A special-shaped box packing equipment

Abstract

The present invention relates to the technical field of cigarette production equipment, and discloses a cartoning device for special-shaped strips, comprising a cigarette pack conveying platform, a cigarette packing platform, a cigarette pack handling robot, a strip supply and finished product output device, and a strip handling and filling robot. The cigarette pack conveying platform is used to convey cigarette packs; a stacking station and a cartoning station are provided on the cigarette packing platform; the cigarette pack handling robot is used to transport cigarette packs from the cigarette pack conveying platform to the stacking station; the strip supply and finished product output device is used to provide empty strips and transport strips filled with cigarette packs away; the strip handling and filling robot is used to transport empty strips from the strip supply and finished product output device to the cartoning station, and perform box opening, lining paper and tab pulling, strip filling, and box closing operations on the strips, and return the strips filled with cigarette packs to the strip supply and finished product output device. The present invention realizes the automatic cartoning operation of special-shaped strips, improves the cartoning efficiency and quality of the strips, and has good applicability.

Description

Technical Field

[0001] The present invention relates to the technical field of cigarette production equipment, in particular to a special-shaped carton packing device. Background Art

[0002] In traditional cigarette production, the specifications and dimensions of the carton and the cigarette packs it contains are relatively uniform. Therefore, the cartoning operation of the carton is generally completed by a single type of cartoning equipment.

[0003] In recent years, people have an increasingly higher demand for personalized cigarette products, and more and more special-shaped cigarette products have emerged. The specifications and sizes of the cartons and cigarette packs of these special-shaped cigarette products are different. Therefore, the cartoning work of most special-shaped cigarette products needs to be done manually. However, the labor cost is high, the production efficiency is low, and the quality is uneven, which cannot meet market demand. Summary of the Invention

[0004] Based on the above, the purpose of the present invention is to provide a cartoning device for special-shaped strip boxes to solve the technical problems of low efficiency and low quality of cartoning operations for special-shaped strip boxes in the related art.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A cartoning device for special-shaped strip boxes, comprising:

[0007] Cigarette package conveying platform, used for conveying cigarette packages;

[0008] A cigarette packaging platform is provided on one side of the cigarette pack conveying platform, and is provided with a stacking station and a boxing station;

[0009] a cigarette pack handling robot, configured to carry cigarette packs from the cigarette pack conveying platform to the stacking station;

[0010] A carton supply and finished product output device is provided on one side of the cigarette pack conveying platform, and is used to provide empty cartons and transport cartons filled with cigarette packs;

[0011] The carton handling and filling robot is used to transport empty cartons from the carton supply and finished product output device to the carton loading station, and to open the cartons, process the lining paper and pull the tab, fill the cartons, close the cartons, and move the cartons filled with cigarette packs back to the carton supply and finished product output device.

[0012] In some possible embodiments, the stacking station is rectangular, and two adjacent sides of the stacking station are fixedly provided with a first baffle, and the other two adjacent sides are movably provided with a second baffle corresponding to the first baffle, and the second baffle is connected to a first driving member, and the first driving member is used to drive the second baffle close to or away from the first baffle.

[0013] In some possible embodiments, the cartoning station is arranged adjacent to the stacking station, and the cartoning station is movably provided with a clamping baffle, the clamping baffle is positioned opposite to one of the first baffles, and the clamping baffle and the first baffle are used to accommodate the strip box; the clamping baffle is connected to a second driving member, and the second driving member is used to drive the clamping baffle close to or away from the first baffle.

[0014] In some possible embodiments, a pull tab suction cup is provided at one end of the cartoning station, and a liner paper suction cup is provided at the other end; a positioning spring is provided on the side of the cartoning station away from the stacking station, and after the strip box is opened at the cartoning station, the box cover can be hooked by the positioning spring.

[0015] In some possible embodiments, the positioning spring includes an elastic support portion, a transition portion and a hook tongue portion, and the elastic support portion and the hook tongue portion are respectively located on both sides of the transition portion; when the lid is opened, the edge of the box lid first contacts the hook tongue portion, driving the elastic support portion to bend backward, and then the edge of the box lid passes over the hook tongue portion and enters between the transition portion and the hook tongue portion, thereby fixing the position of the box lid.

[0016] In some possible embodiments, a slide rail is further provided on one side of the cartoning station, and the pull tab suction cup is slidably mounted on the slide rail. A horizontally extending connecting plate is provided on the pull tab suction cup, and a locking screw is threaded on the connecting plate for locking the position of the pull tab suction cup.

[0017] In some possible embodiments, the cigarette pack handling robot includes a first robotic arm and a cigarette pack shifting robot arranged at the end of the first robotic arm, the cigarette pack shifting robot includes a base, a first suction cup, a second suction cup and a third driving member, the base is installed at the end of the first robotic arm; the first suction cup is fixed to the bottom of the base; the second suction cup is movably arranged on the base up and down, and is arranged side by side on one side of the first suction cup; the third driving member is fixed on the base, and the output end of the third driving member is fixedly connected to the second suction cup for driving the second suction cup to move up and down.

[0018] In some possible implementations, the strip box supply and finished product output device includes a first conveyor belt and a second conveyor belt that are arranged parallel to each other, and the first conveyor belt and the second conveyor belt rotate in opposite directions.

[0019] In some possible embodiments, the box handling and filling robot includes a second robotic arm and a box handling and opening and closing robot installed at the end of the second robotic arm; the box handling and opening and closing robot includes a main suction cup, an auxiliary suction cup arranged on one side of the main suction cup, and a point suction cup arranged on the top of the main suction cup, the main suction cup is used to adsorb the top surface of the box, the auxiliary suction cup is used to adsorb the side of the box, the angle between the adsorption surface of the main suction cup and the adsorption surface of the auxiliary suction cup is equal to the angle between the top surface and the side surface of the box; the adsorption end of the point suction cup protrudes outward from one side of the main suction cup, and the point suction cup is used to adsorb the lining paper and pull tab in the box.

[0020] In some possible embodiments, the auxiliary suction cup is connected to the main suction cup via a first connecting member, which is L-shaped and includes a horizontal section and a vertical section. The horizontal section is fixedly connected to the top of the main suction cup, and the vertical section is fixedly connected to the side of the auxiliary suction cup that is away from its adsorption surface; the length of the vertical section extending downward relative to the horizontal section is adjustable.

[0021] Beneficial effects of the present invention:

[0022] The special-shaped box cartoning equipment provided by the present invention transports cigarette packs to a position close to the cigarette packing platform via a cigarette pack conveying platform; then, a cigarette pack handling robot transports the cigarette packs to a stacking station and neatly stacks them; then, a box handling and filling robot transports an empty box to a cartoning station, and the box handling and filling robot opens the box lid, pulls out the lining paper and the tab, puts the cigarette packs into the box, puts the lining paper and the tab back into the box, and closes the box lid, etc., and then the box handling and filling robot transports the box filled with cigarette packs to a box supply and finished product output device; finally, the box supply and finished product output device outputs the box filled with cigarette packs. The present invention realizes the automation of the entire cartoning process of the special-shaped box, improves the work efficiency of the special-shaped box cartoning operation, and ensures the cartoning quality; moreover, the present invention is not only applicable to special-shaped boxes with lining paper and tabs, but also to other open-lid special-shaped boxes, and has good applicability and strong scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural diagram of a special-shaped box in the prior art;

[0024] Figure 2 This is a schematic diagram of the structure of the special-shaped box packaging equipment provided by the embodiment of the present invention. Figure 1 ;

[0025] Figure 3 This is a schematic diagram of the structure of the special-shaped box packaging equipment provided by the embodiment of the present invention. Figure 2 ;

[0026] Figure 4 It is a structural schematic diagram of a stacking station and a boxing station provided in an embodiment of the present invention;

[0027] Figure 5 yes Figure 4 Schematic diagram of the stacking station and the boxing station in use;

[0028] Figure 6 This is a schematic structural diagram of a positioning spring and a bar box provided by an embodiment of the present invention;

[0029] Figure 7 yes Figure 4 A partial enlarged view of point A in the middle;

[0030] Figure 8 2 is a schematic structural diagram of a cigarette pack handling robot provided by an embodiment of the present invention;

[0031] Figure 9 2 is a schematic structural diagram of a cigarette pack shifting robot provided by an embodiment of the present invention;

[0032] Figure 10 is a schematic structural diagram of a base provided by an embodiment of the present invention;

[0033] Figure 11 2 is a schematic structural diagram of a strip box supply and finished product output device provided by an embodiment of the present invention;

[0034] Figure 12 2 is a schematic structural diagram of a carton handling and loading robot provided by an embodiment of the present invention;

[0035] Figure 13 This is a schematic diagram of the structure of the box handling and opening and closing robot provided by the embodiment of the present invention. Figure 1 ;

[0036] Figure 14 This is a schematic diagram of the structure of the box handling and opening and closing robot provided by the embodiment of the present invention. Figure 2 ;

[0037] Figure 15 This is a schematic diagram of the structure of the box handling and opening and closing robot provided by the embodiment of the present invention. Figure 3 .

[0038] In the picture:

[0039] 1. Cigarette package conveying platform;

[0040] 2. Cigarette packaging platform; 21. First baffle; 22. Second baffle; 221. First drive member; 23. Stacking station; 24. Clamping baffle; 25. Second drive member; 26. Cartoning station; 27. Pull tab suction cup; 271. Slide rail; 272. Connecting plate; 273. Locking screw; 28. Liner paper suction cup; 29. ​​Positioning spring; 291. Elastic support portion; 292. Transition portion; 293. Hook tongue portion; 201. Pressing piece; 202. Rotating cylinder;

[0041] 3. Cigarette pack handling robot; 31. First robotic arm; 32. Cigarette pack shifting robot; 321. First suction cup; 322. Second suction cup; 323. Third driving member; 324. Base; 3241. Vertical portion; 3242. First horizontal portion; 3243. Second horizontal portion; 3244. First connecting hole; 3245. Second connecting hole; 33. Rotating driving member;

[0042] 4. Strip box supply and finished product output device; 41. First conveyor belt; 42. Second conveyor belt; 43. Strip box frame;

[0043] 5. Carton handling and loading robot; 51. Second robotic arm; 52. Carton handling, opening, and closing robot; 521. Main suction cup; 522. Secondary suction cup; 523. Point suction cup; 524. First connecting piece; 5241. Vertical section; 5242. Horizontal section; 525. Second connecting piece; 5251. First flange; 5252. Second flange; 5253. Connecting tube;

[0044] 100. Cigarette pack; 300. Carton box; 310. Box body; 320. Box lid; 330. Lining paper; 340. Pull tab. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0046] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0047] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0048] In the description of the present invention, terms such as "upper," "lower," "left," and "right" are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0049] like Figure 1 As shown, the prior art provides a strip box 300, which is a special-shaped strip box and includes a box body 310, a box cover 320 reversibly connected to the box body 310, and a lining paper 330 and a pull tab 340 disposed within the box body 310. During the cartoning operation of the strip box 300, the lining paper 330 and the pull tab 340 need to be pulled outward to prevent them from interfering with the packing of the cigarette packs 100. The cigarette packs 100 are then loaded into the box body 310. However, the cartoning equipment in the prior art is unable to pull out the lining paper 330 and the pull tab 340, requiring manual cartoning of the special-shaped strip boxes. This results in high labor costs, low cartoning efficiency, and inconsistent cartoning quality, which cannot meet market demand.

[0050] In response to the above technical issues, such as Figures 2 to 15As shown, this embodiment provides a cartoning device for special-shaped strips, comprising a cigarette pack conveying platform 1, a cigarette packing platform 2, a cigarette pack handling robot 3, a strip box supply and finished product output device 4, and a strip box handling and filling robot 5. The cigarette pack conveying platform 1 is used to convey cigarette packs 100 to a designated location. Optionally, the cigarette pack conveying platform 1 of this embodiment adopts a planar magnetic levitation conveying platform, which can achieve flexible transfer of cigarette packs 100 between different workstations to meet the needs of diversified assembly lines. The cigarette packing platform 2 is arranged on one side of the cigarette pack conveying platform 1, and is provided with a stacking station 23 and a cartoning station 26. The cigarette pack handling robot 3 is used to transport cigarette packs 100 from the cigarette pack conveying platform 1 to the stacking station 23. The strip box supply and finished product output device 4 is arranged on one side of the cigarette pack conveying platform 1, and is used to continuously provide empty strip boxes 300 and transport strip boxes 300 filled with cigarette packs 100. The carton handling and filling robot 5 is used to transport the empty carton 300 from the carton supply and finished product output device 4 to the cartoning station 26, and to open the carton 300, process the lining paper 330 and the pull tab 340, fill the carton 300, close the carton, and move the carton 300 filled with cigarette packs 100 back to the carton supply and finished product output device 4.

[0051] The special-shaped carton packing equipment provided in this embodiment first transports cigarette packs 100 to a position near the cigarette packing platform 2 via the cigarette pack conveying platform 1. A cigarette pack handling robot 3 then moves the cigarette packs 100 to the stacking station 23 and neatly stacks them for subsequent processing. In this embodiment, empty carton packs 300 are pre-stacked in carton racks 43 manually or by external mechanical equipment. The carton racks 43 are then neatly arranged on the carton supply and finished product output device 4, which then transports the empty carton packs 300 to a designated location. The carton transporting and filling robot 5 then transports the empty carton 300 from the aforementioned set position to the cartoning station 26 for fixation. The robot then opens the lid 320 of the carton 300, pulls out the liner 330 and tab 340, loads the cigarette packs 100 from the stacking station 23 into the carton 300, replaces the liner 330 and tab 340, and closes the lid 320 of the carton 300. The carton transporting and filling robot 5 then transports the carton 300, now filled with cigarette packs 100, to the carton supply and finished product dispensing device 4. The carton supply and finished product dispensing device 4 then dispenses the carton 300, now filled with cigarette packs 100, to the next station. The present invention realizes the fully automatic mechanized cartoning action of the special-shaped strip box, improves the work efficiency of the special-shaped strip box cartoning operation, and ensures the cartoning quality; moreover, the present invention is not only applicable to the special-shaped strip box with the lining paper 330 and the pull tab 340, but also applicable to other open-lid special-shaped strip boxes, with good applicability and strong scalability.

[0052] Alternatively, in some embodiments, Figure 3As shown, the cigarette pack conveyor platform 1 is flanked by multiple cartoning mechanisms, consisting of a cigarette packing platform 2, a cigarette pack handling robot 3, a carton supply and finished product output device 4, and a carton handling and filling robot 5. This creates multiple cartoning points along the side of the cigarette pack conveyor platform 1, making it easier to scale the cartoning production line. During operation, the corresponding number of cartoning mechanisms can be activated based on production needs, thereby adjusting the production line's daily output, making it convenient to use.

[0053] Alternatively, in some embodiments, Figure 4-Figure 6 As shown, the stacking station 23 is rectangular. Two adjacent sides of the stacking station 23 are fixedly provided with first baffles 21, and the other two adjacent sides are movably provided with second baffles 22 corresponding to the first baffles 21. The second baffles 22 are connected to the first driving member 221, and the first driving member 221 is used to drive the second baffles 22 towards or away from the first baffle 21. Specifically, there are two first baffles 21 and two second baffles 22, respectively. The four baffles form a rectangular space for stacking cigarette packs 100; two first driving members 221 are arranged behind the two second baffles 22 in a one-to-one correspondence. During operation, after the cigarette packs 100 are placed in the rectangular space enclosed by the first baffles 21 and the second baffles 22, the two first driving members 221 are activated, driving the two second baffles 22 to move toward the first baffle 21 opposite to them, thereby arranging the cigarette packs 100 neatly and facilitating the removal of the cigarette packs 100 in subsequent work. The first driving member 221 may be a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, etc., and a pneumatic cylinder is preferably used in this embodiment.

[0054] Furthermore, the boxing station 26 is positioned adjacent to the stacking station 23. A movable clamping plate 24 is provided at the boxing station 26. The clamping plate 24 is positioned opposite the longer first plate 21, and is used to accommodate the box 300 between the clamping plate 24 and the first plate 21. The clamping plate 24 is connected to a second actuator 25, which is used to drive the clamping plate 24 toward or away from the first plate 21. When the box 300 is transported to the boxing station 26, the second actuator 25 actuates, moving the clamping plate 24 and clamping the box 300, thereby effectively securing the box 300 in place and preventing it from shifting during the lid opening or closing process. The second actuator 25 may be a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, or the like, with a pneumatic cylinder being preferred in this embodiment.

[0055] Optionally, a tab suction cup 27 is provided at one end of the cartoning station 26. When the tab 340 is pulled out of the carton 300, the tab suction cup 27 can hold the tab 340, effectively preventing the tab 340 from bouncing during the process of loading the cigarette packs 100, thereby ensuring smooth cartoning of the cigarette packs 100. Optionally, a liner paper suction cup 28 is provided at the other end of the cartoning station 26. When the liner paper 330 is pulled out of the carton 300, the liner paper suction cup 28 can hold the liner paper suction cup 28, effectively preventing the liner paper 330 from bouncing during the process of loading the cigarette packs 100, thereby ensuring smooth cartoning of the cigarette packs 100.

[0056] Optionally, a positioning spring 29 is provided on the side of the cartoning station 26 away from the stacking station 23. After the strip box 300 is opened at the cartoning station 26, the box cover 320 of the strip box 300 can be hooked by the positioning spring 29, so that the position of the box cover 320 can be fixed, making the box cover 320 inclined, so that the top surface of the strip box 300 can be grasped by the strip box handling and filling robot 5.

[0057] Specifically, the positioning spring 29 includes an elastic support portion 291, a transition portion 292, and a hook portion 293. The elastic support portion 291 and the hook portion 293 are located on either side of the transition portion 292. When opening the box 300, the edge of the lid 320 first contacts the hook portion 293, forcing the elastic support portion 291 to bend backward. This allows the edge of the lid 320 to pass over the hook portion 293 and enter between the transition portion 292 and the hook portion 293, thereby securing the position of the lid 320 and tilting it, facilitating grasping of the top surface of the box 300 by the box handling and loading robot 5. This arrangement prevents the top surface of the lid 320 from contacting the table on which the box 300 is placed after opening, preventing the box handling and loading robot 5 from properly closing the lid, thereby effectively ensuring the smooth progress of the mechanized box loading process. Optionally, two positioning springs 29 are provided at intervals along the length of the box loading station 26. The interval between the two positioning springs 29 matches the length of the box 300 , and the two positioning springs 29 support the box cover 320 at multiple points, thereby improving the stability of the positioning springs 29 supporting the box cover 320 .

[0058] Alternatively, in some embodiments, Figure 4 and Figure 7As shown, a slide rail 271 is provided on one side of the cartoning station 26. A tab suction cup 27 is slidably mounted on the slide rail 271. A horizontally extending connecting plate 272 is provided on the tab suction cup 27. A locking screw 273 is threadedly connected to the connecting plate 272 to lock the position of the tab suction cup 27. During use, the tab suction cup 27 can be moved along the slide rail 271 according to the position of the tab 340 of different cassettes 300. This allows the tab suction cup 27 to be positioned to match the tab 340 within the cassette 300, effectively ensuring that the tab suction cup 27 can hold the tab 340, thereby improving the applicability of the tooling. After adjusting the position of the tab suction cup 27, the locking screw 273 is tightened until the bottom end of the locking screw 273 abuts against the operating table, thereby locking the tab suction cup 27 in place.

[0059] Further, continue to refer to Figure 7 The special-shaped box cartoning device of this embodiment further includes a rotary cylinder 202 disposed on the same side as the tab suction cup 27. A pressing piece 201 is provided on the rotary cylinder 202. When the tab 340 needs to be placed back into the box 300, the rotary cylinder 202 rotates toward the box 300, thereby pressing the tab 340 into the box 300. Compared to using a robot to pull the tab 340 into the box 300, this method is faster and helps to increase the speed of the tab 340 insertion operation.

[0060] Alternatively, in some embodiments, Figures 8-10 As shown, the cigarette pack handling robot 3 includes a first robotic arm 31 and a cigarette pack transfer robot 32 disposed at the end of the first robotic arm 31. The cigarette pack transfer robot 32 includes a base 324, a first suction cup 321, a second suction cup 322, and a third driving member 323. The base 324 is mounted at the end of the first robotic arm 31; the first suction cup 321 is fixed to the bottom of the base 324; the second suction cup 322 is movably disposed on the base 324 and is arranged side by side with the first suction cup 321; the third driving member 323 is fixed to the base 324, and the output end of the third driving member 323 is fixedly connected to the second suction cup 322, used to drive the second suction cup 322 to move up and down. During operation, the first and second suction cups 321, 322 are each connected to an external pressure-supply device via a pipe. This external pressure-supply device enables the first and second suction cups 321, 322 to generate suction, thereby holding the corresponding cigarette packs 100. By moving the second suction cup 322 up and down, the cigarette pack handling robot 3 can pick up one cigarette pack 100 at a time or two cigarette packs 100 simultaneously. The third driving member 323 can be a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, or the like, with a pneumatic cylinder being preferred in this embodiment.

[0061] When the cigarette pack handling robot 3 of this embodiment sucks up the cigarette pack 100, the first suction cup 321 and the second suction cup 322 are flush with each other, and then the two cigarette packs 100 are sucked at the same time. Then the first robotic arm 31 moves the cigarette pack shifting robot 32 to the position corresponding to the stacking station 23, and the third driving member 323 is actuated to drive the second suction cup 322 to move downward. Then the second suction cup 322 releases the cigarette pack 100 and places the corresponding cigarette pack 100 on the stacking station 23. Then the third driving member 323 is actuated to drive the second suction cup 322 to reset. At this time, the cigarette pack 100 on the first suction cup 321 protrudes outward, and then the first robotic arm 31 is actuated to align the cigarette pack 100 on the first suction cup 321 with the set position of the stacking station 23, and then releases the first suction cup 321 to complete the placement of the two cigarette packs 100. In this embodiment, the second suction cup 322 moves up and down, so that the two cigarette packs 100 are offset up and down, so that the cigarette pack handling robot 3 can first place one pack of cigarette packs 100 on the stacking station 23, and then place another pack of cigarette packs 100 on the stacking station 23, meeting the requirement of stacking the cigarette packs 100 in sequence. At the same time, compared with the robot that takes one pack of cigarette packs 100 at a time, the cigarette pack handling robot 3 of this embodiment has higher work efficiency.

[0062] The stacking patterns of cigarette packs 100 on existing cigarette stacks vary. For example, some stacks have all cigarette packs 100 arranged in the same direction, while others have two horizontally adjacent cigarette packs 100 arranged in opposite directions. In the latter case, when the cigarette pack transfer robot 32 picks up a cigarette pack 100, the cigarette packs 100 held by the first suction cup 321 and the cigarette packs 100 held by the second suction cup 322 are arranged in opposite directions, which makes it difficult to box or stack the cigarette packs 100.

[0063] In order to solve the above problems, the cigarette pack handling robot 3 of this embodiment also includes a rotary drive member 33, which is fixedly mounted at the end of the first robotic arm 31, and the output end of the rotary drive member 33 is fixedly connected to the upper end of the base 324, so that the cigarette pack shifting robot 32 can be driven to rotate by the rotary drive member 33, thereby realizing the packing or stacking of the cigarette packs 100 adsorbed on the first suction cup 321 and the second suction cup 322 in the same direction. Specifically, the rotary drive member 33 of this embodiment can drive the base 324 to rotate 180 degrees, thereby realizing a 180-degree turn of the cigarette packs 100 on the first suction cup 321 or the second suction cup 322. Optionally, the rotary drive member 33 of this embodiment is a rotary motor, and the output shaft of the rotary motor is fixedly connected to the top of the base 324, which has a simple structure and is easy to control.

[0064] Alternatively, as Figure 10As shown, the base 324 of this embodiment includes a vertical portion 3241, a first horizontal portion 3242 disposed at the upper end of the vertical portion 3241, and a second horizontal portion 3243 disposed at the lower end of the vertical portion 3241. The first horizontal portion 3242 is fixedly connected to the output shaft of the rotating motor, and the second horizontal portion 3243 is used to fixate to the top of the first suction cup 321. In this embodiment, the first and second horizontal portions 3242, 3243 are both perpendicular to the vertical portion 3241 and located on the same side of the vertical portion 3241, resulting in a rational and compact structure. Furthermore, the first horizontal portion 3242 is provided with a plurality of first connection holes 3244 in a circular array for fastening to the output shaft of the rotating motor via fasteners. The second horizontal portion 3243 is provided with a plurality of second connection holes 3245 in a rectangular array for fastening to the first suction cup 321 via fasteners. The base 324 provided in this embodiment has a simple structure, is easy to connect, and is firmly fixed to the rotating motor and the first suction cup 321 .

[0065] Alternatively, in some embodiments, Figure 11 As shown, the carton supply and finished product output device 4 includes a first conveyor belt 41 and a second conveyor belt 42 arranged parallel to each other, rotating in opposite directions. During operation, the carton 300 is placed in a carton frame 43, which is then neatly placed on the first conveyor belt 41. The carton handling and filling robot 5 removes the carton 300 from the carton frame 43 at the forefront of the first conveyor belt 41. When all the carton 300 in the carton frame 43 have been removed, the carton handling and filling robot 5 moves the carton frame 43 from the first conveyor belt 41 to the forefront of the second conveyor belt 42. After the carton handling and filling robot 5 returns the carton 300 filled with cigarette packs 100 to the carton supply and finished product output device 4, it then moves the carton 300 filled with cigarette packs 100 to an empty carton frame 43 on the second conveyor belt 42, thus forming a cycle and effectively reducing the use of carton frames 43.

[0066] Alternatively, in some embodiments, Figure 12-15 As shown, the carton handling and loading robot 5 includes a second robotic arm 51 and a carton handling, opening and closing robot 52 mounted at the end of the second robotic arm 51. The carton handling, opening and closing robot 52 includes a main suction cup 521, an auxiliary suction cup 522 disposed on one side of the main suction cup 521, and a point suction cup 523 disposed on top of the main suction cup 521. The main suction cup 521 is used to absorb the top surface of the carton 300, and the auxiliary suction cup 522 is used to absorb the side surface of the carton 300. The angle between the absorption surface of the main suction cup 521 and the absorption surface of the auxiliary suction cup 522 is equal to the angle between the top surface and the side surface of the carton 300. The absorption end of the point suction cup 523 protrudes outward from one side of the main suction cup 521, and the point suction cup 523 is used to absorb the lining paper 330 and the pull tab 340 in the carton 300.

[0067] In this embodiment, when transporting a cassette 300, the main suction cup 521 holds the top surface of the lid 320 of the cassette 300, while the auxiliary suction cup 522 holds the side surface of the body 310 of the cassette 300. This improves the stability of the cassette handling and opening / closing robot 52 in grasping the cassette 300. Furthermore, the auxiliary suction cup 522 positions the body 310 of the cassette 300, effectively preventing the cassette 300 from automatically opening during transport and ensuring safety during the handling of irregularly shaped cassettes. Furthermore, the angle between the suction surfaces of the main suction cup 521 and the auxiliary suction cup 522 is set according to the shape of the cassette 300, ensuring that the main suction cup 521 and the auxiliary suction cup 522 are in close contact with the top surface of the cassette 300 and the auxiliary suction cup 522 are in close contact with the side surface of the cassette 300, thereby improving the reliability of the cassette 300 grasping.

[0068] After the carton handling and filling robot 5 transports the carton 300 to the cartoning station 26, the main suction cup 521 absorbs the box cover 320 and the second robotic arm 51 drives the main suction cup 521 to rotate to open the box cover 320, and the point suction cup 523 is used to pull out the pull tab 340 and the lining paper 330 respectively; then the main suction cup 521 absorbs the cigarette pack 100 and the cigarette pack 100 is loaded into the box body 310; then the point suction cup 523 is used to put the pull tab 340 and the lining paper 330 back into the box body 310 respectively, and the main suction cup 521 absorbs the box cover 320 and the second robotic arm 51 drives the main suction cup 521 to rotate in the opposite direction to close the box cover 320; finally, the main suction cup 521 and the auxiliary suction cup 522 suck the carton 300 filled with the cigarette pack 100 and transport it to the carton supply and finished product output device 4.

[0069] In this embodiment, the auxiliary suction cup 522 is specifically used to hold the front side of the box body 310. This effectively prevents the lid 320 from automatically opening during transport, further ensuring safe handling of the box body 300. It should be noted that the side of the box body 310 where it connects to the lid 320 is defined as the rear side of the box body 310, and the side opposite the rear side is defined as the front side of the box body 310. Optionally, the angle between the holding surface of the main suction cup 521 and the holding surface of the auxiliary suction cup 522 in this embodiment ranges from 70 degrees to 110 degrees, for example, 70 degrees, 80 degrees, 85 degrees, 95 degrees, or 110 degrees. The angle can be set based on the shape of the box 300 to be gripped, as long as the main suction cup 521 can reliably hold the top surface of the box 300 and the auxiliary suction cup 522 can reliably hold the side surfaces of the box 300. Preferably, the angle between the adsorption surface of the main suction cup 521 and the adsorption surface of the auxiliary suction cup 522 in this embodiment is 90 degrees, so as to be suitable for use with conventional rectangular boxes.

[0070] Optionally, the main suction cup 521 and auxiliary suction cup 522 of this embodiment are arranged in an L-shape. Specifically, the auxiliary suction cup 522 is connected to the main suction cup 521 via a first connecting member 524. The first connecting member 524 is L-shaped and includes a horizontal section 5242 and a vertical section 5241. The horizontal section 5242 is fixedly connected to the top of the main suction cup 521, and the vertical section 5241 is fixedly connected to the side of the auxiliary suction cup 522 facing away from its suction surface. In this way, a secure connection is achieved between the main suction cup 521 and the auxiliary suction cup 522, while maintaining a simple structure and convenient connection.

[0071] Furthermore, the length of the vertical section 5241 extending downward relative to the horizontal section 5242 is adjustable. During use, the length of the vertical section 5241 extending downward is adjusted according to the height of the box 300, thereby adjusting the adsorption and support position of the auxiliary suction cup 522 on the box 300. This ensures the reliability of the auxiliary suction cup 522 adsorbing the side of the box 300, allowing the box handling and opening and closing robot 52 to be applicable to more types of boxes 300, thereby improving its applicability. For example, the vertical section 5241 can be connected to the horizontal section 5242 by a telescopic rod that extends or retracts to change its length; alternatively, the vertical section 5241 can be connected to the horizontal section 5242 in a sliding manner in the vertical direction. When the vertical section 5241 slides to the appropriate position, the position of the vertical section 5241 relative to the horizontal section 5242 can be locked by a fastener.

[0072] Furthermore, the cassette handling and opening / closing robot 52 of this embodiment also includes a second connecting member 525. The second connecting member 525 comprises a connecting tube 5253, a first flange 5251 disposed at the upper end of the connecting tube 5253, and a second flange 5252 disposed at the lower end of the connecting tube 5253. The first flange 5251 is fixedly connected to the end of the second robotic arm 51 via fasteners, and the second flange 5252 is fixedly connected to the top of the main suction cup 521 via fasteners. The second connecting member 525 has a simple structure and is easy to manufacture, thereby achieving a secure and reliable connection between the cassette handling and opening / closing robot 52 and the second robotic arm 51.

[0073] The working process of the special-shaped box packing device provided in this embodiment is as follows:

[0074] 1) The cigarette pack conveying platform 1 conveys the cigarette pack 100 to a designated location for the cigarette pack handling robot 3 to pick up.

[0075] 2) The cigarette pack transporting robot 3 transports the cigarette packs 100 to the stacking station 23 according to the set path and stacks them neatly.

[0076] 3) The first driving member 221 is actuated to drive the second baffle 22 to move toward the first baffle 21 , thereby arranging the cigarette packs 100 in the stacking station 23 in order.

[0077] 4) The carton handling and filling robot 5 takes the carton 300 from the carton frame 43 on the first conveyor belt 41 in sequence according to the set path (Note: in the initial state, a carton frame 43 full of empty carton 300 is placed on the end of the first conveyor belt 41 close to the carton handling and filling robot 5, and an empty carton frame 43 is placed on the end of the second conveyor belt 42 close to the carton handling and filling robot 5), and transports the carton 300 to the cartoning station 26.

[0078] 5) The second driving member 25 is actuated to drive the clamping baffle 24 to move toward the first baffle 21 , thereby clamping the bar cassette 300 .

[0079] 6) The carton handling and loading robot 5 moves along a preset trajectory, sequentially completing the following actions: opening the carton 300, pulling the liner 330 out of the carton 300 (and being sucked and fixed by the liner suction cup 28), pulling the tab 340 out of the carton 300 (and being sucked and fixed by the tab suction cup 27), placing the cigarette pack 100 into the carton 300, pulling the liner 330 into the carton 300, pulling the tab 340 into the carton 300 (the rotary cylinder 202 can also be used to drive the pressing plate 201 to rotate, thereby sweeping the tab 340 into the carton 300), closing the carton 300, and transporting the carton 300 to the carton frame 43 on the second conveyor belt 42. When all the empty carton 300 in the carton frame 43 on the first conveyor belt 41 have been removed, the carton handling and loading robot 5 transports the empty carton frame 43 to the second conveyor belt 42.

[0080] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A cartoning device for special-shaped strips, characterized in that: include: A cigarette pack conveying platform (1) for conveying cigarette packs (100); A cigarette packing platform (2) is arranged on one side of the cigarette pack conveying platform (1), and a stacking station (23) and a packing station (26) are provided on the cigarette packing platform (2); a cigarette pack handling robot (3) for handling cigarette packs (100) from the cigarette pack conveying platform (1) to the stacking station (23); a carton supply and finished product output device (4), arranged on one side of the cigarette pack conveying platform (1), for providing empty carton (300) and transporting carton (300) filled with cigarette packs (100); A carton handling and filling robot (5) is used to carry empty carton (300) from the carton supply and finished product output device (4) to the cartoning station (26), and to open the carton (300), process the lining paper (330) and the pull tab (340), fill the carton (300), close the carton, and carry the carton (300) filled with cigarette packs (100) back to the carton supply and finished product output device (4).

2. The special-shaped box packing equipment according to claim 1, characterized in that: The stacking station (23) is rectangular, and two adjacent sides of the stacking station (23) are fixedly provided with first baffles (21), and the other two adjacent sides are movably provided with second baffles (22) corresponding to the first baffles (21), and the second baffles (22) are connected to a first driving member (221), and the first driving member (221) is used to drive the second baffle (22) to approach or move away from the first baffle (21).

3. The special-shaped box packing equipment according to claim 2, characterized in that: The box loading station (26) is arranged adjacent to the stacking station (23), and the box loading station (26) is movably provided with a clamping baffle (24), and the clamping baffle (24) is opposite to one of the first baffles (21), and the clamping baffle (24) and the first baffle (21) are used to accommodate the box (300); the clamping baffle (24) is connected to a second driving member (25), and the second driving member (25) is used to drive the clamping baffle (24) to approach or move away from the first baffle (21).

4. The special-shaped box packing equipment according to claim 1, characterized in that: A tab suction cup (27) is provided at one end of the box loading station (26), and a lining paper suction cup (28) is provided at the other end; a positioning spring piece (29) is provided on the side of the box loading station (26) away from the stacking station (23); after the strip box (300) is opened at the box loading station (26), the box cover (320) of the strip box (300) can be hooked by the positioning spring piece (29).

5. The special-shaped box packing equipment according to claim 4, characterized in that: The positioning spring piece (29) includes an elastic supporting portion (291), a transition portion (292) and a hook tongue portion (293), wherein the elastic supporting portion (291) and the hook tongue portion (293) are respectively located on both sides of the transition portion (292); when the cover is opened, the edge of the box cover (320) of the box (300) first contacts the hook tongue portion (293), driving the elastic supporting portion (291) to bend backward, thereby causing the edge of the box cover (320) to pass over the hook tongue portion (293) and enter between the transition portion (292) and the hook tongue portion (293), thereby fixing the position of the box cover (320).

6. The special-shaped box packing equipment according to claim 4, characterized in that: A slide rail (271) is further provided on one side of the box loading station (26), and the pull-tab suction cup (27) is slidably mounted on the slide rail (271). A horizontally extending connecting plate (272) is provided on the pull-tab suction cup (27), and a locking screw (273) is screwed on the connecting plate (272) for locking the position of the pull-tab suction cup (27).

7. The special-shaped box packing equipment according to claim 1, characterized in that: The cigarette pack handling robot (3) comprises a first mechanical arm (31) and a cigarette pack shifting manipulator (32) arranged at the end of the first mechanical arm (31); the cigarette pack shifting manipulator (32) comprises a base (324), a first suction cup (321), a second suction cup (322) and a third driving member (323); the base (324) is mounted at the end of the first mechanical arm (31); the first suction cup (321) is fixed to the bottom of the base (324); the second suction cup (322) is movably arranged on the base (324) and arranged side by side on one side of the first suction cup (321); the third driving member (323) is fixed on the base (324); the output end of the third driving member (323) is fixedly connected to the second suction cup (322) and is used to drive the second suction cup (322) to move up and down.

8. The special-shaped box packing equipment according to claim 1, characterized in that: The strip box supply and finished product output device (4) comprises a first conveyor belt (41) and a second conveyor belt (42) arranged parallel to each other, and the first conveyor belt (41) and the second conveyor belt (42) rotate in opposite directions.

9. The special-shaped box packing equipment according to claim 1, characterized in that: The strip box handling and filling robot (5) comprises a second mechanical arm (51) and a strip box handling opening and closing mechanical arm (52) installed at the end of the second mechanical arm (51); the strip box handling opening and closing mechanical arm (52) comprises a main suction cup (521), a secondary suction cup (522) arranged on one side of the main suction cup (521) and a point suction cup (523) arranged on the top of the main suction cup (521), wherein the main suction cup (521) is used to absorb the strip box (300) The auxiliary suction cup (522) is used to absorb the side surface of the strip box (300), and the angle between the absorption surface of the main suction cup (521) and the absorption surface of the auxiliary suction cup (522) is equal to the angle between the top surface and the side surface of the strip box (300); the absorption end of the point suction cup (523) protrudes outward from one side of the main suction cup (521), and the point suction cup (523) is used to absorb the lining paper (330) and the pull tab (340) in the strip box (300).

10. The special-shaped box packing equipment according to claim 9, characterized in that: The auxiliary suction cup (522) is connected to the main suction cup (521) via a first connecting member (524). The first connecting member (524) is L-shaped and includes a horizontal section (5242) and a vertical section (5241). The horizontal section (5242) is fixedly connected to the top of the main suction cup (521), and the vertical section (5241) is fixedly connected to the side of the auxiliary suction cup (522) away from its adsorption surface. The length of the vertical section (5241) extending downward relative to the horizontal section (5242) is adjustable.

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