when the types of auxiliary materials of each station change, an updating task is formed, and the updating task is sent to the batching module to update the batching task;

[0033] The avoidance module is used for monitoring the planned route of the tray grabbing device of the tray configuration machine and the planned route of the auxiliary material grabbing component of the auxiliary material configuration machine, forming an avoidance task when the planned routes of the two coincide, and sending the avoidance task to the execution module.

[0034] Compared with the prior art, the beneficial effects of the present application are that:

[0035] 1. The multi-specification cigarette auxiliary material automatic tray dispensing equipment of the present application provides support for each part through the rack component and plays a protective role. The rack components of the two auxiliary material configuration machines are arranged oppositely to isolate the equipment from the outside world during operation, avoid mechanical injury caused by negligence of the personnel in the tray dispensing area, and improve the safety performance of the equipment. The translational arm component, the lifting arm component and the auxiliary material grabbing component are connected to each other by sliding in the orthogonal direction to realize multi-directional adjustment of the auxiliary material, and the movements in the three directions are independent of each other and do not interfere with each other. The tray configuration machine is arranged between the two auxiliary material configuration machines to grab and place the tray or the partition plate, fully utilizes the movement range of the mechanical arm of the tray configuration machine, and improves the space utilization rate. The conveyor is arranged at the bottom of the auxiliary material configuration machine and the tray configuration machine to transport the tray, so that the tray and the auxiliary material move between different stations according to the tray dispensing requirements. The present embodiment adopts an automatic tray dispensing mode to replace the manual box carrying and tray dispensing process, improves the work efficiency, reduces the labor input, reduces the labor intensity of the operators, has a compact, innovative and easy-to-maintain structure, a simpler structure and reduced cost.

[0036] 2. The multi-specification cigarette auxiliary material automatic tray dispensing system of the present application constructs a tray dispensing model, stores and calls the constructed tray dispensing model, is compatible with various specifications of finished product boxes, paper trays with different hollow diameters and different heights, and performs unstacking, stacking and transportation work, has strong compatibility, high work efficiency and high intelligentization. The automatic stacking mode is adopted to replace the manual box carrying and tray dispensing process, improve the work efficiency, reduce the labor input, reduce the labor intensity of the operators, and have high intelligentization; the system has a compact, innovative and easy-to-maintain structure, occupies a small area, uses fewer mechanical arms to realize a more efficient use mode, reduces the investment cost, and plans an auxiliary material stacking distribution area and a tray and partition plate carrying area in the system, so that the two process flows cross each other to improve the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is a structural schematic view of the multi-specification cigarette auxiliary material automatic tray dispensing equipment of the present application.

[0038] Figure 2 Structure diagram of the auxiliary material configuring machine for the embodiment 1 of the present application;

[0039] Figure 3 Partial structure diagram of part A of the auxiliary material configuring machine for the embodiment 1 of the present application;

[0040] Figure 4 Structure diagram of the tray configuring machine for the embodiment 1 of the present application;

[0041] Figure 5 Partial structure diagram of part B of the tray configuring machine for the embodiment 1 of the present application;

[0042] Figure 6 Structure diagram of the conveyor for the embodiment 1 of the present application;

[0043] Figure 7 Work station arrangement diagram of the multi-specification cigarette auxiliary material automatic tray arranging method for the embodiment 2 of the present application;

[0044] Figure 8 Flow diagram of the multi-specification cigarette auxiliary material automatic tray arranging method for the embodiment 2 of the present application;

[0045] Figure 9 Structure diagram of the multi-specification cigarette auxiliary material automatic tray arranging system for the embodiment 3 of the present application;

[0046] In the figure: 100, auxiliary material configuration machine; 110, rack component; 111, rack; 112, protective net; 115, first guide assembly; 116, first drive assembly; 117, first transmission assembly; 120, translation arm component; 121, first support; 122, second guide assembly; 123, second drive assembly; 124, second transmission assembly; 130, lifting arm component; 131, second support; 132, third drive assembly; 133, third transmission assembly; 140, auxiliary material grabbing component; 141, connecting assembly; 142, claw assembly; 143, suction cup assembly; 200, tray configuration machine; 240, base assembly; 241, base drive mechanism; 242, base; 250, first swing arm assembly; 251, first swing arm; 252, swing arm cylinder; 253, first drive mechanism; 260, second swing arm assembly; 261, second swing arm; 262, first connecting rod; 263, second drive mechanism; 270, third swing arm assembly; 271, third swing arm; 272, connecting rod structure; 281, second mounting flange; 282, third drive mechanism; 210, third support; 220, grabbing assembly; 221, gripper drive mechanism; 222, first grabbing mechanism; 223, second grabbing mechanism; 230, tray suction cup assembly; 300, conveyor; 310, fourth support; 320, chain wheel assembly; 321, chain guide wheel; 322, chain winding wheel; 330, fourth guide assembly; 331, chain supporting plate; 332, conveying guide rail; 340, conveyor drive assembly; 341, third motor; 342, motor adjusting seat; 343, transmission shaft. DETAILED DESCRIPTION

[0047] The application will be further described below in conjunction with the drawings and specific embodiments. It should be noted that the embodiments described below or technical features between the embodiments can be combined in any manner to form new embodiments. Unless otherwise specified, the materials and devices used in the embodiments can be purchased from the market. The examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are only used to explain the application and cannot be understood as limiting the application.

[0048] In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are terms of reference and indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically specified and limited.

[0049] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "communicated", "connected" should be understood in a broad sense, for example, it can be fixedly connected, or connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] The terms "first", "second", and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0051] Embodiment 1,

[0052] Reference Figures 1-6 The automatic tray dispensing equipment for multi-specification cigarette accessories shown in the figure comprises an accessory configuration machine 100, a tray configuration machine 200 and a conveyor 300.

[0053] The auxiliary material configuration machine 100 is used for grabbing and placing auxiliary materials and configuring the auxiliary materials according to preset tray instructions; the auxiliary material configuration machine 100 comprises a rack component 110, a translation arm component 120, a lifting arm component 130 and an auxiliary material grabbing component 140; the rack component 110 provides connection support and protection; the translation arm component 120 is slidingly connected to the rack component 110, so that the translation arm component 120 can move in the horizontal direction relative to the rack component 110, thereby adjusting the lateral position of the auxiliary material; the lifting arm component 130 is slidingly connected to the translation arm component 120, so that the lifting arm component 130 can move in the vertical direction relative to the rack component 110, thereby adjusting the vertical position of the auxiliary material; the auxiliary material grabbing component 140 is slidingly connected to the lifting arm component 130, so that the auxiliary material grabbing component 140 can move in the horizontal direction relative to the rack component 110, thereby adjusting the longitudinal position of the auxiliary material.

[0054] The tray configuration machine 200 is used for grabbing and placing trays or partitions and configuring the trays according to tray requirements, comprising a fixed flange, a mechanical arm and a tray grabbing device, one end of the mechanical arm being connected to the fixed flange and the other end being connected to the tray grabbing device.

[0055] The conveyor 300 is used for conveying the trays to move the trays between different stations.

[0056] The two auxiliary material configuration machines 100 are oppositely arranged on the two sides of the tray configuration machine 200, fully utilizing the activity range of the mechanical arm of the tray configuration machine 200 and improving the space utilization rate; the conveyors 300 are arranged at the bottom of the auxiliary material configuration machine 100 and the tray configuration machine 200.

[0057] The multi-specification cigarette auxiliary material automatic tray arranging equipment of the embodiment provides support for each part through the rack component 110 and plays a protection role. The rack components 110 of the two auxiliary material arranging machines 100 are oppositely arranged to isolate the equipment from the outside world when the equipment is running, avoid mechanical injury of the staff in the tray arranging area due to negligence, and improve the safety performance of the equipment. The translation arm component 120, the lifting arm component 130 and the auxiliary material grabbing component 140 are connected to each other in the orthogonal direction to realize multi-directional adjustment of the auxiliary material, and the movements in the three directions are independent of each other and do not interfere with each other. The tray arranging machine 200 is arranged between the two auxiliary material arranging machines 100 to grab and place the tray or the partition plate, fully utilize the movement range of the mechanical arm of the tray arranging machine 200, and improve the space utilization rate. The conveyor 300 is arranged at the bottom of the auxiliary material arranging machine 100 and the tray arranging machine 200 to convey the tray, so that the tray and the auxiliary material move between different stations according to the tray arranging requirement. The embodiment adopts an automatic tray arranging mode to replace the manual box moving and tray arranging process, improves the work efficiency, reduces the labor input, reduces the labor intensity of the operator, has compact, innovative and simple maintenance structure, is simpler in structure, and reduces the cost.

[0058] Specifically, the rack component 110 includes a rack 111 and a protective net 112. The rack 111 is responsible for supporting the overall frame, cooperates with the protective net 112 to isolate the overall equipment from the outside world, and improves the safety. The rack component 110 further includes a first guide assembly 115, a first driving assembly 116 and a first transmission assembly 117. The first guide assembly 115 includes a first sliding rail and a first sliding block that cooperate with each other to guide and support the translation arm component 120. The first sliding rail is fixed horizontally on the rack component 110, and the first sliding block is fixed on the translation arm component 120. The first transmission assembly 117 includes a first driving wheel and a first tension wheel arranged at both ends of the first sliding rail. The first driving wheel and the first tension wheel are provided with a first synchronous belt. The first tension wheel can adjust the tension of the first synchronous belt. The translation arm component 120 is connected with the first synchronous belt through the first clamping block. The first driving assembly 116 includes a first motor and a first reducer. The output shaft of the first reducer is connected with the first driving wheel. The power of the first motor is transmitted to the first driving wheel through the first reducer after adjustment, so as to drive the translation arm component 120 connected with the first synchronous belt to move in the direction of the first sliding rail, thereby driving the translation arm component 120 to move in the horizontal direction relative to the rack component 110, and adjusting the horizontal position of the auxiliary material.

[0059] The translation arm component 120 includes a first support 121 which plays a connecting and supporting role. The first sliding block and the first clamping block are connected to the first support 121.

[0060] The translation arm part 120 further comprises a second guide assembly 122, a second driving assembly 123 and a second transmission assembly 124. The second guide assembly 122 comprises a second sliding rail and a second sliding block which are matched with each other, and serves as a guide and support for the grabbing device. The second sliding rail is vertically fixed to the first support 121, and the second sliding block is fixed to the lifting arm part 130. The second transmission assembly 124 comprises a second driving wheel and a second tension wheel which are arranged at two ends of the second sliding rail. The second driving wheel and the second tension wheel are provided with a second synchronous belt. The second tension wheel can adjust the tension of the second synchronous belt. The grabbing device is connected with the second synchronous belt through the second clamping block. The second driving assembly 123 comprises a second motor and a second reducer. The output shaft of the second reducer is connected with the second driving wheel. The power of the second motor is transmitted to the second driving wheel through the second reducer after adjustment, so as to drive the grabbing device connected with the second synchronous belt to move in the direction of the second sliding rail, thereby driving the lifting arm part 130 to move in the vertical direction relative to the first support 121, and adjusting the vertical position of the auxiliary material.

[0061] The lifting arm part 130 comprises a second support 131, a third driving assembly 132 and a third transmission assembly 133. The second support 131 is a protective shell structure, mainly serving as a connection and support, and protecting the parts installed in the interior of the second support 131 from dirt and dust. The bottom of the second support 131 is provided with a third guide assembly. The third guide assembly comprises a third guide rail and a third sliding block. The third guide rail is fixed to the bottom of the second support 131, and the third sliding block is fixed to the auxiliary material grabbing part 140, so as to slidingly connect the auxiliary material grabbing part 140 to the bottom of the second support 131. The third driving assembly 132 provides power, and drives the auxiliary material grabbing part 140 to move in the direction of the guide rail through the third transmission assembly 133, so as to adjust the horizontal position of the auxiliary material.

[0062] Specifically, the third transmission assembly 133 is a synchronous pulley assembly, which has the advantages of long stroke and simple structure, and can provide a larger adjustment range for the horizontal position movement of the auxiliary material dispensing disc; specifically, the third transmission assembly 133 includes a third driving wheel, a third tension pulley, a third driven wheel and a third synchronous belt; the third driving wheel is connected with the output shaft of the third driving assembly 132, the third tension pulley and the third driven wheel are respectively arranged at both ends of the guide rail, the third synchronous belt is provided with meshing teeth and is engaged with the third driving wheel, the third tension pulley and the third driven wheel, the third synchronous belt is sleeved around the third driving wheel, the third tension pulley and the third driven wheel, the third tension pulley and the third driven wheel are provided with a third belt clamping block, and the first connecting plate is connected with the third synchronous belt through the third belt clamping block; the third driving assembly 132 is connected with the third driving wheel, so that the third synchronous belt arranged outside the third driving wheel, the third tension pulley and the third driven wheel is moved, so that the auxiliary material grabbing component 140 fixed on the third synchronous belt is driven to reciprocate between the third tension pulley and the third driven wheel, and the adjustment of the horizontal position of the auxiliary material is realized.

[0063] A winding wheel is arranged between the third driving wheel and the third driven wheel, which increases the wrap angle of the third synchronous belt with the third driving wheel and the third driven wheel, thereby increasing the transmission area and avoiding slipping, and further improving the stability of the third transmission assembly 133.

[0064] The auxiliary material grabbing component 140 includes a connecting assembly 141, a claw assembly 142 and an auxiliary material suction cup assembly 143; the connecting assembly 141 serves as a connecting and supporting function, and includes a first connecting plate, a second connecting plate and a flange shaft, and the first connecting plate and the second connecting plate are respectively arranged at both ends of the flange shaft; the claw assembly 142 is arranged at the bottom of the second connecting plate, and the claw assembly 142 has a plurality of clamping claws, which can be expanded or retracted, and is used for retracting into the disc-shaped auxiliary material and expanding for grabbing; the auxiliary material suction cup assembly 143 is arranged on the side surface of the second connecting plate, and the auxiliary material suction cup assembly 143 includes a plurality of suction cups, which are telescopically connected to the side surface of the second connecting plate, and are used for adsorbing and grabbing the auxiliary material.

[0065] When it is necessary to grab the disc-shaped auxiliary materials, the suction disc is retracted, and the claw clamp assembly 142 is used to extend into the center of the disc-shaped auxiliary materials for outward expansion grabbing. In order to further increase the grabbing force, the suction disc can be extended to suck the surface of the disc-shaped auxiliary materials. By setting the claw clamp assembly 142 on the auxiliary material suction disc assembly 143 to act on the disc-shaped auxiliary materials at the same time, the grabbing force of the grabbing device is improved. When it is necessary to grab the box-shaped auxiliary materials, the suction disc is extended to be lower than the claw clamp assembly 142, so that the box-shaped auxiliary materials can be sucked. The auxiliary material grabbing component 140 of the embodiment is connected with the lifting arm component 130 through the first connecting plate, and provides a plurality of suction disc extension spaces through the flange shaft. The second connecting plate bottom and the side are respectively provided with the claw clamp assembly 142 and the auxiliary material suction disc assembly 143, which can simultaneously adapt to the grabbing of the disc-shaped assembly and the box-shaped assembly, and has good grabbing effect, greatly improving the practicability and stability.

[0066] Further, the claw clamp assembly 142 includes a claw clamp protection frame, a claw clamp driving member, a claw clamp transmission member, and a claw. The claw clamp transmission member includes a claw clamp driving wheel and three claw clamp driven wheels. The three claw clamp driven wheels are evenly distributed in the circumferential direction of the claw clamp driving wheel, and the claw clamp driven wheels are engaged with the claw clamp driving wheel. The claw is eccentrically arranged on the claw clamp driven wheel. The claw clamp driving member is linked with the claw clamp driving wheel. By inputting torque to the claw clamp driving wheel through the claw clamp driving member, the three claw clamp driven wheels are simultaneously rotated, so that the claw is expanded or retracted. The claw clamp protection frame is arranged outside the claw clamp transmission member to protect the claw clamp transmission member.

[0067] The auxiliary material suction disc assembly 143 includes a fixing member, an extension member, a suction disc seat, and a suction disc. The extension member is fixed to the side of the second connecting plate through the fixing member. The extension member has an extension end, and the extension end is connected with the suction disc seat. The bottom surface of the suction disc seat is fixed with a plurality of suction discs. The extension member can be realized by a three-axis air cylinder. The suction disc seat at the extension end is extended or retracted by the extension member, so as to suck or unload the auxiliary materials by the suction disc. In the embodiment, when the suction disc is retracted to a position higher than the claw, the claw resists the surface of the auxiliary materials and limits the movement of the auxiliary materials with the suction disc retracted, so as to separate the auxiliary materials from the suction disc and unload them. The structure is simple and convenient. The number of the auxiliary material suction disc assembly 143 is 2, which is arranged on the opposite sides of the second connecting plate, so as to provide more stable suction effect.

[0068] Specifically, the tray grabbing device includes a third support 210, a grabbing assembly 220, and a tray suction disc assembly 230.

[0069] The third support 210 mainly serves as a connection support to provide mounting space for various components. The first mounting flange is arranged on the gravity center point of the third support 210, so as to facilitate the mounting of the stacking grabbing device on the automatic dispensing device.

[0070] The grabbing assembly 220 comprises a gripper driving mechanism 221, a first grabbing mechanism 222 and a second grabbing mechanism 223. The first grabbing mechanism 222 and the second grabbing mechanism 223 are respectively rotatably connected to the opposite ends of the third support 210. The first grabbing mechanism 222 and the second grabbing mechanism 223 are driven to rotate relative to the third support 210 by the gripper driving mechanism 221, so that the ends of the first grabbing mechanism 222 and the second grabbing mechanism 223 are close to or separated from each other, thereby grabbing or releasing the material.

[0071] The tray suction cup assembly 230 is arranged at the bottom of the third support 210. The tray suction cup assembly 230 comprises a plurality of suction cups arranged at the bottom of the third support 210, which are used to adsorb the material.

[0072] When the tray needs to be grabbed, the first grabbing mechanism 222 and the second grabbing mechanism 223 are driven to rotate relative to the third support 210 by the gripper driving mechanism 221, so that the ends of the first grabbing mechanism 222 and the second grabbing mechanism 223 are close to each other to grab the material. At the same time, the adsorption of the tray surface by the tray suction cup assembly 230 assists in grabbing. The plurality of suction cups arranged at the bottom of the third support 210 can also limit the sliding of the tray between the first grabbing mechanism 222 and the second grabbing mechanism 223 to prevent it from falling. When the grabbing reaches the designated position, the first grabbing mechanism 222 and the second grabbing mechanism 223 are driven to separate by the gripper driving mechanism 221, thereby releasing the tray for removal. Under the action of gravity, the tray naturally falls off. When a relatively light and thin paper or wooden partition needs to be grabbed, the tray suction cup assembly 230 can be used for adsorption and grabbing alone. When the material is removed, the partition is sometimes too light to overcome the adsorption force of the tray suction cup assembly 230 and successfully fall off. By driving the first grabbing mechanism 222 and the second grabbing mechanism 223 to rotate in the opposite direction, the first grabbing mechanism 222 and the second grabbing mechanism 223 abut against the partition, thereby pushing the partition off the tray suction cup assembly 230, which is convenient, fast, simple and practical.

[0073] Specifically, the first grabbing mechanism 222 comprises a rotating shaft and two grippers. The two grippers are respectively fixed to the two ends of the rotating shaft. The rotating shaft is rotatably connected to the end of the third support 210, so that the grippers can rotate relative to the third support 210.

[0074] In this embodiment, the gripper driving mechanism 221 is a pneumatic cylinder. One end of the pneumatic cylinder is hinged to the third support 210, and the other end is hinged to a grabbing connecting rod. The other end of the grabbing connecting rod is fixed to the middle part of the rotating shaft. By extending or retracting the pneumatic cylinder, the rotating shaft is driven to rotate in the forward or reverse direction, thereby driving the grippers connected to the two ends of the rotating shaft to rotate, thereby realizing the grabbing and releasing of the material.

[0075] The second grabbing mechanism 223 is identical in structure to the first grabbing mechanism 222, and will not be described here.

[0076] The tray grabbing device of the embodiment can adaptively grab trays of different sizes, weights and types by setting the second grabbing mechanism 223 and the first grabbing mechanism 222 and cooperating with the tray suction cup assembly 230. The cooperation of the plurality of grippers and suction cups further enhances the stability of grabbing and prevents the sliding or falling of the materials during the grabbing process, and the grabbing effect is good. Meanwhile, the setting of the grippers can further help the material to be unloaded, and the practicability is strong.

[0077] Specifically, the fixing flange provides support and installation positioning function for the tray configuration machine 200, and the tray configuration machine 200 is fixed to the multi-specification cigarette auxiliary material automatic tray configuration device through the fixing flange. A mounting bracket can also be additionally provided for assistance, and a person skilled in the art can implement it according to actual needs.

[0078] The mechanical arm includes a base assembly 240, a first swing arm assembly 250, a second swing arm assembly 260 and a third swing arm assembly 270.

[0079] The base assembly 240 includes a base driving mechanism 241 and a base 242. The base 242 is rotationally connected to the fixing flange, and the connection forms a rotation shaft. The base driving mechanism 241 has an output shaft. The base driving mechanism 241 output shaft is linked with the base 242. Power is provided by the base driving mechanism 241 to drive the base 242 to rotate relative to the fixing flange, thereby adjusting the angular position of the pallet grabbing device.

[0080] The first swing arm assembly 250 includes a first swing arm 251, a swing arm cylinder 252 and a first driving mechanism 253. The first swing arm 251 has a first end and a second end at both ends. The first end is hingedly connected to the base assembly 240, and the hinge connection forms a hinge shaft. The hinge shaft is perpendicular to the rotation shaft. The first driving mechanism 253 has an output shaft. The first driving mechanism 253 output shaft is linked with the first swing arm 251. Power is provided by the first driving mechanism 253 to drive the first swing arm 251 to rotate relative to the base 242, thereby adjusting the horizontal position of the grabbing device. The swing arm cylinder 252 is arranged on the side surface of the first swing arm 251. One end of the swing arm cylinder 252 is hingedly connected, and the other end is hingedly connected to the base 242 assembly. Power is provided by the extension and retraction of the swing arm cylinder 252 to drive the first swing arm 251 to rotate relative to the base 242, thereby positioning and assisting the first swing arm 251 to adjust the horizontal position of the pallet grabbing device. The first driving mechanism 253 and the swing arm cylinder 252 jointly act on the first swing arm 251 to achieve more accurate adjustment.

[0081] The second swing arm assembly 260 comprises a second swing arm 261, a first connecting rod 262 and a second driving mechanism 263. The second swing arm 261 has a third end and a fourth end at two ends thereof. A support portion is arranged between the third end and the fourth end and close to the third end. The support portion is hinged to the second end, so that the second swing arm 261 can rotate relative to the first swing arm 251. One end of the first connecting rod 262 is hinged to the third end, and the other end is connected to the second driving mechanism 263. The second driving mechanism 263 provides power, and drives the second swing arm 261 to rotate relative to the first swing arm 251 through the first connecting rod 262, so as to adjust the height position of the palletizing grabbing device.

[0082] The third swing arm assembly 270 comprises a third swing arm 271 and a third swing arm 271. The third swing arm 271 has a sixth end and a seventh end at two ends thereof. The sixth end is hinged to the fourth end, so that the third swing arm 271 can rotate relative to the second swing arm 261. The third swing arm 271 comprises a connecting rod structure 272, which comprises a second connecting rod, a third connecting rod and a fourth connecting rod hinged in sequence. The second connecting rod is hinged to the base 242 at an end thereof. The third connecting rod is hinged to the second swing arm 261 at a middle portion thereof. The fourth connecting rod is hinged to the third swing arm 271 at an end thereof. The third swing arm 271 is arranged to compensate for the relative rotation angle of the second swing arm 261 or the first swing arm 251, so that the third swing arm 271 can always maintain the same angle and the grabbing plane can always maintain the vertical downward state during the adjustment of the first swing arm assembly 250 and the second swing arm assembly 260.

[0083] Further, the seventh end of the third swing arm 271 is provided with a second mounting flange 281 and a third driving mechanism 282. The second mounting flange 281 is rotatably connected to the seventh end. The second mounting flange 281 is used for mounting the palletizing grabbing device. The first mounting flange and the second mounting flange 281 are connected, and the palletizing grabbing device is mounted on the seventh end. The third driving mechanism 282 is connected to the second mounting flange 281. The third driving mechanism 282 drives the second mounting flange 281 to rotate, so as to rotate the palletizing grabbing device relative to the third swing arm 271, and adjust the rotation angle of the palletizing grabbing device.

[0084] The automatic tray dispensing equipment of the embodiment is installed and fixed by the base assembly 240, the first swing arm assembly 250, the second swing arm assembly 260 and the third swing arm assembly 270 are arranged, the first swing arm assembly 250 is rotationally connected with the base assembly 240, one end of the second swing arm assembly 260 is hingedly connected with the first swing arm assembly 250, and the other end is hingedly connected with the third swing arm assembly 270, the second mounting flange 281 is rotationally connected on the third swing arm assembly 270, and the second mounting flange 281 is used for mounting the palletizing grabbing device, so that the position of the palletizing grabbing device is adjusted and controlled, and the transfer of the material is realized.

[0085] Further, the conveyors 300 are arranged at the bottom of the auxiliary material dispensing machine 100 and the tray dispensing machine 200, and are used for receiving and transporting the auxiliary material and the tray.

[0086] The conveyor 300 includes a fourth support 310, a chain wheel assembly 320, a fourth guide assembly 330 and a conveyor driving assembly 340. The fourth support 310 mainly plays a supporting and connecting role, the fourth guide assembly 330 is arranged at the top of the fourth support 310 on both sides, the fourth guide assembly 330 includes a chain tray 331 and a conveying guide rail 332, the chain tray 331 is arranged at the top of the fourth support 310, and is used for guiding the movement of the auxiliary material and the tray loaded thereon and providing support for the chain and the tray, the conveying guide rail 332 is arranged outside the chain tray 331, and is used for limiting the displacement of the tray to both sides and guiding the movement of the tray to the transportation direction. The conveyor driving assembly 340 includes a third motor 341, a motor adjusting seat 342 and a transmission shaft 343, the motor adjusting seat 342 is connected with the fourth support 310 through a pull groove and a fastener, and the third motor 341 is fixed to the motor adjusting seat 342; the transmission shaft 343 is rotationally connected to the fourth support 310, the first transmission sprocket and the second transmission sprocket are arranged on the transmission shaft 343, the third motor 341 and the transmission shaft 343 are linked through the first transmission sprocket and the transmission chain, and the position of the output shaft of the third motor 341 on the fourth support 310 is adjusted through the motor adjusting seat 342, so that the tension of the transmission chain is adjusted.

[0087] The chain wheel assembly 320 comprises a chain guide wheel 321, a chain winding wheel 322 and a chain; two sets of chain guide wheels 321 are arranged at the two ends of the chain supporting plate 331 respectively, and two sets of chain winding wheels 322 are installed on the two sides below the chain supporting plate 331, the chain is wound on the surface of the chain supporting plate 331 and the chain guide wheel 321, the chain winding wheel 322, the second transmission chain wheel circumferentially; the chain winding wheel 322 is used to increase the wrap angle between the chain and each chain wheel, thereby increasing the transmission area and avoiding slipping, and further improving the stability of the conveyor 300. The conveyor driving assembly 340 provides power, drives the two sets of chain guide wheels 321 to rotate synchronously through the transmission shaft 343, thereby driving the chain to run stably on the surface of the chain supporting plate 331, and the chain acts on the bottom of the tray, thereby driving the auxiliary materials on the tray to move, realizing the transportation function. The photoelectric detector is also arranged on the conveying guide rail 332 to detect the storage and transportation state of the goods on the conveyor 300 in real time.

[0088] The multi-specification cigarette auxiliary material automatic tray arranging equipment of the embodiment is provided with nine conveyors 300, which are arranged in an array at the bottom of the two auxiliary material arranging machines 100 and the bottom of the tray arranging machine 200, thereby forming a plurality of stations at the bottom of the two auxiliary material arranging machines 100 and the tray arranging machine 200, and the auxiliary materials, trays and partitions are transported in different stations through the conveyors 300 on the stations, thereby providing the function of receiving, outputting and storing goods for the automatic tray arranging equipment.

[0089] Embodiment 2,

[0090] Reference Figures 7-8 The embodiment provides a multi-specification cigarette auxiliary material automatic tray arranging method based on the embodiment 1, and specifically comprises the following steps,

[0091] The configuration step S1: providing the multi-specification cigarette auxiliary material automatic tray arranging equipment as described in the embodiment 1, and a shuttle vehicle for feeding and discharging the multi-specification cigarette auxiliary material automatic tray arranging equipment; the bottom of the tray arranging machine 200 is sequentially set as a station B1, a station B2 and a station B3; the tray arranging machine 200 is arranged above the station B2; the auxiliary material arranging machines 100 on the two sides of the tray arranging machine 200 are respectively set as a station A1, a station A2, a station A3 and a station C1, a station C2 and a station C3; wherein the station A1, the station B1 and the station C1 are the feeding directions of the conveyors 300, and the station A3, the station B3 and the station C3 are the discharging directions of the conveyors 300;

[0092] The preset step S2: setting a tray arranging model and a tray arranging quantity according to the tray arranging requirement; wherein the tray arranging model comprises the type information, the proportioning information, the position information and the layer information of each auxiliary material;

[0093] Material preparation step S3: read the category information in the tray model, provide raw materials according to the category information, and put the raw materials into stations A1, A2 and C1, C2 through the shuttle machine and conveyor 300;

[0094] The raw materials include trays, auxiliary materials and partitions; wherein a plurality of layers of a single type of auxiliary material are placed on the tray, and a partition is arranged between each layer of auxiliary material to separate the layers; the partition is a paper or wooden partition;

[0095] A plurality of trays are provided, and the trays are fed into station B3 through conveyor 300;

[0096] Tray arrangement step S4: the tray arrangement machine 200 picks up the tray and places it in the desired position, and outputs a dispensing signal when the placement is complete; specifically including:

[0097] Tray arrangement step S4.1: identify whether there is a tray in station A3, if yes, output the dispensing signal; if no, output the tray arrangement signal, and the tray arrangement machine 200 picks up the tray from station B3 and places it in station A3 according to the tray arrangement signal, and outputs the dispensing signal when the execution is complete;

[0098] Tray arrangement step S4.2: identify whether there is a tray in station C3, if yes, output the dispensing signal; if no, output the tray arrangement signal, and the tray arrangement machine 200 picks up the tray from station B3 and places it in station C3 according to the tray arrangement signal, and outputs the dispensing signal when the execution is complete;

[0099] Material dispensing step S5: the auxiliary material arrangement machine 100 dispenses the auxiliary material according to the dispensing signal, based on the dispensing ratio information, position information and layer number information in the tray model, picks up the auxiliary material with the corresponding dispensing ratio and places it on the corresponding position of the tray in the corresponding station until the preset number of layers is completed, and outputs the material taking information; the tray with the dispensed auxiliary material is transported to a fixed area for storage by a shuttle vehicle; specifically including:

[0100] Material dispensing step S5.1: the auxiliary material arrangement machine 100 dispenses the auxiliary material according to the dispensing signal, reads the dispensing ratio information, position information and layer number information in the tray model, picks up the auxiliary material with the corresponding dispensing ratio from stations A1 and A2, and places it on the corresponding position of the tray in station A3 until the preset number of layers is completed, and outputs the material taking information; the tray with the dispensed auxiliary material is transported to a fixed area for storage by a conveyor 300 and a shuttle vehicle or other conveying device;

[0101] Dosing step S5.2: The auxiliary material configuration machine 100 doses according to the dosing signal, reads the proportioning information, position information and layer number information in the tray model, and places the corresponding proportion of auxiliary material on the corresponding position of the tray in the work station C3 through the auxiliary material configuration machine 100 from the work station C1, the work station C2, and the grabbing, until the preset number of layers is completed, and the taking information is output; the completed auxiliary material tray is transported to the fixed area for storage through the conveyor 300 and the shuttle or other conveying devices;

[0102] Supplementing step S6: whether the partition plate on the work station B1 exceeds the preset interval is identified, if yes, the partition plate is extracted through the shuttle; whether the tray on the work station B3 exceeds the preset interval is identified, if yes, the tray is supplemented or extracted through the shuttle, so that the tray on the work station B3 always remains in the preset interval;

[0103] Whether the uppermost layer of the work station A1, the work station A2, the work station C1 and the work station C2 is an empty partition plate is identified, if yes, the empty partition plate is placed on the work station B1 through the tray configuration machine 200 from the corresponding work station; when the number of partition plates on the work station B1 exceeds the preset maximum value, the excess part is transported away through the shuttle;

[0104] Whether the uppermost layer of the work station A1, the work station A2, the work station C1 and the work station C2 is an empty tray is identified, if yes, the empty tray is placed on the work station B3 through the tray configuration machine 200 from the corresponding work station; when the number of trays on the work station B3 exceeds the preset maximum value, the excess part is transported away through the shuttle;

[0105] Supplementing step S7: after the tray configuration machine 200 places the empty tray on the work station B3 from the work station A1 or the work station C1, the corresponding raw material is supplemented to the work station A1 or the work station C1 through the shuttle and the conveyor 300;

[0106] After the tray configuration machine 200 places the empty tray on the work station B3 from the work station A2, the raw material on the work station A1 is transported to the work station A2 through the conveyor 300, and the corresponding raw material is supplemented to the work station A1 through the shuttle and the conveyor 300; after the tray configuration machine 200 places the empty tray on the work station B3 from the work station C2, the raw material on the work station C1 is transported to the work station C2 through the conveyor 300, and the corresponding raw material is supplemented to the work station C1 through the shuttle and the conveyor 300;

[0107] Completion step S8: the tray model step, the dosing step, the supplementing step and the supplementing step are repeated until the set number of trays is completed, and the completion information is output.

[0108] The number of work stations in this embodiment is only for the convenience of explaining the scheme, and the specific number can be adaptively adjusted according to the actual tray model demand, which can be understood by those skilled in the art.

[0109] Example 3,

[0110] Reference Figure 8 The embodiment is directed to the method proposed in Embodiment 2, and proposes an automatic multi-specification cigarette auxiliary material tray arrangement system, which specifically comprises,

[0111] An execution module, which comprises the automatic multi-specification cigarette auxiliary material tray arrangement device as described in Embodiment 1, and a plurality of shuttles for feeding and discharging the automatic multi-specification cigarette auxiliary material tray arrangement device;

[0112] A tray arrangement model construction module, which is configured to receive tray arrangement requirement information, and construct a tray arrangement model according to the tray arrangement requirement information, wherein the tray arrangement model comprises type information, ratio information, position information, and layer information of each auxiliary material; and store the constructed tray arrangement model;

[0113] A tray arrangement model calling module, which is configured to call the constructed tray arrangement model;

[0114] A material preparation module, which is configured to analyze the tray arrangement model to form a material preparation task, and send the material preparation task to the execution module;

[0115] A tray arrangement module, which is configured to identify whether there is a tray at the work station A3 and the work station C3, form a tray arrangement task according to the identification structure, and send the tray arrangement task to the execution module;

[0116] A material arrangement module, which is configured to analyze the tray arrangement model to form a material arrangement task, and send the material arrangement task to the execution module;

[0117] A material supplement module, which is configured to monitor the material condition of each work station in real time, form a material supplement task when the material quantity exceeds a preset interval, send the material supplement task to the execution module, and form an update task when the type of auxiliary material of each work station changes, send the update task to the material arrangement module, and update the material arrangement task;

[0118] An avoidance module, which is configured to monitor the planned route of the tray grabbing device of the tray arrangement machine 200 and the planned route of the auxiliary material grabbing component 140 of the auxiliary material arrangement machine 100, form an avoidance task when the planned routes of the two overlap, and send the avoidance task to the execution module.

[0119] The two auxiliary material arrangement machines 100 arranged oppositely in the embodiment can be used to perform the same auxiliary material tray arrangement task, or can be used to perform different auxiliary material tray arrangement tasks, which can be understood by those skilled in the art.

[0120] The automatic multi-specification cigarette auxiliary material dispensing system of the embodiment sorts multiple different types and different specifications of auxiliary materials, avoids the sorting type error problem caused by similar shapes of auxiliary materials during manual sorting, reduces the labor intensity of the operator, avoids the sorting quantity error problem caused by operator fatigue, and thus avoids the possibility of reducing production efficiency or scrapping cigarettes due to auxiliary material errors in the subsequent production process. Meanwhile, the use of a simpler mechanical structure provides auxiliary work for the mechanical arm, and fewer mechanical arms can complete more efficient sorting tasks. The space structure design is more compact, reasonable, and easy to maintain, thereby reducing the investment and maintenance costs of the user, saving the occupied space, and reducing the maintenance and repair difficulty of the operator.

[0121] The dispensing model is constructed, and the constructed dispensing model is stored and called. The system is compatible with various specifications of finished product boxes, hollow diameters, and paper trays with different heights, and can perform unstacking, stacking, and transportation. The system has strong compatibility, high work efficiency, and high intelligence. The automatic stacking method is used to replace the manual box stacking and tray stacking process, thereby improving work efficiency, reducing labor input, reducing the labor intensity of the operator, and increasing intelligence. The system structure is compact, innovative, easy to maintain, and has a small footprint. Fewer mechanical arms are used to achieve a more efficient use mode, thereby reducing investment costs. The system plans an auxiliary material stacking and distribution area and a tray and partition carrying area, and the two process flows are cross-operated to improve production efficiency.

[0122] The above embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-substantial changes and substitutions made by those skilled in the art based on the present application are within the scope of protection of the present application.

Claims

1. A multi-specification cigarette auxiliary material automatic tray arrangement device, characterized in that, The utility model relates to a kind of auxiliary material configuration machine and tray configuration machine, including: Two auxiliary material configuration machines, the auxiliary material configuration machine includes rack component, translation arm component, lifting arm component and auxiliary material grabbing component;The translation arm component is transversely slidably connected to rack component;The lifting arm component is vertically slidably connected to translation arm component;The auxiliary material grabbing component is longitudinally slidably connected to lifting arm component, so that auxiliary material is grabbed and placed after position adjustment; A tray configuration machine is used to grab and place trays or partitions after position adjustment, and the tray configuration machine includes a fixed flange, a mechanical arm and a tray grabbing device, one end of the mechanical arm is connected to the fixed flange, and the other end is connected to the tray grabbing device; Several conveyors are used to transport trays, allowing trays to move between different stations; The two auxiliary material configuration machines are oppositely arranged on both sides of the tray configuration machine, and several conveyors are arranged at the bottom of the auxiliary material configuration machine and the tray configuration machine to form a conveyor belt. The tray grabbing device includes a third bracket, a grabbing assembly and a tray suction cup assembly;The grabbing assembly includes a gripper driving mechanism, a first grabbing mechanism and a second grabbing mechanism, the first grabbing mechanism and the second grabbing mechanism are respectively rotatably connected to the opposite ends of the third bracket, the first grabbing mechanism and the second grabbing mechanism are driven by the gripper driving mechanism to rotate relative to the third bracket, so that the end portions of the first grabbing mechanism and the second grabbing mechanism approach or separate from each other, thereby grabbing or releasing the material;The tray suction cup assembly is arranged at the bottom of the third bracket, and the tray suction cup assembly includes a plurality of suction cups for adsorbing material;When it is necessary to grab light and thin material, the tray suction cup assembly is used for adsorbing and grabbing;When the light and thin material is removed, the first grabbing mechanism and the second grabbing mechanism are driven to rotate in the opposite direction, so that the first grabbing mechanism and the second grabbing mechanism resist the material and push the material off the tray suction cup assembly;A first transmission assembly is arranged at the connection between the translation arm component and the rack component.

2. The multi-specification cigarette auxiliary material automatic tray dispensing apparatus according to claim 1, characterized in that, A second transmission assembly is arranged at the connection between the lifting arm component and the translation arm component, and a third transmission assembly is arranged at the connection between the auxiliary material grabbing component and the lifting arm component;The first transmission assembly, the second transmission assembly and the third transmission assembly are all synchronous belt wheel transmission structures.

3. The multi-specification cigarette auxiliary material automatic tray dispensing apparatus according to claim 2, characterized in that, The auxiliary material grabbing component includes a connecting assembly, a claw clamp assembly and an auxiliary material suction cup assembly;The connecting assembly includes a first connecting plate, a second connecting plate and a flange shaft, the first connecting plate and the second connecting plate are respectively arranged at the two ends of the flange shaft;The claw clamp assembly is arranged at the bottom of the second connecting plate, the claw clamp assembly has a plurality of clamping claws, the clamping claws of the claw clamp assembly can be expanded or retracted, used for retracting into the disc-shaped auxiliary material and expanding for grabbing;The auxiliary material suction cup assembly is arranged on the side of the second connecting plate, and the auxiliary material suction cup assembly includes a plurality of suction cups, which are telescopically connected to the side of the second connecting plate for adsorbing and grabbing auxiliary material.

4. The multi-specification cigarette auxiliary material automatic tray dispensing apparatus according to claim 1, characterized in that, The first grabbing mechanism includes a shaft and a gripper, two grippers are respectively fixed at both ends of the shaft, and the shaft is rotatably connected to the end of the third bracket, so that the gripper can rotate relative to the third bracket. The one end of the gripper driving mechanism is hinged to the third support, and the other end is hinged to a grabbing connecting rod, and the other end of the grabbing connecting rod is fixed to the middle of the rotating shaft, and the rotating shaft is driven by the gripper driving mechanism to rotate forward or reversely, so as to drive the gripper connected to the two ends of the rotating shaft to rotate, and the grabbing and loosening are realized.

5. The multi-specification cigarette auxiliary material automatic tray dispensing apparatus according to claim 1, characterized in that, The mechanical arm comprises a base assembly, a first swing arm assembly, a second swing arm assembly and a third swing arm assembly; the first swing arm assembly is rotationally connected with the base assembly; one end of the second swing arm assembly is hinged to the first swing arm assembly, and the other end is hinged to the third swing arm assembly; a second mounting flange is rotationally connected to the third swing arm assembly; and the second mounting flange is used for mounting a palletizing grabbing device.

6. The multi-specification cigarette auxiliary material automatic tray dispensing apparatus according to claim 1, wherein, The conveyor comprises a fourth support, a chain wheel assembly, a fourth guide assembly and a conveyor driving assembly; the fourth guide assembly is arranged on the top of the fourth support; the fourth guide assembly comprises a chain guide plate and a conveying guide rail; the chain guide plate is arranged on the top of the fourth support; and the conveying guide rail is arranged outside the chain guide plate; the conveyor driving assembly comprises a third motor, a motor adjusting seat and a transmission shaft; the motor adjusting seat is connected with the fourth support through a draw groove and a fastener; and the third motor is fixed to the motor adjusting seat; the transmission shaft is rotationally connected to the fourth support; the transmission shaft is provided with a first transmission sprocket and a second transmission sprocket; and the third motor and the transmission shaft are linked through the first transmission sprocket and a transmission chain. The chain wheel assembly comprises chain guide wheels, chain winding wheels and a chain; two sets of chain guide wheels are arranged at the two ends of the two chain guide plates respectively; two sets of chain winding wheels are mounted on the two sides below the chain guide plates respectively; and the chain is wound around the surfaces of the chain guide plates, the chain guide wheels, the chain winding wheels and the second transmission sprocket.

7. A method for automatically dispensing cigarette accessories of multiple specifications, characterized in that: The method comprises the following steps, The configuration step S1: providing the multi-specification cigarette auxiliary material automatic tray arranging equipment and a plurality of shuttles according to any one of claims 1-6; The preset step S2: setting a tray arranging model and a tray arranging quantity according to the tray arranging requirement; wherein the tray arranging model comprises category information, ratio information, position information and layer information of each auxiliary material; The material preparation step S3: reading the category information in the tray arranging model, providing raw materials, separators and trays according to the category information, and feeding the raw materials, separators and trays into corresponding stations of the multi-specification cigarette auxiliary material automatic tray arranging equipment through the shuttle machine; The tray arranging step S4: placing the tray at a required position through the tray arranging machine, and outputting a material arranging signal after the placement is completed; The material arranging step S5: arranging the auxiliary materials according to the material arranging signal based on the ratio information, position information and layer information in the tray arranging model, placing the auxiliary materials of corresponding ratios at corresponding positions on the tray in the corresponding station, placing the separator on the upper layer of the auxiliary materials through the tray arranging machine after the single-layer material arranging is completed, arranging the next layer of materials, and outputting a material taking information until the preset number of layers is completed; and transporting the auxiliary material tray with the arranged materials to a fixed area for storage through the shuttle; The completion step S8: repeating the tray arranging step and the material arranging step until the set tray arranging quantity is completed, and outputting a completion information.

8. A multi-specification cigarette auxiliary material automatic tray dispensing system, characterized in that, The method comprises the following steps, The execution module comprises the multi-specification cigarette auxiliary material automatic tray arranging equipment and a plurality of shuttles according to any one of claims 1-6; The tray arranging model construction module is configured to receive tray arranging demand information and construct a tray arranging model according to the tray arranging demand information, wherein the tray arranging model comprises category information, ratio information, position information and layer information of each auxiliary material; The material preparation module is configured to analyze and form a material preparation task according to the tray arranging model, and send the material preparation task to the execution module; The tray arranging module is configured to identify whether there is a tray at the work station, form a tray arranging task according to the identification result, and send the tray arranging task to the execution module; The material preparation module is configured to analyze and form a material preparation task according to the tray arranging model, and send the material preparation task to the execution module; 9. The multi-specification cigarette auxiliary material automatic tray dispensing system according to claim 8, characterized in that, Further comprising, The tray arranging model calling module is configured to call the constructed tray arranging model; The replenishment module is configured to monitor the material condition of each work station in real time, form a replenishment task when the material quantity exceeds a preset interval, send the replenishment task to the execution module, and form an update task when the category of the auxiliary material of each work station changes, send the update task to the material preparation module, and update the material preparation task; The avoidance module is configured to monitor the planned route of the tray grabbing device of the tray arranging machine and the planned route of the auxiliary material grabbing component of the auxiliary material arranging machine, form an avoidance task when the planned routes of the two coincide, and send the avoidance task to the execution module.

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