Cigarette pack feeding system

Abstract

The present invention discloses a cigarette pack feeding system, which relates to the technical field of tobacco production equipment. The cigarette pack feeding system includes at least two cigarette pack feeding devices, a cigarette pack conveying device and a handling robot. The cigarette pack feeding device includes a feeding and conveying mechanism for conveying a cigarette pack frame loaded with cigarette packs to a cigarette pack grabbing position. The at least two cigarette pack feeding devices can convey different types of cigarette packs. The cigarette pack conveying device includes a conveying platform and a cigarette pack conveying mold box. The cigarette pack conveying mold box is arranged on the conveying platform. The conveying platform can drive the cigarette pack conveying mold box to move between the cigarette pack grabbing position and the cigarette packing box position. The cigarette pack conveying mold box includes at least two types of cigarette pack placement positions to place different types of cigarette packs. The handling robot is arranged at one end of the conveying platform, and is used to sequentially grab the cigarette packs in the cigarette pack frame conveyed to the cigarette pack grabbing position and place them in the cigarette pack conveying mold box. At least two cigarette pack feeding devices are arranged around the side of the handling robot.

Description

Technical Field

[0001] The present invention relates to the technical field of tobacco production equipment, and in particular to a cigarette packet feeding system. Background Art

[0002] As the demand for personalized cigarette products becomes higher and higher, there are more and more types of special-shaped cigarette products, such as flip-top, split-type, etc. In the production process of special-shaped cigarette products, different types of cigarette packs are generally placed in different types of cartons, and different types of cigarette packs have different size specifications.

[0003] Existing cigarette pack feeding systems can generally only be used for feeding one type of cigarette pack. One type of carton requires one cigarette pack feeding system. However, the total production volume of special-shaped cigarette products is low, resulting in increased production costs of special-shaped cigarette products. Summary of the Invention

[0004] The object of the present invention is to provide a cigarette pack feeding system, which can simultaneously convey different types of cigarette packs to cigarette packaging boxes, thereby improving the cigarette packaging box feeding efficiency and reducing the production cost of special-shaped cigarette products.

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

[0006] Cigarette packet feeding system, comprising:

[0007] At least two cigarette pack feeding devices, each comprising a feeding and conveying mechanism for conveying a cigarette pack frame loaded with cigarette packs to a cigarette pack grabbing position, wherein the at least two cigarette pack feeding devices are capable of conveying cigarette packs of different types;

[0008] The cigarette pack conveying device includes a conveying platform and a cigarette pack conveying mold box. The cigarette pack conveying mold box is arranged on the conveying platform and can be driven by the conveying platform to move between the cigarette pack grabbing position and the cigarette packing position. The cigarette pack conveying mold box includes at least two types of cigarette pack placement positions for placing different types of cigarette packs.

[0009] A transport robot is provided at one end of the conveying platform, and at least two of the cigarette pack supply devices are arranged around the transport robot. The transport robot is used to sequentially grab the cigarette packs in the cigarette pack frame conveyed to the cigarette pack grabbing position and place them in the cigarette pack conveying mold box.

[0010] As an optional solution of the cigarette pack feeding system, the cigarette pack conveying mold box includes:

[0011] base,

[0012] At least two limiting assemblies, at least two of which are enclosed around the base to form an enclosed space for placing cigarette packets, the limiting assemblies comprising a connecting portion and a limiting portion, the connecting portion being connected to the base, the limiting portion extending from one side of the connecting portion in a direction perpendicular to the bottom surface of the base for limiting the position of the cigarette packets;

[0013] An adjusting and fixing structure is provided in the circumference of the base. The adjusting and fixing structure is connected to the connecting portion and is used to adjust the distance between the connecting portion and the center of the base and to fix the connecting portion to the base.

[0014] As an optional solution for the cigarette pack feeding system, the adjustment and fixing structure includes an adjustment screw, a first threaded hole and an adjustment hole. The connecting part is configured as a connecting plate parallel to the bottom surface of the base. One of the connecting plate and the bottom surface of the base is provided with a first threaded hole, and the other is provided with an adjustment hole. The adjustment hole extends from the outer edge of the base to the inner side of the base, and the adjustment screw passes through the adjustment hole and is threadedly connected to the first threaded hole.

[0015] As an optional solution for the cigarette pack feeding system, a limiting groove is provided on the circumference of the base, the connecting portion cooperates with the limiting groove, and the limiting groove is used to limit the movement of the limiting assembly along an adjustment direction perpendicular to the connecting portion.

[0016] As an optional solution for the cigarette pack feeding system, the cigarette pack conveying mold box includes a base, on which a first accommodating space and a second accommodating space arranged in a cross shape are provided. The bottom areas of the first accommodating space and the second accommodating space are different. The first accommodating space is used to place the first type of cigarette pack, and the second accommodating space is used to place the second type of cigarette pack. The first type of cigarette pack and the second type of cigarette pack occupy different areas when placed horizontally. Either the first accommodating space or the second accommodating space can be used selectively.

[0017] As an optional solution of the cigarette pack feeding system, the cigarette pack conveying mold box also includes a baffle assembly, and the baffle assembly includes at least two baffle plates, and at least two of the baffle plates are arranged around the circumference of the base to form the first accommodating space or the second accommodating space.

[0018] As an optional solution for the cigarette pack feeding system, the enclosure assembly includes four baffle plates, with one baffle plate being arranged at each of the four corners of the first accommodating space and the second accommodating space; the baffle plates include a first baffle plate and a second baffle plate arranged vertically, and when the cigarette pack is placed horizontally, the adjacent two sides of the cigarette pack respectively abut against the first baffle plate and the second baffle plate.

[0019] As an optional solution for the cigarette pack feeding system, the base is provided with a first groove and a second groove arranged in a cross shape, the first groove forms the first accommodating space, and the second groove forms the second accommodating space.

[0020] As an optional solution for the cigarette pack feeding system, the handling robot includes a robotic arm and a robotic arm installed at the end of the robotic arm, the robotic arm includes a picking body, the picking body includes at least one picking position, the picking position includes a first adsorption surface and a second adsorption surface arranged vertically, the first adsorption surface is provided with a first adsorption hole, the second adsorption surface is provided with a second adsorption hole, a negative pressure channel is provided in the picking body, the first adsorption hole and the second adsorption hole are both connected to the negative pressure channel, and the negative pressure channel is connected to an external negative pressure source.

[0021] As an optional solution of the cigarette pack feeding system, the picking body includes a horizontal connector and a vertical connector, one end of the vertical connector is connected to the middle of the horizontal connector to form a picking position on each side of the vertical connector.

[0022] As an optional solution of the cigarette pack feeding system, the robot also includes a base, on which a driving member and a first support rod are provided, and on which at least two picking bodies are provided. The driving member can drive at least two picking bodies to move to adjust the distance between the picking bodies.

[0023] As an optional solution of the cigarette pack feeding system, the cigarette pack supply device also includes a recovery conveying mechanism and an intermediate conveying mechanism. The intermediate conveying mechanism is arranged between the supply conveying mechanism and the recovery conveying mechanism, and is used to convey the empty cigarette pack frame after grabbing the cigarette pack at the cigarette pack grabbing position to the recovery conveying mechanism. The recovery conveying mechanism is used to convey the empty cigarette pack frame to the cigarette pack frame recovery position.

[0024] As an optional solution of the cigarette pack feeding system, the cigarette pack supply device also includes a frame, the supply conveying mechanism and the recovery conveying mechanism are arranged at intervals along the height direction of the frame, and the supply conveying mechanism is located above the recovery conveying mechanism, and the intermediate conveying mechanism is arranged at one end of the frame close to the handling robot, and the conveying directions of the supply conveying mechanism and the recovery conveying mechanism are opposite.

[0025] As an optional solution for the cigarette pack feeding system, the intermediate conveying mechanism includes two lifting and conveying components arranged at intervals, the spacing between the two lifting and conveying components is greater than or equal to the length of the cigarette pack frame, and the two lifting and conveying components can convey the cigarette pack frame by synchronous movement.

[0026] Beneficial effects of the present invention:

[0027] The cigarette pack feeding system provided by the present invention comprises at least two cigarette pack feeding devices, each for conveying cigarette pack frames loaded with different types of cigarette packs. The at least two cigarette pack feeding devices are arranged around the periphery of a handling robot, which is arranged at one end of a conveying platform of the cigarette pack conveying device. The handling robot can convey different types of cigarette packs from the cigarette pack frames to a cigarette pack conveying mold box on the conveying platform. The cigarette pack conveying mold box includes at least two types of cigarette pack placement positions for placing different types of cigarette packs. The conveying platform drives the cigarette pack conveying mold box to move between a cigarette pack grabbing position and a cigarette packing position to receive different types of cigarette packs and convey different types of cigarette packs to the cigarette packing position, thereby realizing the feeding of cigarette packs. The system has a wider applicability, improves the feeding efficiency of different types of cigarette packs, and reduces the production cost of low-production, special-shaped cigarette products. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the structure of a cigarette packet feeding system provided by an embodiment of the present invention;

[0029] Figure 2 is a structural schematic diagram of a cigarette packet supply device provided by an embodiment of the present invention;

[0030] Figure 3 This is a side view of the intermediate conveying mechanism conveying a cigarette packet frame provided by an embodiment of the present invention;

[0031] Figure 4 1 is a schematic structural diagram of a transport robot provided by an embodiment of the present invention;

[0032] Figure 5 is a cross-sectional view of a pickup body provided by an embodiment of the present invention;

[0033] Figure 6 is a schematic structural diagram of multiple picking bodies provided by an embodiment of the present invention;

[0034] Figure 7 Schematic diagram of the structure of the manipulator provided by an embodiment of the present invention;

[0035] Figure 8 It is a schematic structural diagram of a plurality of picking bodies provided by an embodiment of the present invention connected by a hinge quadrilateral structure;

[0036] Figure 9 This is a structural diagram of a first type of cigarette pack conveying mold box provided by an embodiment of the present invention for placing a first type of cigarette pack;

[0037] Figure 10 This is a structural diagram of a first cigarette pack conveying mold box provided by an embodiment of the present invention;

[0038] Figure 11 This is a structural diagram of a first type of cigarette pack placed in a first accommodating space of a second type of cigarette pack conveying mold box provided by an embodiment of the present invention;

[0039] Figure 12 This is a structural diagram of a second type of cigarette pack placed in a second accommodating space of a second type of cigarette pack conveying mold box provided by an embodiment of the present invention;

[0040] Figure 13 It is a structural schematic diagram of the third cigarette pack conveying mold box provided by an embodiment of the present invention.

[0041] In the picture:

[0042] 100, cigarette pack; 101, first type cigarette pack; 102, second type cigarette pack;

[0043] 200, cigarette pack frame;

[0044] 1. Cigarette pack supply device; 11. Supply conveyor mechanism; 12. Recovery conveyor mechanism; 13. Intermediate conveyor mechanism; 131. Lifting conveyor belt; 132. Lifting driving wheel; 133. Lifting driven wheel; 134. Support plate; 14. Frame;

[0045] 2. Cigarette packet conveying device; 21. Conveying platform; 22. Cigarette packet conveying mold box; 221. Base; 2211. Protrusion; 2212. First groove; 2213. Second groove; 2214. Scale line; 222. Limiting assembly; 2221. Connecting portion; 2222. Limiting portion; 2223. First threaded hole; 2224. Adjusting hole; 223. Circular magnet block; 224. Enclosure assembly; 2241. First baffle; 2242. Second baffle;

[0046] 3. Handling robot; 31. Robotic arm; 32. Robotic hand; 321. Picking body; 3211. First adsorption surface; 3212. Second adsorption surface; 3213. Negative pressure channel; 3214. Negative pressure connector; 3215. First adsorption hole; 3216. Second adsorption hole; 322. Base; 3221. First support rod; 3222. Second support rod; 323. Driving member; 3231. First driving rod; 3232. Second driving rod; 324. Hinge quadrilateral structure; 325. First connecting block; 326. Second connecting block. DETAILED DESCRIPTION

[0047] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but are not to be construed as limiting the present invention.

[0048] In the description of the present invention, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, 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 for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0049] Unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed or removable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0050] 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. Furthermore, 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.

[0051] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0052] like Figure 1As shown, this embodiment provides a cigarette pack feeding system, including a cigarette pack feeding device 1, a cigarette pack conveying device 2 and a handling robot 3. The cigarette packs 100 are placed in a cigarette pack frame 200 by manual or mechanical filling, and then transported to the cigarette pack feeding device 1. The cigarette pack feeding device 1 transports the cigarette pack frame 200 loaded with the cigarette packs 100 to the cigarette pack grabbing position. The handling robot 3 is arranged at the cigarette pack grabbing position. The handling robot 3 is arranged between the cigarette pack feeding device 1 and the cigarette pack conveying device 2. The handling robot 3 is used to transport the cigarette packs 100 to the cigarette pack grabbing position. The cigarette packs 100 in the cigarette pack frame 200 sent to the cigarette pack grabbing position are grabbed and placed in turn on the cigarette pack conveying device 2. The cigarette pack conveying device 2 includes a conveying platform 21 and a cigarette pack conveying mold box 22. The cigarette packs 100 grabbed by the handling robot 3 are placed in the cigarette pack conveying mold box 22. The cigarette pack conveying mold box 22 is arranged on the conveying platform 21. The conveying platform 21 can drive the cigarette pack conveying mold box 22 to move between the cigarette pack grabbing position and the cigarette packaging box position to realize feeding to the cigarette pack packaging machine, so that the cigarette pack packaging machine can pack the cigarette packs 100 into the strip box.

[0053] The existing cigarette pack feeding system can only supply one type of cigarette pack 100, and the manufacturing cost is high for special-shaped cigarette products with low production volume.

[0054] In order to solve the above technical problems, the cigarette pack feeding system provided in this embodiment is provided with a handling robot 3 at one end of the conveying platform 21, and at least two cigarette pack supply devices 1 are arranged around the handling robot 3. The at least two cigarette pack supply devices 1 can convey different types of cigarette packs 100. For example, a cigarette pack supply device 1 is provided on each of the opposite sides of the handling robot 3. The two cigarette pack supply devices 1 can be used to convey different types of cigarette packs 100, or to convey the same type of cigarette packs 100, which has wider applicability and greater flexibility. For special-shaped cigarette products with a smaller production volume, each cigarette pack supply device 1 conveys one type of cigarette pack 100, and the two cigarette pack supply devices 1 can simultaneously convey two different types of cigarette packs 100. For special-shaped cigarette products or ordinary cigarette products with a larger production volume, the two cigarette pack supply devices 1 can both be used to convey the same type of cigarette packs 100.

[0055] The handling robot 3 is arranged at one end of the conveying platform 21. A plurality of cigarette pack conveying mold boxes 22 are provided on the conveying platform 21. The plurality of cigarette pack conveying mold boxes 22 can be arranged at intervals along a straight path or a circular path. The conveying component on the conveying platform drives the plurality of cigarette pack conveying mold boxes 22 to move back and forth between the cigarette pack grabbing position and the cigarette packaging box position along a straight path or a circular path.

[0056] In this embodiment, the conveying platform 21 is a planar magnetic levitation conveying platform. This platform is highly maneuverable, flexible, and independent, enabling it to transport different types of cigarette packs 100 to their respective corresponding cigarette packaging locations. It should be noted that the specific structure and conveying principles of the planar magnetic levitation conveying platform are already known in the art and will not be further elaborated upon here.

[0057] Of course, in other embodiments, the conveying assembly may also be a conveying assembly that cooperates with a conveying wheel and a conveying belt.

[0058] In one embodiment, if Figure 2 and Figure 3 As shown, the cigarette pack supply device 1 includes a frame 14, a supply conveyor mechanism 11, a recovery conveyor mechanism 12, and an intermediate conveyor mechanism 13. The supply conveyor mechanism 11, the recovery conveyor mechanism 12, and the intermediate conveyor mechanism 13 are all mounted on the frame 14. The supply conveyor mechanism 11 is used to convey cigarette pack frames 200 loaded with cigarette packs 100 to the cigarette pack grabbing position. The intermediate conveyor mechanism 13 is located between the supply conveyor mechanism 11 and the recovery conveyor mechanism 12 and is used to convey empty cigarette pack frames 200, after grabbing cigarette packs 100 at the cigarette pack grabbing position, to the recovery conveyor mechanism 12. The recovery conveyor mechanism 12 is used to convey empty cigarette pack frames 200 to the cigarette pack frame 200 recovery position. This cigarette pack supply device 1 not only automatically conveys cigarette packs 100 but also automatically recovers cigarette pack frames 200, reducing manual labor intensity and improving production efficiency.

[0059] Furthermore, the supply conveyor mechanism 11 and the recovery conveyor mechanism 12 are spaced apart along the height direction of the frame 14, with the supply conveyor mechanism 11 located above the recovery conveyor mechanism 12. The intermediate conveyor mechanism 13 is located at the end of the frame 14 close to the handling robot 3, and the supply conveyor mechanism 11 and the recovery conveyor mechanism 12 have opposite conveying directions. This arrangement not only saves the occupied area of ​​the cigarette pack supply device 1, but also allows empty cigarette pack frames 200 to be directly loaded into the cigarette pack frame position after being transported by the recovery conveyor mechanism 12 to the cigarette pack frame recovery position. This achieves the recycling of cigarette pack frames 200, shortens the distance between the cigarette pack frame recovery position and the cigarette pack frame position, increases the recycling speed of cigarette pack frames 200, and further improves the supply efficiency of cigarette packs 100.

[0060] Specifically, the frame 14 includes a first support frame and a second support frame, which are spaced apart along the height direction of the frame 14, with the first support frame being higher than the second support frame. The supply conveying mechanism 11 is arranged on the first support frame, and the recovery conveying mechanism 12 is arranged on the second support frame.

[0061] The feed conveyor mechanism 11 includes a feed drive wheel, a feed driven wheel, and a feed conveyor belt. The feed drive wheel and the feed driven wheel are respectively located at both ends of the first support frame. The feed conveyor belt is wound between the feed drive wheel and the feed driven wheel. The feed drive wheel rotates, driving the feed driven wheel through the feed conveyor belt, which reciprocates along the extension direction of the first support frame. At the cigarette packaging frame position, a cigarette pack 200 loaded with cigarette packs 100 is placed on the feed conveyor belt. The feed conveyor belt then transports the cigarette pack 200 from the cigarette packaging frame position to the cigarette pack grabbing position.

[0062] Furthermore, supply baffles are provided on both sides of the supply conveyor belt. The spacing between the two supply baffles matches the length of the cigarette pack frame 200 to ensure that the cigarette pack frame 200 does not deflect to the sides during the supply conveyor belt's transportation. This prevents the cigarette pack frame 200 from getting stuck at a certain position on the supply conveyor belt and causing subsequent cigarette pack frames 200 to be blocked on the supply conveyor belt, thereby ensuring that the cigarette pack frame 200 can be smoothly transported to the cigarette pack grabbing position.

[0063] The recovery conveyor mechanism 12 includes a recovery drive wheel, a recovery driven wheel, and a recovery conveyor belt. The recovery drive wheel and the recovery driven wheel are respectively located at each end of the second support frame. The recovery conveyor belt is wound between the recovery drive wheel and the recovery driven wheel. The rotation of the recovery drive wheel drives the recovery driven wheel through the recovery conveyor belt, and the recovery conveyor belt reciprocates along the extension direction of the second support frame. The recovery conveyor belt can receive empty cigarette pack frames 200 from the intermediate conveyor mechanism 13 and transport the empty cigarette pack frames 200 to the cigarette pack frame recovery position.

[0064] Furthermore, recovery baffles are provided on both sides of the recovery conveyor belt, and the spacing between the two recovery baffles is adapted to the length of the cigarette pack frame 200 to ensure smooth transportation of the cigarette pack frame 200 during the process of the recovery conveyor belt transporting the cigarette pack frame 200.

[0065] In one embodiment, the intermediate conveying mechanism 13 includes two lifting and conveying components arranged at intervals, and the spacing between the two lifting and conveying components is greater than or equal to the length of the cigarette pack frame 200. The two lifting and conveying components can convey the cigarette pack frame 200 by synchronous movement, so that the cigarette pack frame 200 on the supply conveying mechanism 11 can be smoothly conveyed to the two lifting and conveying components, and the cigarette pack frame 200 is jointly conveyed to the recovery conveying mechanism 12 by the two lifting and conveying components.

[0066] Of course, in other embodiments, the intermediate conveying mechanism 13 may also be configured as a car-type elevator.

[0067] In one embodiment, the lifting and conveying assembly includes a lifting driving wheel 132, a lifting driven wheel 133, and a lifting conveyor belt 131. The lifting driving wheel 132 and the lifting driven wheel 133 are spaced apart along the height direction of the frame 14. The lifting conveyor belt 131 is wound between the lifting driving wheel 132 and the lifting driven wheel 133. A support plate 134 is provided on the side of the lifting conveyor belt 131 facing away from the lifting driving wheel 132 and the lifting driven wheel 133. The support plate 134 extends from the conveying surface of the lifting conveyor belt 131 in a direction perpendicular to the conveying surface of the lifting conveyor belt 131. The rotation of the lifting driving wheel 132 drives the rotation of the lifting driven wheel 133 through the lifting conveyor belt 131, and the lifting conveyor belt 131 reciprocates along the height direction of the frame 14. The support plates 134 on the two lifting and conveying assemblies jointly support the cigarette pack frame 200.

[0068] Of course, in other embodiments, the supply conveyor belt, the recovery conveyor belt and the lifting conveyor belt 131 can also be set as a conveyor chain structure, which has the same effect.

[0069] In this embodiment, the driving motors of the supply driving wheel, the recovery driving wheel and the lifting driving wheel 132 are all stepper motors or servo motors, so as to facilitate the control of the conveying distance of the conveyor belt.

[0070] In one embodiment, a lifting plate (not shown) is provided on the side of the support tray 134 away from the frame 14. During the conveying process, the supply conveyor belt continuously transports the cigarette pack frames 200 toward the intermediate conveying mechanism 13 until the cigarette pack frame 200 at the front end is conveyed onto the two support trays 134. The lifting plate limits the forward movement of the cigarette pack frame 200 to prevent the cigarette pack frame 200 from sliding off the support tray 134.

[0071] When the supply conveyor mechanism 11 delivers the cigarette pack frame 200 loaded with cigarette packets 100 to the intermediate conveyor mechanism 13, and the cigarette pack frame 200 loaded with cigarette packets 100 is at the set height of the intermediate conveyor mechanism 13, the cigarette pack frame 200 is located at the cigarette pack grabbing position. That is, the cigarette pack grabbing position is set on the intermediate conveyor mechanism 13. After the supply conveyor mechanism 11 delivers the cigarette pack frame 200 loaded with cigarette packets 100 to the support pallet 134, the driving motor drives the lifting drive wheel 132, so that the lifting conveyor belt 131 drives the cigarette pack frame 200 loaded with cigarette packets 100 to rise and fall through the support pallet 134. When the cigarette pack frame 200 is at the set height, the handling robot 3 can just grab the cigarette packets 100 on the top layer of the cigarette pack frame 200. At this time, the two lifting conveyor belts 131 stop moving, waiting for the handling robot 32 to grab the cigarette packets 100. Furthermore, after the top layer of cigarette packs 100 are grabbed, the two lifting conveyor belts 131 are controlled to move synchronously, driving the cigarette pack frame 200 to rise, so that the grabbing height of the transport robot 32 remains unchanged, and the next layer of cigarette packs 100 can be grabbed. This cycle is repeated until all the cigarette packs 100 in the cigarette pack frame 200 are grabbed. This setting reduces the control difficulty of the transport robot 3.

[0072] Of course, in other embodiments, the cigarette pack grabbing position may also be located on the supply and conveying mechanism 11 , or between the supply and conveying mechanism 11 and the intermediate conveying mechanism 13 .

[0073] In one embodiment, when the two support pallets 134 on the two lifting conveyor belts 131 jointly receive the cigarette pack frame 200 transmitted from the supply conveyor belt, the two lifting conveyor belts 131 are controlled to move so that the two support pallets 134 have a certain height difference, so that the cigarette pack frame 200 located at the cigarette pack grabbing position is tilted to one side, and the handling robot 3 grabs the cigarette packs 100 in sequence along the tilt direction. After grabbing part of the cigarette packs 100, the remaining part of the cigarette packs 100 in the cigarette pack frame 200 has a tendency to tilt to one side, so as to avoid the collapse of the remaining part of the cigarette packs 100 and affect the grabbing of the handling robot 32, thereby ensuring that the handling robot can smoothly grab the cigarette packs 100.

[0074] In one embodiment, a plurality of support pallets 134 are arranged at intervals on the lifting conveyor belt 131, and the spacing between two adjacent support pallets 134 on the lifting conveyor belt 131 is the same. For example, three support pallets 134 are arranged on each lifting conveyor belt 131. When conveying the cigarette pack frame 200, the three support pallets 134 on the two lifting conveyor belts 131 correspond to each other, and two corresponding support pallets 134 form a group. There are three groups in total. When the first group is close to the supply conveying mechanism 11, it is used to receive the cigarette pack frame 200. When the cigarette packs 100 in the cigarette pack frame 200 are grasped by the handling robot 3, the two lifting conveyor belts 131 move synchronously to convey the empty cigarette pack frame 200 downward to the recycling conveying mechanism 12. When the first group of support pallets 134 conveys the empty cigarette pack frame 200 to the recycling conveying mechanism 12, the second group of support pallets 134 just moves to a position close to the supply conveying mechanism 11 to receive the next cigarette pack frame 200. At this time, the third group of support pallets 134 is located on the outside of the lifting conveyor belt 131. When the cigarette package frame 200 received by the second group of support pallets 134 is grabbed at the cigarette package grabbing position, the first group of support pallets 134 has completed the transmission to the recovery conveying mechanism 12. The two lifting conveyor belts 131 move synchronously to transport the cigarette package frame 200 carried by the second group of support pallets 134 to the recovery conveying mechanism 12. When the cigarette package frame 200 carried by the second group of support pallets 134 is transported to the recovery conveying mechanism 12, the third group of support pallets 134 just moves to a position close to the supply conveying mechanism 11 to receive the next cigarette package frame 200. At this time, the first group of support pallets 134 is located on the outside of the lifting conveyor belt 131. This cycle further improves the feeding efficiency.

[0075] In one embodiment, the width of the recovery conveyor belt is less than or equal to the distance between the two support pallets 134 on the two lifting conveyor assemblies that jointly support the cigarette pack frames 200. This allows the recovery conveyor belt's end closest to the lifting conveyor belt 131 to be positioned between the two lifting conveyor assemblies. When the two support pallets 134, carrying the cigarette pack frames 200, move close to the recovery conveyor mechanism 12, the recovery conveyor belt is positioned between the two support pallets 134, and the cigarette pack frames 200 can be placed directly on the recovery conveyor belt. The recovery conveyor belt moves away from the intermediate conveyor mechanism 13, successfully receiving the cigarette pack frames 200 and transporting them to the cigarette pack frame recovery position.

[0076] In one embodiment, if Figure 4-Figure 6 As shown, the handling robot 3 includes a robotic arm 31 and a manipulator 32 mounted at the end of the robotic arm 31. The manipulator 32 is used to pick up cigarette packs 100. The robotic arm 31 drives the manipulator 32 to move and transport the cigarette packs 100 into the cigarette pack conveying mold box 22. The robotic arm 31 has multiple degrees of freedom and can drive the manipulator 32 to move and rotate in multiple directions, providing good flexibility to ensure that the cigarette packs 100 can be picked up and boxed smoothly.

[0077] In order to ensure that it can be placed accurately in the designated position, when picking up the cigarette pack 100, it is necessary to ensure that the cigarette pack 100 is picked up in a fixed posture, and when the robotic arm 31 drives the robotic arm 32 to move and transport the picked cigarette pack 100 to the cigarette pack conveying mold box 22, the posture of the cigarette pack 100 will not change.

[0078] In one embodiment, the manipulator 32 includes a picking body 321, the picking body 321 includes at least one picking position, the picking position includes a first adsorption surface 3211 and a second adsorption surface 3212 arranged vertically, the first adsorption surface 3211 is provided with a first adsorption hole 3215, the second adsorption surface 3212 is provided with a second adsorption hole 3216, a negative pressure channel 3213 is provided in the picking body 321, the first adsorption hole 3215 and the second adsorption hole 3216 are both connected to the negative pressure channel 3213, and the negative pressure channel 3213 is connected to an external negative pressure source. When picking up a cigarette pack 100, the vertically arranged first and second suction surfaces 3211 and 3212 respectively contact adjacent sides of the pack 100, positioning the pack 100 at the picking position and determining its posture. An external negative pressure source then applies negative pressure to the negative pressure channel 3213 within the picking body 321. The first and second suction holes 3215 and 3216 exert suction force on the adjacent sides of the pack 100, ensuring that the pack 100 maintains its posture at the picking position. During transport, the first and second suction surfaces 3211 and 3212 simultaneously attract the pack 100, increasing its suction strength and ensuring its stability. This allows the pack 100 to be placed in a fixed position when transported to the pack conveying mold 22, allowing it to be smoothly loaded into the box.

[0079] In one embodiment, the picking body 321 includes a horizontal connector and a vertical connector. One end of the vertical connector is connected to the middle of the horizontal connector, forming a picking position on each side of the vertical connector. Specifically, the picking body 321 is configured in a T-shape, with two picking positions per picking body 321. This allows one picking body 321 to simultaneously pick up two cigarette packs 100, increasing the number of cigarette packs 100 that can be handled at a time and improving the handling efficiency of the handling robot 3.

[0080] For example, when picking up the cigarette pack 100, the top surface of the cigarette pack 100 abuts against the horizontal connector, and the side surface of the cigarette pack 100 abuts against the vertical connector, thereby determining the posture of the cigarette pack 100 when picking up the cigarette pack 100, ensuring that the posture of each cigarette pack 100 remains consistent when picked up.

[0081] Specifically, the pickup body 321 also includes a negative pressure connector 3214 that communicates with the negative pressure channel 3213. This connector is located at the end of the horizontal connector and is used to connect to an external negative pressure source. The middle portion of the horizontal connector is connected to the base 322. Placing the negative pressure connector 3214 at the end of the horizontal connector eliminates interference with the base 322 and prevents the pickup of cigarette packs 100. This creates a more rational layout and facilitates connection between the negative pressure channel 3213 and an external negative pressure source.

[0082] The picking body 321 can be provided with a negative pressure channel 3213, and the two picking positions share the same negative pressure channel 3213, so that the two picking positions can jointly adsorb and release the cigarette pack 100. When providing a negative pressure channel 3213, it is only necessary to provide a negative pressure connector 3214 at one end of the horizontal connector. The picking body 321 can also be provided with two negative pressure channels 3213, with one negative pressure channel 3213 corresponding to each picking position. This enables separate control of the two picking positions and provides greater flexibility. When providing two negative pressure channels 3213, a negative pressure connector 3214 is provided at each end of the horizontal connector.

[0083] Specifically, the connection between the horizontal connector and the vertical connector is designed in an arc shape. A first protrusion is provided at each end of the horizontal connector, and a second protrusion is provided on opposite sides of the vertical connector. The first protrusion, facing away from the horizontal connector, forms a first suction surface 3211, while the second protrusion, facing away from the vertical connector, forms a second suction surface 3212. This arrangement creates a clearance between the horizontal and vertical connectors, positioning the cigarette pack 100 near the edge of the pickup body 321, making it easier to place the cigarette pack 100.

[0084] Furthermore, a plurality of first adsorption holes 3215 and a plurality of second adsorption holes 3216 are provided, with the plurality of first adsorption holes 3215 evenly distributed along the extension direction of the first adsorption surface 3211, and the plurality of second adsorption holes 3216 evenly distributed along the extension direction of the second adsorption surface 3212. By evenly distributing the plurality of first adsorption holes 3215 on the first adsorption surface 3211 and the plurality of second adsorption holes 3216 on the second adsorption surface 3212, each adsorption surface has multiple adsorption points, further improving the stability of the adsorption of the cigarette pack 100.

[0085] In one embodiment, if Figure 7 and Figure 8As shown, the manipulator 32 also includes a base 322, on which a driving member 323 and a first support rod 3221 are provided. At least two picking bodies 321 are provided on the first support rod 3221. The driving member 323 can drive the at least two picking bodies 321 to move to adjust the spacing between the picking bodies 321. By providing at least two picking bodies 321 on the base 322, the number of cigarette packs 100 that the manipulator 32 can carry at a time is further increased, thereby achieving the purpose of improving handling efficiency. At the same time, by adjusting the spacing between two adjacent picking bodies 321, the spacing between adjacent picking bodies 321 can be matched with the spacing between cigarette packs 100, so that when the manipulator 32 picks up multiple cigarette packs 100 at the same time, it can ensure that multiple cigarette packs 100 are picked up smoothly at the same time.

[0086] The base 322 is configured as a U-shape, with a first support rod 3221 positioned within the U-shaped base 322 near the opening. Two first support rods 3221 are provided, and two first through-holes are spaced apart in the middle of the horizontal connector. The two first support rods 3221 pass through the two first through-holes, respectively. Together, the two first support rods 3221 support the pickup body 321, ensuring balanced force at both ends of the pickup body 321 and preventing deflection. The ends of the first support rods 3221 are connected to the two side walls of the U-shaped base 322.

[0087] One driving member 323 can be provided to simultaneously drive at least two picking bodies 321 to move on the first support rod 3221. At least two driving members 323 can also be provided, with at least two driving members 323 corresponding to at least two picking bodies 321, that is, one driving member 323 is provided for each picking body 321, so that each picking body 321 is independently driven.

[0088] In one embodiment, the driving member 323 includes a bidirectional driving rod, which includes a first driving rod 3231 and a second driving rod 3232. The first driving rod 3231 and the second driving rod 3232 are each connected to a pickup body 321. The bidirectional driving rod is used to drive the two pickup bodies 321 to move synchronously in opposite directions. By providing a bidirectional driving rod, a single driving member 323 can simultaneously drive the two pickup bodies 321 in opposite directions, reducing the number of driving members 323, lowering costs, and reducing space requirements.

[0089] Exemplarily, the driving member 323 may be a bidirectional pneumatic cylinder, a bidirectional electric cylinder, or a servo motor. The servo motor is connected to the forward and reverse helical screws. The first driving rod 3231 is threadedly connected to the forward and reverse helical screws in a first direction of rotation, and the second driving rod 3232 is threadedly connected to the forward and reverse helical screws in a second direction of rotation. The servo motor drives the forward and reverse helical screws to rotate, driving the first driving rod 3231 and the second driving rod 3232 to move synchronously in opposite directions.

[0090] Furthermore, more than three picking bodies 321 are provided, and the three or more picking bodies 321 are connected in pairs by hinge quadrilateral structures 324, and two adjacent hinge quadrilateral structures 324 share a hinge axis. In order to achieve the first drive rod 3231 and the second drive rod 3232 respectively driving the movement of the two picking bodies 321, it is possible to achieve the movement of more than three picking bodies 321, that is, the spacing between adjacent picking bodies 321 in the three or more picking bodies 321 is adjusted by a driving member 323. The three or more picking bodies 321 are connected in pairs by the hinge quadrilateral structure 324, that is, each adjacent two picking bodies 321 are connected by a hinge quadrilateral structure 324. Exemplarily, three picking bodies 321 are provided, and two hinge quadrilateral structures 324 are provided to connect the three picking bodies 321 in pairs, and the two hinge quadrilateral structures 324 are connected together by a common hinge axis, thereby connecting the three picking bodies 321 together. Four picking bodies 321 are provided, and three hinged quadrilateral structures 324 are provided to connect the four picking bodies 321 in pairs. The three hinged quadrilateral structures 324 are connected together via two hinge shafts, thereby connecting the four picking bodies 321 together. Five picking bodies 321 are provided, and four hinged quadrilateral structures 324 are provided to connect the five picking bodies 321 in pairs. The four hinged quadrilateral structures 324 are connected together via three hinge shafts, thereby connecting the five picking bodies 321 together. The first driving rod 3231 and the second driving rod 3232 of the driving member 323 are respectively connected to any two picking bodies 321. When any two picking bodies 321 are synchronously driven to move in opposite directions, the hinged quadrilateral structures 324 can drive three or more picking bodies 321 to move synchronously, thereby achieving joint adjustment of the spacing between the three or more picking bodies 321, thereby improving the efficiency of adjusting the spacing between the picking bodies 321.

[0091] Specifically, each hinged quadrilateral structure 324 includes four hinged rods, which are hinged at their ends via hinge shafts. A pair of opposite hinge shafts is provided on two adjacent pickup bodies 321. Among the three adjacent pickup bodies 321, the hinge shaft on the center pickup body 321 connects the four hinged rods, thereby connecting the two adjacent hinged quadrilateral structures 324 together via the hinge shaft on the center pickup body 321.

[0092] The driving member 323 is disposed on the inner bottom of the U-shaped base 322. The first driving rod 3231 and the second driving rod 3232 extend toward the side wall of the U-shaped base 322 adjacent thereto. To achieve the connection between the first driving rod 3231 and the second driving rod 3232 and the picking body 321, the manipulator 32 further includes a second support rod 3222 and a connecting assembly. The second support rod 3222 is arranged parallel to the first support rod 3221. The connecting assembly includes a first connecting block 325 and a second connecting block 326. The first connecting block 325 and the second connecting block 326 are slidably mounted on the second support rod 3222. One end of the first connecting block 325 is connected to the first driving rod 3231, and the other end is connected to one picking body 321. One end of the second connecting block 326 is connected to the second driving rod 3232, and the other end is connected to the other picking body 321. Two second support rods 3222 can be provided, one on each side of the driving member 323. The first connecting block 325 and the second connecting block 326 are each provided with two second through-holes. After passing through the second through-holes, the ends of the second support rods 3222 are connected to the two side walls of the U-shaped base 322. The first driving rod 3231 drives the first connecting block 325 to move on the second support rod 3222, which in turn drives the pickup body 321 connected thereto to move on the first support rod 3221. The second driving rod 3232 drives the second connecting block 326 to move on the second support rod 3222, which in turn drives the pickup body 321 connected thereto to move on the first support rod 3221. The setting of the second support rod 3222 can ensure that the first connecting block 325 will not be deflected under the drive of the first driving rod 3231 and the second connecting block 326 will not be deflected under the drive of the second driving rod 3232, thereby ensuring that the picking body 321 will not be deflected when moving, ensuring the stability of the picking body 321 when adjusting the spacing, and thus ensuring the stability of the posture of the cigarette pack 100 when picking up the cigarette pack 100.

[0093] For example, the first connecting block 325 and the second connecting block 326 are respectively connected to the two outermost picking bodies 321 of the three or more picking bodies 321. In this way, when the first driving rod 3231 and the second driving rod 3232 move in opposite directions, the first connecting block 325 and the second connecting block 326 respectively drive the two outermost picking bodies 321 to move in opposite directions. Since the picking bodies 321 are connected in pairs by the hinge quadrilateral structure 324, when the picking body 321 at the outermost side moves away from the picking body 321 adjacent to it, the picking body 321 connected to the outermost picking body 321 is moved. The two hinged rods connected by the hinge shaft rotate in the direction of approaching each other, and then the hinge shaft at one end away from the two hinged rods drives the other two hinged rods to rotate in the direction of approaching each other, and then drives the hinge shaft connected to the other two hinged rods to drive the middle picking body 321 to move, and at the same time drives the two hinged rods of another hinged quadrilateral structure 324 connected to the hinge shaft to rotate in the direction of approaching each other, and the other two hinged rods of the other hinged quadrilateral structure also rotate in the direction of approaching each other, thereby realizing the simultaneous movement of the three picking bodies 321, and then realizing the adjustment of the distance between the three picking bodies 321.

[0094] The conventional cigarette pack conveying mold box 22 can only accommodate cigarette packs 100 of one size. Different types of cigarette packs 100 have different sizes. When conveying different types of cigarette packs 100, the cigarette pack conveying mold box 22 must be replaced with one that matches the size of the cigarette pack 100. Therefore, the planar magnetic levitation conveying platform needs to be equipped with cigarette pack conveying mold boxes 22 of various sizes to accommodate cigarette packs 100 of different sizes and convey different types of cigarette packs 100. Equipping the platform with multiple sizes of cigarette pack conveying mold boxes 22 not only increases equipment costs, but also requires removing one cigarette pack conveying mold box 22 and installing another when replacing it. This results in significant equipment downtime and affects production efficiency.

[0095] To address the aforementioned technical issues, this embodiment provides three types of cigarette pack conveying mold boxes 22. Each type includes a base 221 with a circular mounting hole at its center. A circular magnet 223 is located within the hole. The base 221 is magnetically connected to the mover of the conveying platform 21 via the magnet 223, facilitating positioning of the base 221 and making installation of the cigarette pack conveying mold boxes 22 more convenient. All three types of cigarette pack conveying mold boxes 22 are suitable for accommodating at least two types of cigarette packs 100, offering greater versatility and reducing the expense of manufacturing cigarette pack conveying mold boxes 22 of varying sizes, thereby lowering production costs.

[0096] Among them, such as Figure 9 and Figure 10As shown, the first type of cigarette pack conveying mold box 22 has at least two limiting assemblies 222 disposed on a base 221. The at least two limiting assemblies 222 surround the base 221 to form an enclosed space for placing cigarette packs 100. The limiting assemblies 222 include a connecting portion 2221 and a limiting portion 2222. The connecting portion 2221 is connected to the base 221. The limiting portion 2222 extends from one side of the connecting portion 2221 in a direction perpendicular to the bottom surface of the base 221 to limit the position of the cigarette packs 100. The cigarette packs 100 are square. The limiting portion 2222 is disposed on the inner side of the connecting portion 2221 and is configured to abut the side of the square cigarette packs 100. The connecting portion 2221 can be configured as a strip, square, or ring-shaped structure. The limiting portion 2222 extends upward perpendicular to the bottom surface of the base 221. The height of the limiting portion 2222 determines the height of the enclosed space. By setting the height of the limiting portion 2222, the number of cigarette packs 100 placed along the height direction in the enclosed space is determined; the inner length of the connecting portion 2221 determines the length and width of the enclosed space. By setting the inner length of the connecting portion 2221, the number of cigarette packs 100 placed in each layer (i.e., the same height) is determined.

[0097] The first cigarette pack conveying mold box 22 also includes an adjustable fixing structure disposed circumferentially around the base 221 and connected to the connecting portion 2221. This structure is used to adjust the distance between the connecting portion 2221 and the center of the base 221 and secure the connecting portion 2221 to the base 221 to ensure the stability of the cigarette packs 100 within the cigarette pack conveying mold box 22. During use, the distance between the connecting portion 2221 and the center of the base 221 is adjusted according to the size of the cigarette packs 100, thereby adjusting the size of the enclosed space to accommodate cigarette packs 100 of varying sizes. This cigarette pack conveying mold box 22 is capable of conveying cigarette packs 100 of varying sizes, offering greater versatility and reducing the expense of manufacturing cigarette pack conveying mold boxes 22 of varying sizes, thereby lowering production costs.

[0098] In one embodiment, the adjustment and fixing structure includes an adjustment screw, a first threaded hole 2223, and an adjustment hole 2224. The connecting portion 2221 is configured as a connecting plate parallel to the bottom surface of the base 221. One of the connecting plate and the bottom surface of the base 221 is provided with the first threaded hole 2223, and the other is provided with the adjustment hole 2224. The adjustment hole 2224 extends from the outer edge of the base 221 toward the inner side of the base 221. The adjustment screw passes through the adjustment hole 2224 and is threadedly engaged with the first threaded hole 2223. The adjustment hole 2224 is a waist-shaped hole. As the connecting plate moves toward the center of the base 221, the enclosed space decreases, making it suitable for placing smaller cigarette packs 100 or a smaller number of cigarette packs 100. As the connecting plate moves away from the center of the base 221, the enclosed space increases, making it suitable for placing larger cigarette packs 100 or a larger number of cigarette packs 100. The first threaded hole 2223 is always located in the waist-shaped hole. The distance adjustment range between the connecting part 2221 and the center of the base 221 is the length of the waist-shaped hole. The adjusting screw passes through the waist-shaped hole and is screwed to the first threaded hole 2223 to fix the connecting part 2221 on the base 221.

[0099] In this embodiment, the adjustment hole 2224 is provided on the connecting plate, and the first threaded hole 2223 is provided on the base 221. Of course, in other embodiments, the adjustment hole 2224 can also be provided on the base 221, and the first threaded hole 2223 is provided on the connecting plate.

[0100] In one embodiment, the base 221 is provided with a limiting groove on its circumference, and the connecting portion 2221 cooperates with the limiting groove, which is used to limit the movement of the limiting assembly 222 along an adjustment direction perpendicular to the connecting portion 2221. With this arrangement, when adjusting the position of the connecting portion 2221, the connecting portion 2221 can only move toward or away from the center of the base 221, and cannot move along the adjustment direction perpendicular to the connecting portion 2221. This avoids the connection portion 2221 moving along the adjustment direction perpendicular to the connecting portion 2221, which would cause multi-directional positioning adjustment, thereby improving adjustment efficiency.

[0101] In one embodiment, scale lines 2214 are provided on the inner side of the limiting groove, and the extending direction of the scale lines 2214 is the same as the adjustment direction of the connecting portion 2221. When adjusting the size of the enclosed space, the difference between the size of the replacement cigarette pack 100 and the size of the existing enclosed space can be calculated first, and then the moving distance of the connecting portion 2221 is determined based on the size difference. The adjustment is then made with reference to the scale lines 2214, which allows for quick adjustment to the desired position, further improving adjustment efficiency.

[0102] In one embodiment, the base 221 is configured as a square, and the connecting portion 2221 is configured as a square plate. Each of the four corners of the square base 221 is provided with a protrusion 2211, and a retaining groove is formed between adjacent protrusions 2211. The square base 221 is provided with four protrusions 2211, each of which is a square block. Four retaining grooves are formed between the four square blocks, and a square plate can be placed in each retaining groove.

[0103] In this embodiment, the scale line 2214 is disposed on a side of the protrusion 2211 close to the connecting plate.

[0104] In one embodiment, each limiting assembly 222 includes a connecting portion 2221 and two limiting portions 2222, with the two limiting portions 2222 being provided at either end of the connecting portion 2221. Each limiting assembly 222 limits the position of the cigarette pack 100 within the enclosed space via the two limiting portions 2222. It is understood that if only one limiting portion 2222 is provided in the middle of the connecting portion 2221, the cigarette pack 100 may be tilted within the enclosed space, affecting the placement of other cigarette packs 100. By providing a limiting portion 2222 at each end of the connecting portion 2221, the cigarette pack 100 is limited in position, thereby reducing the probability of the cigarette pack 100 tilting within the enclosed space.

[0105] In one embodiment, two limiting assemblies 222 are provided, one on each opposite side of the base 221. The limiting portion 2222 includes a first limiting plate and a second limiting plate disposed vertically, each of which abuts against adjacent sides of the cigarette pack 100. The limiting portion 2222 on each limiting assembly 222 is capable of abutting against adjacent sides of the cigarette pack 100 to achieve position limiting. When two cigarette packs 100 are placed on each layer within the enclosed space, only two limiting assemblies 222 are required to limit the position of two cigarette packs 100 at the same height within the enclosed space, thereby ensuring the stability of all cigarette packs 100 within the enclosed space.

[0106] In one embodiment, four limiting assemblies 222 are provided, one located around the base 221. The limiting portion 2222 includes a limiting plate, with each limiting plate on the limiting assembly 222 abutting against one side of the cigarette pack 100. The connecting plates of the four limiting assemblies 222 are each disposed within a limiting groove, and the two limiting plates on each limiting assembly 222 simultaneously limit the same side of the enclosed space. All four sides of the enclosed space can limit the cigarette packs 100, thus ensuring the stability of all cigarette packs 100 within the enclosed space.

[0107] like Figure 11-13As shown, the base 221 of the second and third types of cigarette pack conveying mold boxes 22 is provided with a first and second accommodating spaces arranged in a cross pattern. The first and second accommodating spaces have different bottom areas. The first accommodating space is used to hold the first type of cigarette pack 101, and the second accommodating space is used to hold the second type of cigarette pack 102. The first and second types of cigarette packs 101 and 102 occupy different areas when placed horizontally, and one of the first and second accommodating spaces is used selectively. That is, when conveying the first type of cigarette pack 101, the first accommodating space is used; when conveying the second type of cigarette pack 102, the second accommodating space is used. This cigarette pack conveying mold box 22 can convey at least two different types of cigarette packs 100, improving the applicability of the cigarette pack conveying mold box 22, reducing the number of cigarette pack conveying mold boxes 22 used, and lowering production costs.

[0108] The bottom area S1 of the first storage space is the product of its bottom length a and its bottom width b, i.e., S1 = ab. The bottom area S2 of the second storage space is the product of its bottom length d and its bottom width c, i.e., S2 = cd. S1 ≠ S2, i.e., ab ≠ cd. A cigarette pack 100 has a height f and a width e. When placed horizontally within the cigarette pack conveying mold 22, the area occupied by the first type cigarette pack 101 is S1ˊ = e1f1; the area occupied by the second type cigarette pack 102 is S2ˊ = e2f2. By arranging the first and second storage spaces in a cross pattern, the base 221 can accommodate at least two cigarette packs 100 of similar sizes without changing the size of the original base. When placed, the first type cigarette pack 101 and the second type cigarette pack 102 form a 90° angle.

[0109] In one embodiment, the bottom area of ​​the first storage space is equal to the area occupied by the first type cigarette pack 101 when placed horizontally × N1, where N1 is a positive integer. The bottom area of ​​the second storage space is equal to the area occupied by the second type cigarette pack 102 when placed horizontally × M1, where M1 is a positive integer. That is, only one first type cigarette pack 101 can be placed in the first storage space, i.e., S1 = S1ˊ; two, three, or more first type cigarette packs 101 can also be placed in the first storage space simultaneously, i.e., S1 = 2S1ˊ, S1 = 3S1ˊ, ... . Similarly, only one second type cigarette pack 102 can be placed in the second storage space, i.e., S2 = S2ˊ; two, three, or more first type cigarette packs 101 can also be placed in the second storage space simultaneously, i.e., S2 = 2S2ˊ, S2 = 3S2ˊ, ... .

[0110] It should be noted that M1 can be equal to N1, that is, the number of first-type cigarette packs 101 placed on each layer in the first storage space is the same as the number of second-type cigarette packs 102 placed on each layer in the second storage space; of course, M1 and N1 can also be different, that is, the number of first-type cigarette packs 101 placed on each layer in the first storage space and the number of second-type cigarette packs 102 placed on each layer in the second storage space can be different.

[0111] The cigarette packs 100 in the first storage space and the second storage space can be stacked. The relationship between the height of the storage space and the thickness of the cigarette packs 100 determines the number of layers of cigarette packs 100 that can be placed in the storage space.

[0112] In one embodiment, the height of the first storage space is equal to the thickness of the first type of cigarette pack 101 × N2, where N2 is a positive integer. The height of the second storage space is equal to the thickness of the second type of cigarette pack 102 × M2, where M2 is a positive integer. That is, the number of layers of the first type of cigarette pack 101 placed in the first storage space can be one layer, two layers, three layers or more layers; the number of layers of the second type of cigarette pack 102 placed in the second storage space can be one layer, two layers, three layers or more layers. Accordingly, N2 and M2 can be the same or different. That is, the number of layers of the first type of cigarette pack 101 placed in the first storage space and the number of layers of the second type of cigarette pack 102 placed in the second storage space can be the same or different.

[0113] The second cigarette pack conveying mold box 22 also includes a barrier assembly 224, which includes at least two barrier panels. The barrier panels are arranged around the base 221 to form a first or second storage space. The barrier panels around the storage space restrict the movement of the cigarette packs 100, thereby ensuring stable transportation of the cigarette packs 100 within the cigarette pack conveying mold box 22.

[0114] The enclosure assembly 224 is detachably connected to the base 221. Since the first and second accommodating spaces are selectively used, one enclosure assembly 224 encloses one accommodating space. Therefore, one or two enclosure assemblies 224 can be provided. When one enclosure assembly 224 is provided, when conveying the first type of cigarette pack 101, the enclosure assembly 224 encloses the first accommodating space. When conveying the second type of cigarette pack 102, the enclosure assembly 224 is first removed from the base 221 and then enclosed to form the second accommodating space. That is, the enclosure assembly 224 selectively encloses the first accommodating space or the second accommodating space. When two enclosure assemblies 224 are provided, one enclosure assembly 224 encloses the first accommodating space and the other enclosure assembly 224 encloses the second accommodating space. That is, the base 221 has both the first and second accommodating spaces. Only one of them needs to be used according to the type of cigarette pack 100 being conveyed, and there is no need to disassemble and assemble the enclosure assembly 224.

[0115] In one embodiment, the enclosure assembly 224 includes four enclosure panels, one at each corner of the first and second accommodating spaces. The enclosure panels include a first baffle 2241 and a second baffle 2242, which are arranged vertically. When a cigarette package 100 is placed horizontally, the adjacent sides of the cigarette package 100 respectively abut against the first baffle 2241 and the second baffle 2242. In other words, a single enclosure panel can simultaneously restrict two degrees of freedom, limiting the movement of the cigarette package 100 in the accommodating space in the four directions of forward, backward, left, and right.

[0116] In one embodiment, the enclosure assembly 224 includes two enclosure plates, which are respectively disposed on opposite sides of the first and second accommodating spaces. The enclosure plates are configured as U-shaped plates. Each U-shaped plate can restrict three degrees of freedom. By using the two opposing U-shaped plates, the cigarette packs 100 within the accommodating spaces can be restricted from moving in four directions: forward, backward, left, and right.

[0117] In one embodiment, the base 221 is provided with a slot into which the baffle plate is inserted and fixed. The slot matches the shape of the baffle plate. That is, when the baffle plate includes the first baffle plate 2241 and the second baffle plate 2242, the slot is configured as a ∟ slot; when the baffle plate is a U-shaped plate, the slot is configured as a U-shaped slot. Inserting and fixing the baffle plate facilitates assembly and disassembly of the baffle plate when enclosing the first and second accommodation spaces.

[0118] In one embodiment, the bottom areas of the first accommodating space and the second accommodating space are adjustable. In order to accommodate the placement of more types of cigarette packs 100, the cigarette pack conveying mold box 22 has a wider applicability. The bottom areas of the first accommodating space and the second accommodating space are set to be adjustable. For example, by setting a plurality of slots at intervals along the extension direction of the accommodating space on one side of the base 221, the enclosure plate on the same side of the accommodating space is selectively inserted into one of the slots. The closer the slot is to the center of the base 221, the smaller the bottom area of ​​the enclosed accommodating space; the farther the slot is from the center of the base 221, the larger the bottom area of ​​the enclosed accommodating space.

[0119] The base 221 of the third type of cigarette pack conveying mold box 22 is provided with a first groove 2212 and a second groove 2213 arranged in a cross pattern. The first groove 2212 forms a first receiving space, and the second groove 2213 forms a second receiving space. In other words, the grooves are directly provided on the base 221 to form a receiving space for placing cigarette packs 100. This type of receiving space can only accommodate two cigarette packs 100 of similar size.

[0120] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. Cigarette pack feeding system, characterized in that: include: At least two cigarette pack supply devices (1), the cigarette pack supply devices (1) comprising a supply conveying mechanism (11) for conveying a cigarette pack frame (200) loaded with cigarette packs (100) to a cigarette pack grabbing position, and the at least two cigarette pack supply devices (1) are capable of conveying different types of cigarette packs (100); A cigarette pack conveying device (2) comprises a conveying platform (21) and a cigarette pack conveying mold box (22), wherein the cigarette pack conveying mold box (22) is arranged on the conveying platform (21), and the conveying platform (21) can drive the cigarette pack conveying mold box (22) to move between the cigarette pack grabbing position and the cigarette packing position; the cigarette pack conveying mold box (22) comprises at least two types of cigarette pack placement positions for placing different types of cigarette packs (100); The cigarette pack conveying mold box (22) comprises a base (221), wherein a first accommodating space and a second accommodating space are arranged in a cross-shaped manner on the base (221), wherein the bottom areas of the first accommodating space and the second accommodating space are different, wherein the first accommodating space is used to place a first type of cigarette pack (101), and the second accommodating space is used to place a second type of cigarette pack (102), wherein the first type of cigarette pack (101) and the second type of cigarette pack (102) occupy different areas when placed horizontally, and wherein either the first accommodating space or the second accommodating space is used selectively; A transport robot (3) is arranged at one end of the transport platform (21), and at least two of the cigarette pack supply devices (1) are arranged around the transport robot (3). The transport robot (3) is used to sequentially grab the cigarette packs (100) in the cigarette pack frame (200) transported to the cigarette pack grabbing position and place them in the cigarette pack transport mold box (22).

2. The cigarette pack feeding system according to claim 1, characterized in that: The cigarette pack conveying mold box (22) further comprises a baffle assembly (224), wherein the baffle assembly (224) comprises at least two baffle plates, and the at least two baffle plates are arranged around the base (221) to form the first accommodating space or the second accommodating space.

3. The cigarette pack feeding system according to claim 2, characterized in that: The enclosure assembly (224) includes four enclosure plates, one of which is provided at each of the four corners of the first accommodating space and the second accommodating space; the enclosure plates include a first baffle (2241) and a second baffle (2242) that are vertically arranged; when the cigarette pack (100) is placed horizontally, adjacent two sides of the cigarette pack (100) respectively abut against the first baffle (2241) and the second baffle (2242).

4. The cigarette pack feeding system according to claim 1, characterized in that: The base (221) is provided with a first groove (2212) and a second groove (2213) arranged in a cross shape, the first groove (2212) forming the first accommodation space, and the second groove (2213) forming the second accommodation space.

5. The cigarette pack feeding system according to claim 1, characterized in that: The transport robot (3) comprises a robotic arm (31) and a robotic hand (32) mounted at the end of the robotic arm (31); the robotic hand (32) comprises a picking body (321); the picking body (321) comprises at least one picking position; the picking position comprises a first adsorption surface (3211) and a second adsorption surface (3212) arranged vertically; the first adsorption surface (3211) is provided with a first adsorption hole (3215); the second adsorption surface (3212) is provided with a second adsorption hole (3216); a negative pressure channel (3213) is provided in the picking body (321); the first adsorption hole (3215) and the second adsorption hole (3216) are both communicated with the negative pressure channel (3213); and the negative pressure channel (3213) is connected to an external negative pressure source.

6. The cigarette pack feeding system according to claim 5, characterized in that: The picking body (321) comprises a horizontal connector and a vertical connector, one end of the vertical connector is connected to the middle of the horizontal connector to form a picking position on each side of the vertical connector.

7. The cigarette packet feeding system according to claim 5 or 6, characterized in that: The manipulator (32) further includes a base (322), on which a driving member (323) and a first support rod (3221) are provided, and on which at least two picking bodies (321) are provided, wherein the driving member (323) can drive at least two picking bodies (321) to move so as to adjust the distance between the picking bodies (321).

8. The cigarette pack feeding system according to claim 1, characterized in that: The cigarette pack supply device (1) further comprises a recovery conveying mechanism (12) and an intermediate conveying mechanism (13). The intermediate conveying mechanism (13) is arranged between the supply conveying mechanism (11) and the recovery conveying mechanism (12) and is used to convey the empty cigarette pack frame (200) after the cigarette pack (100) is grabbed at the cigarette pack grabbing position to the recovery conveying mechanism (12). The recovery conveying mechanism (12) is used to convey the empty cigarette pack frame (200) to the cigarette pack frame recovery position.

9. The cigarette pack feeding system according to claim 8, characterized in that: The cigarette pack supply device (1) further comprises a frame (14), the supply conveying mechanism (11) and the recovery conveying mechanism (12) are arranged at intervals along the height direction of the frame (14), and the supply conveying mechanism (11) is located above the recovery conveying mechanism (12), and the intermediate conveying mechanism (13) is arranged at one end of the frame (14) close to the transport robot (3), and the supply conveying mechanism (11) and the recovery conveying mechanism (12) have opposite conveying directions.

10. The cigarette packet feeding system according to claim 9, characterized in that: The intermediate conveying mechanism (13) comprises two lifting and conveying assemblies spaced apart from each other, the spacing between the two lifting and conveying assemblies being greater than or equal to the length of the cigarette pack frame (200), and the two lifting and conveying assemblies being able to convey the cigarette pack frame (200) by synchronous movement.

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