A cigarette small box packaging paper unbundling and feeding system and unbundling and feeding method

Abstract

A cigarette small box packaging paper unbundling and feeding system and unbundling and feeding method, belonging to the field of cigarette packaging equipment, the system includes a cigarette small box packaging paper unbundling and feeding device, next to which are a six-axis manipulator and multiple brackets, the unbundling and feeding device includes a lifting fork, and the surrounding area of ​​its highest point is provided with: a conveyor belt for whole bundles of small box packaging paper on the right, a bundle paper tightening device on the left, a bundle paper cutting device on the top, and a positioning track on the bottom. The top is connected to a mirror image "D"-shaped drive mechanism through a lifting rod and its outer peripheral sleeve, a support frame is fixed to the left side of the lower end of the lifting fork, and a rotating bundle paper recovery mechanism is provided below the support frame. This system automatically transports bundles of cigarette small box packaging paper and automatically removes bundle paper, thereby realizing system automation, reducing the labor intensity of workers and ensuring smooth production.

Description

Technical Field

[0001] The present invention relates to an unbundling and feeding system and an unbundling and feeding method, in particular to an unbundling and feeding system and an unbundling and feeding method for cigarette small box packaging paper, belonging to the field of cigarette packaging equipment. Background Art

[0002] In the cigarette production line, cigarette packaging has achieved automated packaging and automated supply. Figure 2 The positioning track 80 in the vertical direction is arranged, and a single small box packaging paper suction device 90 is arranged below the positioning track 80. A single cigarette small box packaging paper transmission belt 91 that is transmitted to the right side is arranged below the single small box packaging paper suction device 90. In this cigarette small box packaging paper feeding device, the bundled cigarette small box packaging paper 71 is tied with a strapping paper 72 in the middle, and the cigarette small box packaging paper 71 needs to be manually removed and continuously placed in the vertical positioning track 80. It is in continuous operation, and the amount of cigarette small box packaging paper used is also very large. It needs to be continuously transported, the strapping paper is continuously removed, and it is continuously set. The key is that when manually transporting, it is easy to reverse the front and back sides and the setting direction of the packaging paper, which will cause mismatch with the automatic packaging and folding machine, causing alarms and shutdowns. Therefore, it is necessary to invent a cigarette small box packaging paper unbundling and feeding system, and to use the system to autonomously remove the strapping paper. However, how to use the structure of the existing equipment to set up automatic supply and automatic strapping paper cutting devices in a limited space and automatically extract the strapping paper is a difficult challenge. Summary of the Invention

[0003] In view of the problem that the existing cigarette box packaging paper feeding device requires manual handling and manual removal of bundling paper, and the problem that the front and back sides and the direction of the packaging paper are easily reversed during the setting process, which often leads to equipment alarms or even production stoppages, the present invention provides a cigarette box packaging paper unbundling and feeding system and unbundling and feeding method, the purpose of which is to use the system to automatically carry bundles of cigarette box packaging paper, automatically remove the bundling paper, realize system automation, reduce the labor intensity of workers, reduce the setting errors of cigarette box packaging paper, reduce alarm shutdowns, and ensure smooth production.

[0004] A cigarette small box packaging paper unbundling and feeding system comprises an upright positioning track, a single small box packaging paper suction device arranged below the positioning track, and a single small box packaging paper transmission belt. The cigarette small box packaging paper unbundling and feeding system comprises a cigarette small box packaging paper unbundling and feeding device, the cigarette small box packaging paper unbundling and feeding device comprises a whole bundle of small box packaging paper conveyor belt, a six-axis manipulator for transporting whole bundles of small box packaging paper to the whole bundle of small box packaging paper conveyor belt, a plurality of brackets are arranged next to the six-axis manipulator, the cigarette small box packaging paper unbundling and feeding device also comprises a lifting fork, and the surrounding area of ​​the highest point of the lifting fork is provided with: a whole bundle of small box packaging paper conveyor belt is provided on the right side at the same horizontal plane as the horizontal fork of the lifting fork, and a whole bundle of small box packaging paper conveyor belt is provided next to it. It is equipped with an in-position sensor, a bundling paper tightening device on the left side, a tensioning suction head is provided on the bundling paper tightening device near the lifting fork side, a bundling paper cutting device is provided just above it, a mobile cutting knife is provided on the bundling paper cutting device, a positioning track is provided below, a material level sensor is provided next to the positioning track, the top of the lifting fork is connected to a mirror image "D" shaped motion trajectory through a lifting rod and a sleeve on its periphery, the lifting rod is sliding and lifting in the sleeve, the upper end of the sleeve is fixed in the mirror image "D" shaped driving mechanism, a support frame is fixed on the left side of the lower end of the lifting fork, a rotating bundling paper recovery mechanism is provided below the support frame, and a controller is provided in the unbundling feeding system.

[0005] The mirror image "D" driving mechanism includes a rotating shaft component and a rotating shaft component. The rotating shaft component includes rotating shaft 1, and the rotating shaft component includes rotating shaft 2. Rotating shaft 1 and rotating shaft 2 are arranged to rotate parallel to the horizontal direction. The left end of rotating shaft 1 is connected to the driving motor through a transmission mechanism. A track drum is provided on rotating shaft 1. The axis of the track drum is consistent with the axis of rotating shaft 1. The outer periphery of the track drum is provided with an "Ω"-shaped groove track connected end to end. A sliding pin that slides along the track is provided in the track. The sliding pin is fixed at one end of the connecting rod. The other end of the connecting rod is connected to a slider. The slider is arranged to slide horizontally on the outer periphery of rotating shaft 2. A lifting gear is provided in the slider. The lifting gear is arranged to slide horizontally on rotating shaft 2. The upper end of the sleeve is fixed on the slider at the same time. A lifting rod is provided for sliding vertically in the cylinder, and the end portion of the lifting rod is a shaft-shaped tooth, which meshes with the lifting gear. A track disk is provided at one end of the rotating shaft one, and a deformable ring track is provided on the side of the track disk. The deformable ring track is a groove connected end to end. An end tooth is fixed to the right end of the rotating shaft two, and a fan-shaped tooth is meshed on the end tooth. A floating pin facing the track disk is provided on the fan-shaped tooth. The floating pin is slidably provided in the groove. When the rotating shaft one rotates, the sliding pin slides along the "Ω"-shaped track, driving the slider, sleeve and its lifting rod to slide in the left and right directions. The rotating shaft one drives the rotating shaft two to rotate intermittently through the fan-shaped teeth. When the fan-shaped teeth rotate, the lifting rod provided on the rotating shaft two is driven to rise and fall, so that the lifting fork moves along the mirror "D"-shaped track.

[0006] Furthermore, the lifting fork is an "L"-shaped structure, with a horizontal two-fork structure below, the left side of which is fixed on the lifting rod, and the gap between the horizontal forks of the two-fork structure is greater than the width of the bundled paper;

[0007] Furthermore, the paper bundling tightening device is arranged above the support frame, and the paper bundling tightening device includes a cylinder, and a tensioning suction head is provided at the end of the cylinder rod of the cylinder. The height of the tensioning suction head is higher than the vertical edge of the left side of the lifting fork and lower than the height of the whole bundle of small box packaging paper on the lifting fork. The whole bundle of small box packaging paper on the lifting fork is located within the travel range of the cylinder of the paper bundling tightening device;

[0008] Furthermore, the bundling paper cutting device includes a rodless cylinder, a movable groove communicating with the inside and outside is provided below or on the side of the rodless cylinder, the length direction of the movable groove is consistent with the length direction of the rodless cylinder, a linking member moves in the movable groove, a movable platform is provided outside the linking member, and a movable cutting knife is provided on the movable platform toward the bundling paper;

[0009] Furthermore, the bundling paper recycling mechanism includes a rotating cylinder, a rotating rod is fixed on the rotating axis of the rotating cylinder, a bundling paper suction nozzle is provided at the end of the rotating rod, an inclined slide is provided at the lower left side of the rotating cylinder, a recycling box is provided below the inclined slide, and the bundling paper suction cup rotates back and forth between the gap between the two fork structures and the top of the inclined slide;

[0010] Furthermore, a position sensor is provided next to the lifting fork, and a position sensor is provided next to the conveyor belt for the whole bundle of small box packaging paper;

[0011] Furthermore, the six-axis manipulator is provided with a suction cup and an identification device at the end thereof, and the identification device is equipped with a dedicated identification system;

[0012] Furthermore, a rotation switch is provided at the right end of the rotating shaft, and the closed position of the rotation switch is consistent with the highest stop position of the lifting fork;

[0013] Furthermore, the lifting gear is spline-connected to the second rotating shaft;

[0014] A method for unbundling and feeding cigarette small box packaging paper, utilizing the cigarette small box packaging paper unbundling and feeding system according to claim 7, wherein the method is as follows:

[0015] 1) After starting the equipment, the six-axis robot moves multiple bundles of small box packaging paper to the bundle conveyor belt of small box packaging paper in sequence;

[0016] 2) The conveyor belt for the whole bundle of small box packaging paper pushes the whole bundle of small box packaging paper at the front end to the two-fork structure in the horizontal direction of the lifting fork. The in-position sensor detects that the whole bundle of small box packaging paper has arrived on the horizontal fork;

[0017] 3) The tensioning cylinder of the paper bundling tightening device drives the tensioning suction cup close to the paper bundling, sucking the paper bundling backwards to tighten the paper bundling;

[0018] 4) The movable cutting knife on the bundle paper cutting device moves to cut the bundle paper;

[0019] 5) The mirror-image "D"-shaped drive mechanism drives the lifting fork down along the positioning track, places the unbundled small box packaging paper on the track, and moves horizontally to the left. After the lifting fork leaves the positioning track, it rises along the mirror-image "D"-shaped arc trajectory and returns to the starting position;

[0020] 6) Repeat the above steps 1) to 5) to stack the unbundled cigarette packaging paper in the positioning track;

[0021] 7) After the track is filled with unbundled small box wrapping paper, wait;

[0022] 8) When the stacked and unbundled small box packaging papers in the positioning track descend to the material level sensor, continue the above steps 1) to 5).

[0023] The positive effect of the present invention is that a six-axis manipulator is arranged next to the cigarette box packaging paper unbundling and feeding device, and the suction cup at the end of the manipulator is used to suck the bundles of cigarette box packaging paper and move them to the whole bundle of box packaging paper conveyor belt, and the thrust of the whole bundle of box packaging paper conveyor belt can be used to push the front end of the whole bundle of box packaging paper to the "L"-shaped lifting fork. When the in-position sensor arranged next to the lifting fork detects it, the cylinder of the bundling paper tightening device arranged above the bundling support frame will extend toward the bundling paper, and the tensioning suction cup head arranged at the end of the cylinder rod will suck the bundling paper The left side moves so that the strapping paper is in a tensioned state. In this state, the strapping paper cutting device installed just above the lifting fork will drive the mobile platform and the mobile cutting knife installed thereon to descend under the drive of the "D"-shaped driving mechanism to cut the strapping paper, so that the strapping paper is cut off. The strapping paper recovery mechanism installed under the support frame can use the rotating cylinder to drive the arm and the suction nozzle installed at the end to rotate to the gap between the forks of the two forks to suck away the strapping paper. Since the gap between the forks of the two forks is larger than the width of the strapping paper, the strapping paper will not be pressed on the two forks.By arranging a first shaft component and a second shaft component in a mirror-image "D"-shaped drive mechanism, and connecting them through a connecting rod and a sector tooth, a mirror-image "D"-shaped surging trajectory of the lifting fork is synthesized, wherein the first shaft and the second shaft are parallel to each other, and the motor connected to the first shaft through the transmission mechanism can be used to drive the first shaft to rotate. By arranging a coaxial track drum on the edge of the shaft, and arranging an "Ω"-shaped groove track connected end to end on the outer periphery of the track drum, the slider can be driven to move left and right along the axial direction of the second shaft by the connecting rod and the sliding pin during the rotation of the first shaft, and the lifting fork can move left and right to achieve the movement to the same horizontal plane of the conveyor belt of the whole bundle of small box packaging paper and the horizontal exit action from the positioning track. By arranging a lifting gear on the second shaft through a spline shaft, and making the axial rack mesh with the lifting gear, the lifting gear can achieve the purpose of axial sliding and rotating at the same time when the second shaft rotates, and can drive the lifting rod with the axial rack to move up and down during rotation, thereby realizing the lifting and lowering of the lifting fork. By arranging The fan-shaped teeth have a movable pin at the rear end thereof, and the movable pin is caused to move within the deformable ring track of the track disk at the end of the rotating shaft one. During the rotation of the rotating shaft one, the fan-shaped teeth can realize intermittent rotation of the rotating shaft two. The combined movement of the rotating shaft one and the rotating shaft two ultimately realizes mirror-image "D"-shaped trajectory movement, thereby realizing vertical lowering of the load of the upgrading fork, returning when unloaded, horizontally exiting the positioning track after lowering, and returning to the starting position after raising. The lifting fork is repeatedly raised and lowered, and the unbundled cigarette box packaging paper can be continuously sent to the positioning track. The single cigarette box packaging paper suction device can then quickly suck the single cigarette box packaging paper from the positioning track, place it on the single cigarette box packaging paper transmission belt below, and send it to the cigarette box folding production line. By utilizing the present invention, the system can automatically transport bundled cigarette box packaging paper and automatically remove the bundling paper, thereby realizing system automation, reducing the labor intensity of workers, reducing cigarette box packaging paper setting errors, reducing alarm shutdowns, and ensuring smooth production. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is the overall plan layout of the present invention.

[0025] . Figure 2 It is a front structural diagram of a cigarette box wrapping paper unbundling and feeding device.

[0026] Figure 3 It is a schematic diagram of the bundle paper cutting device on one side of the bundle paper.

[0027] Figure 4 It is a schematic diagram of the top view of the "L" type lifting fork.

[0028] . Figure 5 It is a schematic diagram of the top view of the mirrored "D"-shaped drive mechanism.

[0029] Figure 6 It is a structural diagram of the sector teeth and the deformable ring track in the track disk.

[0030] Figure 7 It is a top view schematic diagram of a paper bundling and tightening device.

[0031] Figure 8 It is a schematic diagram of the front structure of the bundled paper recycling mechanism.

[0032] .Description of reference numerals: Bundling paper cutting device 10, rodless cylinder 11, moving platform 12, moving cutting knife 13, moving groove 14, lifting fork 20, vertical edge 21, horizontal fork 22, in-position sensor 23, rotating shaft assembly 30, rotating shaft 1 30a, track drum 32, "Ω"-shaped groove track 33a, sliding pin 33b, track plate 34, deformable ring track 34a, connecting rod 35, slider 36, lifting gear 37, lifting rod 38, sleeve 38a, shaft-shaped rack 38b, limit wheel 39, limit switch 39a, rotating shaft assembly 2 40, rotating shaft 2 40a, end tooth 41, sector tooth 42, floating pin 43a, housing 44, support frame 45, drive motor 46, tensioning device 50, tensioning cylinder 51, tensioning rod 52, tensioning suction head 53, bundling paper recovery mechanism 60, rotating cylinder 61, rotating rod 62, Bundling paper suction nozzle 63, mounting plate 64, original position 65, suction position 66, discard position 67, recycling box 68, inclined slide 69, conveyor belt for whole bundles of small box wrapping paper 70, cigarette small box wrapping paper 71, bundling paper 72, in-place sensor 73, positioning track 80, material level sensor 81, single small box wrapping paper suction device 90, six-axis robot 100, cigarette small box wrapping paper unbundling and feeding device 200, bracket one 300, bracket two 400, bracket three 500. DETAILED DESCRIPTION

[0033] The specific technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and in conjunction with the accompanying figures. In the following description, the left and right positions are all indicative of the orientations in the drawings, and the cigarette box wrapping paper described below is a hard box wrapping paper, which can also be referred to as a wrapping sheet.

[0034] A cigarette small box packaging paper unbundling and feeding system, Figure 1 This is the overall plan layout of the present invention, Figure 280, and a six-axis manipulator 100 is provided next to the six-axis manipulator 100. The six-axis manipulator 100 is provided with a plurality of brackets, which include bracket 1 300, bracket 2 400, and bracket 3 500 in this embodiment. The cigarette small box packaging paper unbundling and feeding device 200 also includes a lifting fork 20. The lifting fork 20 is surrounded by the highest point thereof: a whole bundle of small box packaging paper conveyor belt 70 is provided on the right side, and the whole bundle of small box packaging paper conveyor belt 70 and the lifting fork 20 are provided with a lifting fork 20. The horizontal forks 22 of the lowering fork 20 are on the same horizontal plane, and an in-position sensor 73 is arranged next to it. A bundling paper tightening device 50 is arranged on the left side, and a tensioning suction head 53 is arranged at the end of the tensioning rod 52 of the bundling paper tightening device 50 close to the lifting fork 20. A bundling paper cutting device 10 is arranged directly above it, and a movable cutting knife 13 is arranged on the bundling paper cutting device 10. A positioning rail 80 is arranged below, and a material level sensor 81 is arranged next to the positioning rail 80. A mirror "D"-shaped drive mechanism with a mirror "D"-shaped motion trajectory is connected to the lifting fork 20 through the left lifting rod 38. The lifting rod 38 is slidingly lifted and lowered in the sleeve 38a, and the upper end of the sleeve 38a is fixed in the mirror "D"-shaped drive mechanism. A support frame 45 is fixed to the left side of the lower end of the lifting fork 20, and a rotating bundling paper recovery mechanism 60 is arranged below the support frame 45. A controller is provided in the unbundling feeding system.

[0035] In this embodiment, the positioning track 80 is an existing technology. The positioning track 80 is a rectangular structure with angle steels arranged at the four corners of the cigarette box wrapper 71. The inner angles of the angle steels are arranged at 90 degrees relative to the inner corners of the cigarette box wrapper 71. A narrow supporting edge is provided at the bottom to facilitate suction and extraction from the middle position below. The upper part is an eight-shaped structure to facilitate the placement of the cigarette box wrapper 71 in the direction frame formed by the four corners.

[0036] Figure 3 It is a schematic diagram of a bundling paper cutting device 10 on one side of the bundling paper. The bundling paper cutting device 10 includes a rodless cylinder 11. A movable groove 14 connected inside and outside is provided below or on the side of the rodless cylinder 11. The length direction of the movable groove 14 is consistent with the length direction of the rodless cylinder 11. A connecting member moves in the movable groove 14, and a movable platform 12 is provided outside the connecting member. A movable cutting knife 13 facing the bundling paper 72 is provided on the movable platform 12. In the embodiment, the movable groove 14 and the movable platform 12 are located on the side of the rodless cylinder 11, and the movable cutting knife 13 is below the movable platform.

[0037] . Figure 4 It is a schematic diagram of the top view of the "L"-shaped lifting fork 20. The lifting fork 20 is an "L"-shaped structure, 21 is a vertical side, and a lifting rod 38 is fixed on the vertical side 21. Below the vertical side 21 is a two-fork structure in the horizontal direction, and the left side is fixed on the lifting rod 38. The gap between the horizontal forks 22 of the two-fork structure is greater than the width of the strapping paper 72.

[0038] Figure 5 This is a top view of the mirrored "D" drive mechanism. Figure 63 is a schematic diagram of the structure of the sector teeth 42 and the deformable ring track 34a in the track disk 34. The mirror "D" drive mechanism includes a shaft assembly 30 and a shaft assembly 40, and is arranged in a housing 44. The shafts 1 and 30a and the shaft 2 40a are arranged with bearings between the housing 44. The shaft assembly 30 includes a shaft 1 30a, and the shaft assembly 40 includes a shaft 2 40a. The shafts 1 30a and the shaft 2 40a are arranged to rotate parallel to the horizontal direction, but the shafts 1 and 2 are located in an inclined plane. The left end of the shaft 1 30a is connected to the drive motor 46 through a transmission mechanism. The shaft 1 30a has A limit wheel 39 is provided at the end, and a limit switch 39a is provided on the circumference of the limit wheel 39. The limit switch 39a is used to feedback the end of a mirror "D" stroke. Whether it is continuous operation depends on the detection result of the material level switch. A track drum 32 is provided on the rotating shaft 30a. The axis of the track drum 32 is consistent with the axis of the rotating shaft 30a. The outer circumference of the track drum 32 is provided with an "Ω"-shaped groove track 33a connected end to end. A sliding pin 33b is provided in the track to slide along the track. The sliding pin 33b is fixed to one end of the connecting rod 35. The other end of the connecting rod 35 is connected to a slider 36. The slider 36 is horizontally slidable and is set on the rotating shaft 4 0a outer periphery, the slider 36 is provided with a lifting gear 37, the lifting gear 37 is horizontally slidably set on the rotating shaft 2 40a, and the slider 36 is also fixed with a sleeve 38a, and the sleeve 38a is provided with a lifting rod 38 in the vertical direction. The end of the lifting rod 38 is an axial rack 38b, and the axial rack 38b is processed into a rack structure in the upper half of the circumferential lifting rod 38. The relative part of the rack is an arc structure. The axial rack 38b is engaged with the lifting gear 37. One end of the rotating shaft 30a is provided with a track disk 34, and a deformable ring track 34a is provided on the side of the track disk 34. The deformable ring track 34a is connected end to end. The right end of the second rotating shaft 40a is fixed with an end tooth 41, and the end tooth 41 is meshed with a sector tooth 42. The sector tooth 42 is provided with a floating pin 43a facing the track disc. The floating pin 43a is slidably set in the groove. When the rotating shaft 1 30a rotates, the sliding pin 33b slides along the "Ω"-shaped track, driving the slider 36, the sleeve 38a and its lifting rod 38 to slide in the left and right directions. The rotating shaft 1 30a drives the rotating shaft 2 40a to rotate intermittently through the sector tooth 42. When the sector tooth 42 rotates, it drives the lifting rod 38 set on the rotating shaft 2 40a to rise and fall, so that the lifting fork 20 moves along the mirror "D"-shaped trajectory.

[0039] Figure 7FIG4 is a schematic top view of the paper bundling tightening device 50. The paper bundling tightening device 50 is disposed above the support frame 45 and includes a tensioning cylinder 51. A tensioning nozzle 53 is provided at the end of a tensioning rod 52 of the tensioning cylinder 51. The tensioning nozzle 53 is positioned above the vertical edge on the left side of the lifting fork 20 and below the height of the entire bundle of small box packaging papers on the lifting fork 20. The bundle of small box packaging papers 72 on the lifting fork 20 is within the travel range of the cylinder of the paper bundling tightening device 50.

[0040] In this embodiment, the tensioning cylinder 51 is a double-rod cylinder, with the lifting rod 38 in the middle of the tensioning cylinder 51 and the sleeve 38a on its outer periphery.

[0041] Figure 8 It is a front structural schematic diagram of the strapping paper recycling mechanism, wherein the strapping paper recycling mechanism 60 is installed under the support frame using a mounting plate 64, and the strapping paper recycling mechanism 60 includes a rotating cylinder 61, and a strapping paper suction nozzle 63 is provided at the end of the rotating rod 62 of the rotating cylinder 61, and an inclined slide 69 is provided at the lower left side of the rotating cylinder 61, and a recycling box 68 is provided below the inclined slide 69. The strapping paper suction nozzle 63 of the strapping paper recycling mechanism 60 rotates back and forth between the gap between the two fork structures and the top of the inclined slide 69. The strapping paper recycling mechanism 60 includes an original position 65, a suction position 66, and a discarded position 67. During the rotation process, when it is necessary to suck the strapping paper 72, it rotates from the original position 65 to the suction position 66, sucks the strapping paper 72, and releases the vacuum when it rotates in the opposite direction to the discarded position 67, and places the strapping paper 72 on the inclined slide 69. The strapping paper 72 falls into the recycling box 68 along the inclined slide 69.

[0042] A positioning sensor 23 is provided beside the lifting fork 20, and a positioning sensor is provided beside the conveyor belt 70 for the whole bundle of small box packaging papers. The lifting gear 37 is spline-connected to the second rotating shaft 40a.

[0043] .The six-axis manipulator is provided with a suction cup and an identification device at the end, and the identification device is equipped with a dedicated identification system.

[0044] A rotation switch is provided at the right end of the rotating shaft 1 30a, and the closed position of the rotation switch is consistent with the highest stop position of the lifting fork 20.

[0045] A method for unbundling and feeding cigarette small box packaging paper, utilizing the above-mentioned unbundling and feeding system for cigarette small box packaging paper, the method for unbundling and feeding cigarette small box packaging paper is as follows:

[0046] 1) After starting the equipment, the six-axis robot sequentially moves multiple bundles of small box wrapping paper to the bundle conveyor belt 70;

[0047] 2) The whole bundle of small box packaging paper conveyor belt 70 pushes the frontmost whole bundle of small box packaging paper to the two-fork structure in the horizontal direction of the lifting fork 20, and the in-position sensor 23 detects that the whole bundle of small box packaging paper has arrived on the horizontal fork 22;

[0048] 3) The tensioning cylinder 51 of the paper bundling tightening device 50 drives the tensioning suction cup to approach the paper bundling 72, sucking the paper bundling 72 and moving it backwards to tighten the paper bundling 72;

[0049] 4) The movable cutting blade 13 on the bundle paper cutting device 10 moves to cut the bundle paper 72;

[0050] 5) The mirror-image "D" drive mechanism drives the lifting fork 20 to descend vertically along the positioning track 80, placing the unbundled cigarette box wrappers 71 into the positioning track 80, and then moves horizontally to the left. After leaving the positioning track 80, the lifting fork 20 rises and returns to the starting position. The motion trajectory after leaving the positioning track 80 and returning to the starting position is a circular arc structure, and the entire motion trajectory is a mirror-image "D" shape;

[0051] 6) Repeat the above steps 1) to 5) to stack the unbundled small box wrappers in the positioning track 80;

[0052] 7) After the track is filled with unbundled small box wrapping paper, wait;

[0053] 8) When the stacked and unbundled small box wrappers in the positioning track 80 descend to the material level sensor 81, the above steps 1) to 5) are continued.

[0054] The positive effects of the present invention are as follows: by arranging a six-axis manipulator 100 next to the cigarette box packaging paper unbundling and feeding device 200, and using the suction cup at the end of the manipulator to suck the bundled cigarette box packaging paper 71 and move it to the whole bundle of small box packaging paper conveyor belt 70, and using the thrust of the whole bundle of small box packaging paper conveyor belt 70 to push the front end of the whole bundle of small box packaging paper to the "L"-shaped lifting fork 20, when the in-position sensor 23 arranged next to the lifting fork 20 detects it, the cylinder of the bundling paper tightening device 50 arranged above the bundling support frame 45 will extend toward the bundling paper 72, and the tensioning suction cup head arranged at the end of the cylinder rod will be The strapping paper 72 will be sucked and moved to the left side, so that the strapping paper 72 is in a tensioned state. In this state, a strapping paper cutting device 10 is provided above the lifting fork 20. The strapping paper cutting device 10 drives the movable cutting knife 13 to cut the strapping paper 72, so that the strapping paper 72 is cut off. The strapping paper recycling mechanism 60 provided under the support frame 45 can use the rotating cylinder 61 to drive the arm and the strapping paper suction nozzle 63 provided at the end to rotate to the gap between the forks of the two forks structure to suck away the strapping paper 72. Since the gap between the forks of the two forks structure is larger than the width of the strapping paper 72, the strapping paper 72 will not be pressed on the two forks.By arranging the rotating shaft assembly 30 and the rotating shaft assembly 40 in the mirror image "D" shaped drive mechanism and connecting them through the connecting rod 35 and the sector teeth 42, the mirror image "D" shaped surging trajectory of the lifting fork 20 is synthesized. Among them, the rotating shaft 1 30a and the rotating shaft 2 40a, which are parallel to each other, can be driven by the motor 46 connected to the rotating shaft 1 30a through the transmission mechanism. By arranging a coaxial track drum 32 on the edge of the rotating shaft and arranging an "Ω" shaped groove track 33a connected end to end on the outer periphery of the track drum 32, the connecting rod 35 and the sliding pin 33b can be driven during the rotation of the rotating shaft 1 30a. The slider 36 makes different left and right movements along the axial direction of the second rotating shaft 40a, and the lifting fork 20 moves in the left and right directions to realize the movement to the same horizontal plane of the conveyor belt 70 of the whole bundle of small box packaging paper and the horizontal withdrawal movement from the positioning track 80. By setting the lifting gear 37 on the second rotating shaft 40a through the spline shaft and making the axial rack 38b engage with the lifting gear 37, the lifting gear 37 can realize the purpose of axial sliding and rotating while the second rotating shaft 40a rotates. When rotating, it can drive the lifting rod 38 with the axial rack 38b to rise and fall, thereby realizing the lifting and lowering of the lifting fork 20. A sector tooth 42 is provided at the end of the second rotating shaft 40a, and a movable pin 43a is provided at the rear end of the sector tooth 42, and the movable pin 43a is made to move in the deformed ring track 34a of the track plate 34 at the end of the first rotating shaft 30a. The sector tooth 42 can realize the intermittent rotation of the second rotating shaft 40a during the rotation of the first rotating shaft 30a. The combination of the movements of the first rotating shaft 30a and the second rotating shaft 40a finally realizes the mirror image "D" shaped trajectory movement, thereby realizing the vertical lowering of the load of the upgrading fork, returning when empty, horizontally exiting the positioning track 80 after descending, and returning to the starting position after ascending. By repeatedly raising and lowering the lifting fork 20, the lifting fork 20 can be lifted and lowered. The unbundled cigarette box wrappers 71 are continuously fed into the positioning track 80. A single cigarette box wrapper 71 suction device can then quickly suck a single cigarette box wrapper 71 from the positioning track 80, place it on the single cigarette box wrapper conveyor belt 91 below, and feed it to the cigarette box folding production line. By utilizing the present invention, the system can automatically transport bundled cigarette box wrappers 71 and automatically remove the binding paper 72, achieving system automation, reducing worker labor intensity, minimizing cigarette box wrapper 71 placement errors, and reducing alarm shutdowns, thereby ensuring smooth production.

Claims

1. A cigarette small box wrapper unbundling and feeding system, comprising an upright positioning track, a single small box wrapper suction device disposed below the positioning track, and a single small box wrapper transmission belt, characterized in that: The cigarette small box packaging paper unbundling and feeding system includes a cigarette small box packaging paper unbundling and feeding device, the cigarette small box packaging paper unbundling and feeding device includes a whole bundle of small box packaging paper conveyor belt, a six-axis manipulator for transporting whole bundles of small box packaging paper to the whole bundle of small box packaging paper conveyor belt, a plurality of brackets are arranged next to the six-axis manipulator, the cigarette small box packaging paper unbundling and feeding device also includes a lifting fork, and the surrounding area of ​​the highest point of the lifting fork is provided with: a whole bundle of small box packaging paper conveyor belt is provided on the right side at the same horizontal plane as the horizontal fork of the lifting fork, an in-place sensor is provided next to it, and a bundling paper tightening device is provided on the left side, and the bundling paper tightening device is close to the lifting fork. A tensioning suction head is provided near the side of the lifting fork, a bundling paper cutting device is provided just above it, a movable cutting knife is provided on the bundling paper cutting device, a positioning track is provided below, a material level sensor is provided next to the positioning track, the top of the lifting fork is connected to a mirror "D"-shaped drive mechanism with a mirror "D"-shaped motion trajectory through a lifting rod and a sleeve on its periphery, the lifting rod is sliding and lifting in the sleeve, the upper end of the sleeve is fixed in the mirror "D"-shaped drive mechanism, a support frame is fixed to the left side of the lower end of the lifting fork, a rotating bundling paper recovery mechanism is provided below the support frame, and a controller is provided in the unbundling feeding system. The mirror image "D" driving mechanism includes a rotating shaft component 1 and a rotating shaft component 2. The rotating shaft component 1 includes rotating shaft 1, and the rotating shaft component 2 includes rotating shaft 2. The rotating shaft 1 and the rotating shaft 2 are arranged to rotate parallel to the horizontal direction. The left end of the rotating shaft 1 is connected to the driving motor through a transmission mechanism. A track drum is provided on the rotating shaft 1. The axis of the track drum is consistent with the axis of the rotating shaft 1. The outer periphery of the track drum is provided with an "Ω"-shaped groove track connected end to end. A sliding pin that slides along the track is provided in the track. The sliding pin is fixed to one end of the connecting rod. The other end of the connecting rod is connected to a slider. The slider is horizontally slidably arranged on the outer periphery of the rotating shaft 2. A lifting gear is provided in the slider. The lifting gear is horizontally slidably arranged on the rotating shaft 2. The upper end of the sleeve is fixed on the slider at the same time. A lifting rod is provided for sliding in the vertical direction inside, and the end of the lifting rod is a shaft-shaped rack, which is engaged with the lifting gear. A track disk is provided at one end of the rotating shaft one, and a deformable ring track is provided on the side of the track disk. The deformable ring track is a groove connected from end to end. An end tooth is fixed to the right end of the rotating shaft two, and a fan-shaped tooth is engaged on the end tooth. A floating pin facing the track disk is provided on the fan-shaped tooth. The floating pin is slidably set in the groove. When the rotating shaft one rotates, the sliding pin slides along the "Ω"-shaped track, driving the slider, sleeve and its lifting rod to slide in the left and right directions. The rotating shaft one drives the rotating shaft two to rotate intermittently through the fan-shaped teeth. When the fan-shaped teeth rotate, the lifting rod provided on the rotating shaft two is driven to rise and fall, so that the lifting fork moves along the mirror "D"-shaped trajectory.

2. The cigarette small box packaging paper unbundling and feeding system according to claim 1, characterized in that: The lifting fork is an "L"-shaped structure, with a horizontal two-fork structure below, the left side of which is fixed on the lifting rod, and the gap between the horizontal forks of the two-fork structure is greater than the width of the bundling paper.

3. The cigarette small box packaging paper unbundling and feeding system according to claim 1, characterized in that: The paper bundling tightening device is arranged above the support frame, and the paper bundling tightening device includes a cylinder. A tensioning suction head is provided at the end of the cylinder rod of the cylinder. The height of the tensioning suction head is higher than the vertical edge of the left side of the lifting fork and lower than the height of the whole bundle of small box packaging paper on the lifting fork. The bundling paper of the whole bundle of small box packaging paper on the lifting fork is located within the travel range of the cylinder of the paper bundling tightening device.

4. The cigarette small box packaging paper unbundling and feeding system according to claim 1, characterized in that: The bundling paper cutting device includes a rodless cylinder, a movable groove communicating with the inside and outside is provided below or on the side of the rodless cylinder, the length direction of the movable groove is consistent with the length direction of the rodless cylinder, a connecting member moves in the movable groove, a movable platform is provided outside the connecting member, and a movable cutting knife facing the bundling paper is provided on the movable platform.

5. The cigarette small box packaging paper unbundling and feeding system according to claim 1, characterized in that: The bundling paper recycling mechanism includes a rotating cylinder, a rotating rod is fixed on the rotating axis of the rotating cylinder, a bundling paper suction nozzle is provided at the end of the rotating rod, an inclined slide is provided at the lower left side of the rotating cylinder, a recycling box is provided below the inclined slide, and the bundling paper suction cup rotates back and forth between the gap between the two fork structures and the top of the inclined slide.

6. The cigarette small box packaging paper unbundling and feeding system according to claim 2, characterized in that: An in-place sensor is provided beside the lifting fork, and an in-place sensor is provided beside the conveyor belt for the whole bundle of small box packaging papers.

7. The cigarette small box packaging paper unbundling and feeding system according to claim 1, characterized in that: The end of the six-axis manipulator is provided with a suction cup and an identification device, and the identification device is equipped with a dedicated identification system.

8. The cigarette small box packaging paper unbundling and feeding system according to claim 1, characterized in that: A rotation switch is provided at a right end portion of the rotating shaft, and a closed position of the rotation switch is consistent with a stop position of the highest point of the lifting fork.

9. The cigarette small box packaging paper unbundling and feeding system according to claim 1, characterized in that: The lifting gear is spline-connected to the second rotating shaft.

10. A method for unbundling and feeding cigarette small box packaging paper, utilizing the cigarette small box packaging paper unbundling and feeding system according to claim 6, characterized in that: The cigarette small box packaging paper unbundling and feeding method is as follows: 1) After starting the equipment, the six-axis robot moves multiple bundles of small box packaging paper to the bundle conveyor belt of small box packaging paper in sequence; 2) The conveyor belt for the whole bundle of small box packaging paper pushes the whole bundle of small box packaging paper at the front end to the two-fork structure in the horizontal direction of the lifting fork. The in-position sensor detects that the whole bundle of small box packaging paper has arrived on the horizontal fork; 3) The tensioning cylinder of the paper bundling tightening device drives the tensioning suction cup close to the paper bundling, sucking the paper bundling backwards to tighten the paper bundling; 4) The movable cutting knife on the bundle paper cutting device moves to cut the bundle paper; 5) The mirror-image "D"-shaped drive mechanism drives the lifting fork down along the positioning track, places the unbundled small box packaging paper on the track, and moves horizontally to the left. After the lifting fork leaves the positioning track, it rises along the mirror-image "D"-shaped arc trajectory and returns to the starting position; 6) Repeat the above steps 1) to 5) to stack the unbundled cigarette packaging paper in the positioning track; 7) After the track is filled with unbundled small box wrapping paper, wait; 8) When the stacked and unbundled small box packaging papers in the positioning track descend to the material level sensor, continue the above steps 1) to 5).

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