Automatic cartoning system for special-shaped boxes and its control method

Abstract

The present invention relates to the technical field of tobacco equipment, and discloses an automatic cartoning system for special-shaped strip boxes and a control method thereof. The automatic cartoning system for special-shaped strip boxes includes a cigarette pack conveying platform, a cigarette pack supply device, a cigarette pack handling and loading robot, a cigarette packing platform, a cigarette pack handling and arranging robot, a strip box supply and finished product output device, and a strip box handling and filling robot. The cigarette pack conveying platform is provided with a cigarette pack stacking mold box that can adapt to at least two forms of cigarette packs; the cigarette packing platform is provided with a stacking station and a cartoning station; the cigarette pack handling and arranging robot is used to transport the cigarette packs to the stacking station; the strip box handling and filling robot is used to transport the strip boxes, and perform box opening, lining paper and tab pulling, strip box filling, and box closing operations on the strip boxes. The present invention completes the fully automatic cartoning process of special-shaped strip boxes, improves operating efficiency, and ensures cartoning quality; and can simultaneously realize cartoning of different types of cigarette packs, improves the applicability and scalability of the production line, and reduces production costs.

Description

Technical Field

[0001] The present invention relates to the technical field of tobacco equipment, and in particular to an automatic cartoning system for special-shaped strip boxes and a control method thereof. Background Art

[0002] With the increasing demand for personalized cigarette products, the variety of special-shaped cigarettes is increasing, and the market is placing higher and higher demands on these products. In addition to traditional cigarette carton packaging, different packaging styles such as flip-top and folio, different sizes and specifications such as slim and medium cigarettes, and different packaging styles such as 1*10 and 1-4-4-1, all vary, making it impossible to produce them using existing standardized equipment. Most special-shaped cigarette carton packaging still relies on manual packaging, which has high labor costs, low production efficiency, and inconsistent quality, failing to meet market demand.

[0003] Moreover, some existing special-shaped cigarette carton filling production lines can only be used for filling carton of one type of special-shaped cigarette product, and have poor applicability. Since the total production volume of special-shaped cigarette products is low, the production cost of special-shaped cigarette products is high. Summary of the Invention

[0004] Based on the above, the purpose of the present invention is to provide an automatic cartoning system for special-shaped cigarette boxes and a control method thereof to solve the technical problems of existing special-shaped cigarette products relying on manual filling, low production efficiency and high filling costs.

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

[0006] An automatic cartoning system for special-shaped boxes, comprising:

[0007] A cigarette pack conveying platform, on which a cigarette pack stacking mold box capable of accommodating at least two types of cigarette packs is provided;

[0008] a cigarette pack supply device, provided at the supply end of the cigarette pack conveying platform, for supplying cigarette packs;

[0009] a cigarette pack handling and loading robot, arranged at the feeding end of the cigarette pack conveying platform, for carrying cigarette packs on the cigarette pack feeding device into the cigarette pack stacking mold box;

[0010] A cigarette packaging platform is provided on the side of the cigarette pack conveying platform, and is provided with a stacking station and a boxing station;

[0011] a cigarette pack handling and arranging robot, arranged on the same side as the cigarette pack box platform, for carrying cigarette packs from the cigarette pack stacking mold box to the stacking station;

[0012] The carton supply and finished product output device is arranged on the side of the cigarette pack conveying platform, and is used to provide empty carton and transport the carton filled with cigarette packs;

[0013] The carton handling and filling robot is arranged on the same side as the carton supply and finished product output device, and is used to transport empty carton from the carton supply and finished product output device to the carton loading station, and perform carton opening, lining paper and tab processing, carton filling, and carton closing operations on the carton, and move the carton filled with cigarette packs back to the carton supply and finished product output device.

[0014] In some possible embodiments, the cigarette pack stacking mold box includes a base and side baffles, and a plurality of the side baffles are arranged around the base to form an enclosed space for placing cigarette packs; the fixed position of each side baffle on the base is adjustable, and the position of each side baffle is adjusted to adapt to the stacking of different forms of cigarette packs.

[0015] In some possible embodiments, the cigarette pack supply device includes a first conveyor belt, a second conveyor belt and a lifting mechanism, the second conveyor belt is located above the first conveyor belt, and the first conveyor belt and the second conveyor belt are arranged parallel to each other; the lifting mechanism is arranged on the side of one end of the first conveyor belt and the second conveyor belt, and is used to transport the empty cigarette frames on the first conveyor belt to the second conveyor belt.

[0016] In some possible embodiments, the lifting mechanism includes two symmetrically distributed third conveyor belts, and the gap between the two third conveyor belts matches the length of the cigarette frame; a support plate is provided on the third conveyor belt; the two third conveyor belts rotate synchronously in opposite directions, and the empty cigarette frame is transported downward by riding on the two support plates.

[0017] In some possible implementations, there is a height difference between the arrangement heights of the support plates on the two third conveyor belts.

[0018] In some possible embodiments, the cigarette pack handling and loading robot includes a first robotic arm and a cigarette pack grabbing suction device installed on the first robotic arm, the cigarette pack grabbing suction device includes a picking body, the picking body includes a horizontal connector and a vertical connector vertically connected, and a picking position for adsorbing cigarette packs is formed between the horizontal connector and the vertical connector; a first adsorption hole is provided on the side of the vertical connector, and a second adsorption hole is provided on the bottom of the horizontal connector, the first adsorption hole and the second adsorption hole are connected through an air flow channel in the picking body, and the air flow channel is connected to an external negative pressure device.

[0019] In some possible implementations, the picking body is T-shaped, the vertical connector is vertically connected to the middle of the horizontal connector, and the vertical connector and the horizontal connectors on both sides form two picking positions.

[0020] In some possible embodiments, the cigarette pack handling and loading robot also includes a suction cup seat, and the cigarette pack grabbing suction cup is connected to the first robotic arm through the suction cup seat; a first slide bar is provided on the suction cup seat, and at least two spaced-apart cigarette pack grabbing suction cups are slidably mounted on the first slide bar; a two-way driving member and a second slide bar are provided above the first slide bar, and two connecting blocks respectively located on both sides of the two-way driving member are slidably mounted on the second slide bar, and the two output ends of the two-way driving member are respectively connected to the two connecting blocks for driving the two connecting blocks closer to or away from each other; the lower ends of the two connecting blocks are respectively fixedly connected to the tops of the cigarette pack grabbing suction cups located on the two most sides, and adjacent cigarette pack grabbing suction cups are connected by a hinge quadrilateral structure.

[0021] In some possible embodiments, the stacking station is rectangular, with first baffles fixedly provided on two adjacent sides of the stacking station, and second baffles corresponding to the first baffles movably provided on the other two adjacent sides, the second baffles being connected to a first driving member, and the first driving member being used to drive the second baffles toward or away from the first baffle;

[0022] The cartoning station is arranged adjacent to the stacking station, and is movably provided with a clamping baffle, the clamping baffle being opposite to one of the first baffles, and the space between the clamping baffle and the first baffle is 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 to move closer to or away from the first baffle;

[0023] A tab suction cup is provided at one end of the cartoning station, and a lining paper suction cup is provided at the other end; a positioning elastic piece 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 elastic piece.

[0024] In some possible implementations, the positioning spring includes an elastic support portion, a transition portion, and a hook tongue portion; the elastic support portion and the hook tongue portion are respectively located on both sides of the transition portion.

[0025] In some possible embodiments, the cigarette pack handling and arranging robot includes a second robotic arm and a cigarette pack shifting robot arranged at the end of the second 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 second robotic arm; the first suction cup is fixed to the bottom of the base; the second suction cup can be arranged on the base so as to move 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.

[0026] In some possible implementations, the strip box supply and finished product output device includes a fourth conveyor belt and a fifth conveyor belt arranged parallel to each other, and the fourth conveyor belt and the fifth conveyor belt rotate in opposite directions.

[0027] In some possible embodiments, the box handling and filling robot includes a third robotic arm and a box handling and opening and closing robot installed at the end of the third 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.

[0028] The present invention also provides a control method for an automatic cartoning system for special-shaped boxes, comprising:

[0029] Detect whether the empty cigarette pack palletizing mold box is in place. If so, the cigarette pack handling and loading robot grabs the cigarette pack from the cigarette pack supply device and places the cigarette pack into the cigarette pack palletizing mold box. Then, the cigarette pack palletizing mold box containing the cigarette pack is transported to the designated position through the cigarette pack conveying platform, and returns to continue to detect whether the next empty cigarette pack palletizing mold box is in place.

[0030] Detecting whether the cigarette pack stacking mold box containing cigarette packs is in place; if so, the cigarette pack transporting and arranging robot picks up cigarette packs from the cigarette pack stacking mold box in sequence and places them along the cigarette pack transport to the stacking station; after all the cigarette packs in the cigarette pack stacking mold box are taken out, the empty cigarette pack stacking mold box is returned to its position via the cigarette pack conveying platform, and the cigarette packs on the stacking station are sorted;

[0031] Check whether the empty carton in the carton supply and finished product output device is in place. If so, the carton handling and filling robot picks up the empty carton from the carton supply and finished product output device and transports the empty carton to the carton filling station. Then the carton handling and filling robot opens the lid of the carton, pulls the lining paper and the pull tab out of the carton respectively, fills the cigarette packs from the stacking station into the carton, pulls the lining paper and the pull tab back into the carton respectively, closes the lid of the carton, and transports the carton filled with cigarette packs to the carton supply and finished product output device.

[0032] Beneficial effects of the present invention:

[0033] The present invention continuously provides cigarette packs by a cigarette pack feeding device, and a cigarette pack handling and loading robot transports the cigarette packs on the cigarette pack feeding device into a cigarette pack stacking mold box, and a cigarette pack conveying platform transports the cigarette pack stacking mold box to a position close to the cigarette packaging box platform, thus realizing the loading process of the cigarette packs; then, a cigarette pack handling and arranging robot transports the cigarette packs from the cigarette pack stacking mold box to a stacking station and stacks them neatly; a strip box handling and filling robot transports the empty strip boxes in the strip box supply and finished product output device to the box filling station, and the strip boxes are stacked neatly by the strip box handling and filling robot. The handling and filling robot opens the lid of the carton, pulls out the lining paper and the pull tab, puts the cigarette packs into the carton, puts the lining paper and the pull tab back into the carton, and closes the lid of the carton. The carton filled with cigarette packs is then transported to the carton supply and finished product output device by the carton handling and filling robot. Finally, the carton filled with cigarette packs is output by the carton supply and finished product output device, thus completing the fully automatic cartoning process of special-shaped carton, effectively improving the work efficiency of the special-shaped carton packing operation, ensuring the cartoning quality, and reducing production costs.

[0034] Furthermore, the cigarette pack stacking mold box of the present invention is suitable for at least two types of cigarette packs, and the cigarette pack conveying platform can simultaneously convey multiple cigarette pack stacking mold boxes. Therefore, the present invention can simultaneously complete the conveyance of at least two types of cigarette packs; multiple cigarette packing platforms can be set up on the side of the cigarette pack conveying platform as needed to complete the cartoning operation of different types of cigarette packs. The present invention realizes the simultaneous filling of different types of special-shaped cigarette products into cartons, improves the flexibility and applicability of the production line, and thus reduces the production cost of special-shaped cigarette products. At the same time, corresponding modules can be added to the side of the cigarette pack conveying platform as needed to expand and realize other functions, thereby improving the scalability of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural diagram of a special-shaped box in the prior art;

[0036] Figure 2 1 is a schematic structural diagram of an automatic cartoning system for special-shaped boxes provided by an embodiment of the present invention;

[0037] Figure 3This is a structural diagram of a first cigarette pack stacking mold box provided by an embodiment of the present invention;

[0038] Figure 4 This is a bottom schematic diagram of a first cigarette pack stacking mold box provided by an embodiment of the present invention;

[0039] Figure 5 This is a schematic structural diagram of a second cigarette pack stacking mold box provided by an embodiment of the present invention;

[0040] Figure 6 This is a schematic structural diagram of a cigarette pack conveying platform and a cigarette pack code scanner provided by an embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of the structure of the cigarette pack supply device provided by the embodiment of the present invention. Figure 1 ;

[0042] Figure 8 1 is a structural diagram of a lifting mechanism provided by an embodiment of the present invention;

[0043] Figure 9 This is a schematic diagram of the structure of the cigarette pack supply device provided by the embodiment of the present invention. Figure 2 ;

[0044] Figure 10 This is a schematic structural diagram of a cigarette pack handling and loading robot provided by an embodiment of the present invention;

[0045] Figure 11 Schematic diagram of the structure of the cigarette pack grabbing device provided by an embodiment of the present invention;

[0046] Figure 12 1. It is a structural diagram of a cigarette pack grabbing tool and a tool holder provided in an embodiment of the present invention;

[0047] Figure 13 1 is a schematic diagram of the assembly of the hinge quadrilateral structure and the cigarette pack grabbing device provided by an embodiment of the present invention;

[0048] Figure 14 This is a schematic structural diagram of a cigarette packaging box platform provided by an embodiment of the present invention;

[0049] Figure 15 This is a diagram showing the usage status of the cigarette packaging box platform provided by an embodiment of the present invention;

[0050] Figure 16 yes Figure 15 A partial enlarged view of point A in the middle;

[0051] Figure 17 1 is a schematic structural diagram of a positioning spring provided in an embodiment of the present invention;

[0052] Figure 182 is a schematic structural diagram of a cigarette pack handling and arranging robot provided in an embodiment of the present invention;

[0053] Figure 19 2 is a schematic structural diagram of a cigarette pack shifting robot provided by an embodiment of the present invention;

[0054] Figure 20 1 is a schematic structural diagram of a strip box supply and finished product output device provided by an embodiment of the present invention;

[0055] Figure 21 2 is a schematic structural diagram of a carton handling and loading robot provided by an embodiment of the present invention;

[0056] Figure 22 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 ;

[0057] Figure 23 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 ;

[0058] Figure 24 This is a schematic diagram of the process from opening to closing and output of a strip box provided by an embodiment of the present invention;

[0059] Figure 25 Schematic diagram of the assembly of the quick connector, the robotic arm, and the gripper (or robotic arm) provided in an embodiment of the present invention;

[0060] Figure 26 is a cross-sectional view of a quick connector provided by an embodiment of the present invention;

[0061] Figure 27 1 is an exploded schematic diagram of a quick connector provided by an embodiment of the present invention;

[0062] Figure 28 The present invention provides a flowchart of a method for controlling an automatic cartoning system for special-shaped boxes.

[0063] In the picture:

[0064] 1. Cigarette package conveying platform; 11. Cigarette package stacking mold box; 111. Base; 1111. Magnet block; 1112. Connection hole; 1113. Boss; 112. Side stop bar; 1121. Waist-shaped hole; 12. Cigarette package scanner;

[0065] 2. Cigarette pack feeding device; 21. First conveyor belt; 22. Second conveyor belt; 23. Lifting mechanism; 231. Third conveyor belt; 232. Support plate; 233. Second protective plate;

[0066] 3. Cigarette bag handling and loading robot; 31. First robotic arm; 32. Cigarette bag grabbing fixture; 321. Picking body; 3211. Vertical connector; 3212. Horizontal connector; 3213. Second raised portion; 3214. First raised portion; 33. Fixture base; 331. First slide bar; 332. Bidirectional drive member; 333. Second slide bar; 334. Connecting block; 335. Hinge quadrilateral structure;

[0067] 4. Cigarette packaging platform; 41. Stacking station; 411. First baffle; 412. Second baffle; 413. First drive member; 42. Cartoning station; 421. Clamping baffle; 422. Second drive member; 423. Pull tab suction cup; 424. Liner paper suction cup; 425. Positioning spring; 4251. Elastic support portion; 4252. Transition portion; 4253. Hook tongue portion; 426. Carton code scanner; 427. Rotating cylinder; 428. Pressing sheet;

[0068] 5. Cigarette pack handling and arranging robot; 51. Second robotic arm; 52. Cigarette pack shifting robot; 521. First suction cup; 522. Second suction cup; 523. Third driving member; 524. Base;

[0069] 6. Strip box supply and finished product output device; 61. Fourth conveyor belt; 62. Fifth conveyor belt; 63. Strip box frame;

[0070] 7. Carton handling and loading robot; 71. Third robotic arm; 72. Carton handling, opening, and closing robot; 721. Main suction cup; 722. Secondary suction cup; 723. Point suction cup; 724. First connecting piece; 7241. Vertical section; 7242. Horizontal section; 725. Second connecting piece;

[0071] 8. Quick connector; 81. Robot arm side connector; 811. Detection cavity; 812. Detection block; 813. Detection probe; 82. Fixture side connector; 821. Stepped hole; 822. Shoulder; 83. Drive seat; 831. Drive cavity; 832. Slider; 8321. Drive unit; 833. First control hole; 834. Second control hole; 84. Guide sleeve; 841. Mounting hole; 842. Locking ball;

[0072] 100. Cigarette pack; 200. Cigarette frame; 300. Carton box; 310. Box body; 320. Box lid; 330. Lining paper; 340. Pull tab. DETAILED DESCRIPTION

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] like Figure 1 As shown, the prior art provides a carton 300, which is a special-shaped carton and includes a box body 310, a box cover 320 reversibly connected to the box body 310, and a lining paper 330 (e.g., cellulose paper) and a pull tab 340 disposed within the box body 310. When the carton 300 is being boxed, the lining paper 330 and the pull tab 340 need to be pulled outward to prevent them from interfering with the boxing of the cigarette packs 100, and then the cigarette packs 100 are loaded into the box body 310. However, the cartoning equipment in the prior art cannot pull out the lining paper 330 and the pull tab 340, and the special-shaped carton needs to be cartoned manually, which has high labor costs, low cartoning efficiency, and inconsistent cartoning quality, and cannot meet market demand; and the existing special-shaped cigarette product carton filling production line can only be applied to the carton filling operation of one type of special-shaped cigarette product, and has poor applicability. Due to the low total production volume of special-shaped cigarette products, the production cost of special-shaped cigarette products is high.

[0078] In response to the above technical issues, such as Figures 2 to 27 As shown, this embodiment provides an automatic cartoning system for special-shaped strip boxes, including a cigarette pack conveying platform 1, a cigarette pack supply device 2, a cigarette pack handling and loading robot 3, a cigarette packing platform 4, a cigarette pack handling and arrangement robot 5, a strip box supply and finished product output device 6 and a strip box handling and filling robot 7.

[0079] The cigarette pack conveying platform 1 is provided with a plurality of cigarette pack stacking mold boxes 11, and each cigarette pack stacking mold box 11 can adapt to at least two forms of cigarette packs 100. When in use, different cigarette packs 100 are placed in different cigarette pack stacking mold boxes 11, and the corresponding cigarette packs 100 are transported to a suitable position through the cigarette pack conveying platform 1. In this embodiment, the cigarette pack conveying platform 1 adopts a planar magnetic levitation conveying platform, which can realize the flexible transmission of cigarette packs 100 and meet the needs of diversified assembly lines. Specifically, the planar magnetic levitation conveying platform includes a stator and a mover. When in use, different cigarette pack stacking mold boxes 11 are installed on the mover of the planar magnetic levitation conveying platform, so that it can transport different cigarette packs 100 at the same time, and can realize the path planning and flexible distribution of cigarette stacks through programming according to process requirements, breaking the limitations of traditional conveying lines and solving the problems of complex system structure, inconvenient maintenance, and friction limiting positioning accuracy in multi-dimensional conveying.

[0080] A cigarette pack supply device 2 is provided at the feed end of the cigarette pack conveying platform 1 and is used to continuously supply cigarette packs 100. Optionally, two cigarette pack supply devices 2 are provided, one on each side of the feed end of the cigarette pack conveying platform 1, with different types of cigarette packs 100 placed on each of the two cigarette pack supply devices 2. A cigarette pack handling and loading robot 3 is also provided at the feed end of the cigarette pack conveying platform 1, located between the two cigarette pack supply devices 2, and is used to transport cigarette packs 100 from the cigarette pack supply devices 2 into the cigarette pack stacking mold boxes 11. This layout enables a single cigarette pack handling and loading robot 3 to transport at least two different cigarette packs 100 into corresponding cigarette pack stacking mold boxes 11, which helps reduce production costs on the production line.

[0081] The cigarette packing platform 4 is located to the side of the cigarette pack conveying platform 1 and is equipped with a stacking station 41 and a boxing station 42. A cigarette pack handling and arrangement robot 5 is located on the same side of the cigarette packing platform 4 and is used to transport cigarette packs 100 from the cigarette pack stacking mold box 11 to the stacking station 41. During operation, the cigarette pack conveying platform 1 transports the cigarette pack stacking mold box 11 containing cigarette packs 100 to the corresponding position. The cigarette pack handling and arrangement robot 5 then activates and transports the cigarette packs 100 from the cigarette pack stacking mold box 11 to the stacking station 41 for neat stacking, facilitating subsequent boxing operations.

[0082] The carton supply and finished product output device 6 is located to the side of the cigarette pack conveying platform 1 and is used to continuously supply empty carton 300 and transport carton 300 filled with cigarette packs 100. A carton handling and filling robot 7 is located on the same side as the carton supply and finished product output device 6 and is used to transport empty carton 300 from the carton supply and finished product output device 6 to the cartoning station 42. It then performs the following operations: opening the carton 300, processing the liner 330 and tab 340, filling the carton 300, closing the carton 300, and returning the carton 300 filled with cigarette packs 100 to the carton supply and finished product output device 6.

[0083] The automatic cartoning system for special-shaped strip boxes provided by the present invention continuously provides cigarette packs 100 by the cigarette pack supply device 2, and the cigarette pack handling and loading robot 3 transports the cigarette packs 100 on the cigarette pack supply device 2 to the cigarette pack stacking mold box 11, and the cigarette pack conveying platform 1 transports the cigarette pack stacking mold box 11 to a position close to the cigarette packaging box platform 4, thereby realizing the loading process of the cigarette packs 100; then the cigarette pack handling and arranging robot 5 transports the cigarette packs 100 from the cigarette pack stacking mold box 11 to the stacking station 41 and stacks them neatly; the empty strip boxes 300 in the strip box supply and finished product output device 6 are transported to the cartoning station 42 by the strip box handling and filling robot 7, and are transported to the cartoning station 42 by the strip box handling and filling robot 7. The robot 7 opens the lid 320 of the strip box 300, pulls out the lining paper 330 and the pull tab 340, loads the cigarette packs 100 from the stacking station 41 into the strip box 300, puts the lining paper 330 and the pull tab 340 back into the strip box 300, and closes the lid 320 of the strip box 300. Then, the strip box 300 filled with cigarette packs 100 is transported to the strip box supply and finished product output device 6 by the strip box handling and filling robot 7; finally, the strip box 300 filled with cigarette packs 100 is output by the strip box supply and finished product output device 6, thereby completing the fully automatic cartoning process of the special-shaped strip boxes, effectively improving the work efficiency of the special-shaped strip box cartoning operation, ensuring the cartoning quality, and reducing production costs.

[0084] Furthermore, the cigarette pack stacking mold box 11 of the present invention is suitable for at least two types of cigarette packs 100, and the cigarette pack conveying platform 1 can simultaneously convey multiple cigarette pack stacking mold boxes 11. Therefore, the present invention can simultaneously complete the conveyance of at least two types of cigarette packs 100. Multiple supporting cigarette packing platforms 4, carton supply and finished product output devices 6, and carton handling and filling robots 7 can be installed on the side of the cigarette pack conveying platform 1 as needed to complete the cartoning operations of different types of cigarette packs 100. The present invention realizes the simultaneous carton filling operations of different types of special-shaped cigarette products, improves the flexibility and applicability of the production line, and thus reduces the production cost of special-shaped cigarette products. At the same time, corresponding modules can be added to the side of the cigarette pack conveying platform 1 as needed to expand and realize other functions, thereby improving the scalability of the production line.

[0085] Alternatively, in some embodiments, Figure 3-Figure 4 As shown, the cigarette pack stacking mold box 11 includes a base 111 and side bars 112. Multiple side bars 112 are arranged around the base 111 to form an enclosed space for placing cigarette packs 100. The fixed position of each side bar 112 on the base 111 is adjustable, so that by adjusting the position of each side bar 112, it can adapt to the stacking of cigarette packs 100 of different shapes. Specifically, in this embodiment, there are four side bars 112, which are arranged around the base 111 to form a square cigarette pack placement area on the base 111. The side bars 112 are L-shaped and include a connecting portion and two limiting portions. The connecting portion is parallel to the plane of the base 111 and is used for fixed connection with the base 111. The two limiting portions are respectively provided at each end of the connecting portion and extend vertically upward from one side of the connecting portion to limit the position of the cigarette packs 100. During transportation of the cigarette packs 100, the side bars 112 arranged around the base 111 can restrict the movement of the cigarette packs 100. Furthermore, waist-shaped holes 1121 are provided on the connecting portions of the side bars 112. Connecting screws pass through the waist-shaped holes 1121 and are then threadedly connected to the base 111, thereby firmly connecting the side bars 112 to the base 111. During use, the positions of the side bars 112 can be adjusted to accommodate the stacking of different cigarette packs 100. This embodiment, by moving the side bars 112 of different cigarette pack stacking mold boxes 11 to different positions, allows different cigarette pack stacking mold boxes 11 to accommodate different cigarette packs 100. This achieves the goal of enabling a single cigarette pack stacking mold box 11 to accommodate at least two sizes of cigarette packs 100, thereby improving the applicability of the production line.

[0086] Optionally, in some specific embodiments, a magnet block 1111 is provided in the middle of the bottom surface of the base 111, thereby imparting magnetism to the base 111. This arrangement allows, when the base 111 is mounted on the cigarette pack conveying platform 1, the magnet block 1111 magnetically connects to the mover of the planar magnetic levitation conveying platform, facilitating the positioning of the base 111 and making the installation of the cigarette pack stacking mold box 11 more convenient. Furthermore, the bottom surface of the base 111 is provided with connection holes 1112, and the mover of the planar magnetic levitation conveying platform has corresponding threaded holes. When installing the cigarette pack stacking mold box 11, bolts pass through the connection holes 1112 and are threadedly connected to the mover, ensuring a secure and reliable installation.

[0087] Optionally, in some specific embodiments, bosses 1113 are provided at the four corners of the base 111. The four bosses 1113 cooperate with each other to form four sliding grooves on the base 111. The connecting portion of the side baffle 112 slides in connection with the sliding grooves, thereby limiting the position of the side baffle 112, effectively preventing the side baffle 112 from deflecting when adjusting the side baffle 112, and reducing the difficulty of adjusting the position of the side baffle 112. Furthermore, a scale is provided on the boss 1113, and by aligning the side baffle 112 with the scale, it is convenient for the staff to adjust the position of the side baffle 112.

[0088] Alternatively, in some embodiments, Figure 5 As shown, the side bars 112 can also be long strips with an L-shaped cross-section. The bottom ends of the side bars 112 are fixedly connected to the base 111. Four side bars 112 form a group, which together position one type of cigarette pack 100. Two sets of side bars 112 can be set on the same base 111. One set of side bars 112 forms a first storage space for placing the first type of cigarette pack 100, and the other set of side bars 112 forms a second storage space for placing the second type of cigarette pack 100. The first and second storage spaces are arranged in a cross-section, and only one of the first and second storage spaces can be used. This arrangement achieves the purpose of adapting the same type of cigarette pack stacking mold box 11 to two specifications of cigarette packs 100.

[0089] It should be noted that multiple layers of cigarette packs 100 can be stacked in the cigarette pack stacking mold box 11, and the number of cigarette packs 100 in each layer and the placement direction of the cigarette packs 100 can be designed according to specific needs. Figure 3 and Figure 5 As shown, five layers of cigarette packs 100 are stacked in the cigarette pack stacking mold box 11 of this embodiment, and each layer has two boxes of cigarette packs 100 arranged in opposite directions.

[0090] Alternatively, in some embodiments, Figure 6 As shown, cigarette pack scanners 12 for reading information on cigarette packs 100 are provided on both sides of the cigarette pack conveying platform 1. The cigarette pack scanners 12 are arranged close to the cigarette pack supply device 2. During the process of the cigarette pack conveying platform 1 conveying the cigarette packs 100, the cigarette pack scanners 12 read the information of the cigarette packs 100 and upload them to the background server, thereby making the information of each cigarette box 300 and the cigarette pack 100 correspond to each other, which is beneficial for the later staff to trace the source of each box 300 and the cigarette pack 100 inside it.

[0091] Alternatively, in some embodiments, Figure 7-Figure 9As shown, the cigarette pack supply device 2 includes a first conveyor belt 21, a second conveyor belt 22 and a lifting mechanism 23. The second conveyor belt 22 is located above the first conveyor belt 21, and the first conveyor belt 21 and the second conveyor belt 22 are arranged parallel to each other; the lifting mechanism 23 is arranged on the side of one end of the first conveyor belt 21 and the second conveyor belt 22, and is used to transport the empty cigarette frame 200 on the first conveyor belt 21 to the second conveyor belt 22.

[0092] Specifically, the end of the first conveyor belt 21 near the lifting mechanism 23 extends to a position flush with the lifting mechanism 23, and the end of the second conveyor belt 22 near the lifting mechanism 23 extends into the lifting mechanism 23. During operation, cigarette racks 200 filled with cigarette packs 100 are neatly stacked on the first conveyor belt 21. The first conveyor belt 21 is activated to transport the filled cigarette racks 200 onto the lifting mechanism 23. The cigarette pack handling and loading robot 3 continuously removes cigarette packs 100 from the cigarette racks 200 on the lifting mechanism 23. When all cigarette packs 100 in the cigarette racks 200 are removed, the lifting mechanism 23 is activated to transport the empty cigarette racks 200 to the second conveyor belt 22. The first conveyor belt 21 is then activated to transport the rear cigarette racks 200 forward to the lifting mechanism 23, allowing the cigarette pack handling and loading robot 3 to continue removing cigarette packs 100. By repeating these actions, a continuous feeding operation of cigarette packs 100 is formed.

[0093] Optionally, in some specific embodiments, the lifting mechanism 23 includes two symmetrically distributed third conveyor belts 231, with the gap between the two third conveyor belts 231 matching the length of the cigarette racks 200; a support plate 232 is provided on the third conveyor belts 231; the two third conveyor belts 231 rotate synchronously in opposite directions, and the empty cigarette racks 200 are transported downward by riding on the two support plates 232, thereby achieving the action of transporting the empty cigarette racks 200 on the first conveyor belt 21 to the second conveyor belt 22. Furthermore, the two third conveyor belts 231 are driven by a stepper motor or servo motor to effectively ensure the synchronous rotation of the two. The end of the second conveyor belt 22 near the lifting mechanism 23 extends below the support plate 232, so that the empty cigarette racks 200 can fall directly onto the second conveyor belt 22 when transported downward.

[0094] Optionally, in some specific embodiments, there is a height difference between the setting heights of the support plates 232 on the two third conveyor belts 231, so that the cigarette frame 200 filled with cigarette packs 100 tilts to one side. At the same time, the cigarette pack handling and loading robot 3 takes the cigarette packs 100 in sequence along the inclined direction, so that the remaining cigarette packs 100 have a tendency to tilt to one side, effectively avoiding the problem of the remaining cigarette packs 100 in the cigarette frame 200 collapsing after some cigarette packs 100 are taken out, which is beneficial to the stability of the cigarette pack handling and loading robot 3 in taking the cigarette packs 100.

[0095] Optionally, in some specific embodiments, a first protective plate is provided on the side of the support plate 232 away from the first conveyor belt 21. When the first conveyor belt 21 transports the cigarette frame 200 to the lifting mechanism 23, the first protective plate can limit the distance that the cigarette frame 200 moves forward, effectively preventing the cigarette frame 200 from sliding off the lifting mechanism 23.

[0096] Alternatively, in some embodiments, Figure 9 As shown, a second protective plate 233 is provided on the frame of the third conveyor belt 231. The second protective plate 233 is attached to the side of the third conveyor belt 231 away from the first conveyor belt 21. The second protective plate 233 limits the forward movement distance of the cigarette frame 200, and can also prevent the cigarette frame 200 from sliding off the lifting mechanism 23.

[0097] Alternatively, in some embodiments, Figure 10 、 Figure 11 As shown, the cigarette pack handling and loading robot 3 includes a first robotic arm 31 and a cigarette pack grabbing fixture 32 mounted on the first robotic arm 31. The cigarette pack grabbing fixture 32 includes a picking body 321. The picking body 321 includes a horizontal connector 3212 and a vertical connector 3211 connected vertically. The horizontal connector 3212 and the vertical connector 3211 form a picking position for sucking the cigarette pack 100. The vertical connector 3211 has a first suction hole on the side, and a second suction hole on the bottom. The first and second suction holes are connected by an airflow channel within the picking body 321, which is connected to an external negative pressure device. During operation, negative pressure is generated at the first and second suction holes by the external pressure supply device. When sucking the cigarette pack 100, the horizontal connector 3212 sucks the top surface of the cigarette pack 100, and the vertical connector 3211 sucks the side surface of the cigarette pack 100, which helps to improve the stability of the suction of the cigarette pack 100.

[0098] Optionally, in some specific embodiments, the picking body 321 is generally T-shaped, with the vertical connector 3211 vertically connected to the middle portion of the bottom surface of the horizontal connector 3212. A first suction hole is provided on both sides of the vertical connector 3211, and a second suction hole is provided at both ends of the bottom of the horizontal connector 3212. This arrangement enables the vertical connector 3211 and the horizontal connectors 3212 on either side to form a picking position for sucking cigarette packs 100, further increasing the number of cigarette packs 100 that the cigarette pack handling and loading robot 3 can handle at one time, thereby improving operational efficiency.

[0099] Alternatively, in some embodiments, Figure 12 and Figure 13As shown, the cigarette pack handling and loading robot 3 also includes a suction cup seat 33, and the cigarette pack grasping suction cup 32 is connected to the first robotic arm 31 through the suction cup seat 33; a first slide bar 331 is provided on the suction cup seat 33, and a plurality of spaced-apart cigarette pack grasping suction cups 32 are slidably mounted on the first slide bar 331, so that the cigarette pack handling and loading robot 3 can absorb multiple cigarette packs 100 at a time, which is beneficial to improving the working efficiency of the cigarette pack handling and loading robot 3. Above the first slide bar 331 are a bidirectional driving member 332 and a second slide bar 333 fixedly mounted on the gripper base 33. Two connecting blocks 334 are slidably mounted on the second slide bar 333, one on either side of the bidirectional driving member 332. The two output ends of the bidirectional driving member 332 are connected to the two connecting blocks 334, respectively, to drive the two connecting blocks 334 toward or away from each other. The lower ends of the two connecting blocks 334 are fixedly connected to the tops of the two most opposite cigarette grippers 32. Adjacent cigarette grippers 32 are connected by hinged quadrilateral structures 335. Each hinged quadrilateral structure 335 comprises four sequentially hinged transmission rods. When the bidirectional driving member 332 is activated, it can drive the cigarette pack grabbing grippers 32 located on the extreme sides to move synchronously to the sides simultaneously. Because the adjacent cigarette pack grabbing grippers 32 are interconnected by the hinged quadrilateral structure 335, when the cigarette pack grabbing grippers 32 located on the extreme sides move synchronously to the sides, they can also drive the cigarette pack grabbing grippers 32 located in the middle to move relatively, and always maintain an equal spacing between adjacent cigarette pack grabbing grippers 32, so that each cigarette pack grabbing gripper 32 can directly face the cigarette pack 100 to be sucked, thereby improving the applicability of the cigarette pack grabbing grippers 32. Optionally, the bidirectional driving member 332 of this embodiment is a bidirectional pneumatic cylinder or a bidirectional electric cylinder.

[0100] Alternatively, in some embodiments, Figure 10-13 As shown, a circular arc-shaped transition is formed between the vertical connector 3211 and the horizontal connector 3212. The vertical connector 3211 is provided with a first protrusion 3214 that protrudes perpendicularly to the vertical connector 3211, and the first suction hole is provided on the first protrusion 3214. The horizontal connector 3212 is provided with a second protrusion 3213 that protrudes perpendicularly to the horizontal connector 3212, and the second suction hole is provided on the second protrusion 3213. This method effectively prevents interference between the cigarette pack handling and loading robot 3 and the cigarette pack stacking mold box 11 when placing cigarette packs 100, while also reducing the overall weight of the cigarette pack handling and loading robot 3.

[0101] For example, Figure 11 and Figure 12As shown, this embodiment is provided with five cigarette pack gripping suction devices 32, thereby being able to pick up two groups of 1*5 cigarette stacks. It should be noted that the two groups of 1*5 cigarette stacks picked up by the five cigarette pack gripping suction devices 32 are in a back-to-back position, so when placed into the cigarette pack stacking mold box 11, the two groups of 1*5 cigarette stacks are in opposite directions.

[0102] Alternatively, in some embodiments, Figure 14-17 As shown, the stacking station 41 is rectangular, with first baffles 411 fixedly provided on two adjacent sides of the stacking station 41, and second baffles 412 movably provided on the other two adjacent sides, corresponding to the first baffles 411. The second baffles 412 are connected to a first driving member 413, which is used to drive the second baffles 412 toward or away from the first baffle 411. Specifically, the first baffle 411 and the second baffle 412 each have two pieces, forming a square. The first driving member 413 and the second baffle 412 are provided behind the second baffle 412 in a one-to-one correspondence. During operation, after a cigarette pack 100 is placed in the square space enclosed by the first baffle 411 and the second baffle 412, the first driving member 413 is activated, driving the second baffle 412 to move toward the first baffle 411 opposite thereto, thereby aligning the cigarette packs 100 and facilitating the subsequent retrieval of the cigarette packs 100. Optionally, the first driving member 413 is a pneumatic cylinder, a hydraulic cylinder or an electric cylinder.

[0103] Optionally, in some embodiments, the cartoning station 42 is positioned adjacent to the stacking station 41. A movable clamping plate 421 is provided at the cartoning station 42. The clamping plate 421 is positioned opposite one of the first baffles 411 and accommodates the cartridge 300 between the clamping plate 421 and the first baffle 411. The clamping plate 421 is connected to a second actuator 422, which is configured to drive the clamping plate 421 toward or away from the first baffle 411. When the cartridge 300 is transported to the cartoning station 42, the second actuator 422 actuates, moving the clamping plate 421 and clamping the cartridge 300, thereby effectively securing the cartridge 300 in place and preventing it from shifting during opening or closing. Optionally, the second actuator 422 is a pneumatic, hydraulic, or electric cylinder.

[0104] Optionally, a tab suction cup 423 is provided at one end of the cartoning station 42. When the tab 340 is pulled out of the carton 300, the tab suction cup 423 holds the tab 340, effectively preventing it from bouncing when the cigarette pack 100 is loaded, thereby ensuring smooth cartoning of the cigarette pack 100. Furthermore, a rotary cylinder 427 is provided to the side of the tab suction cup 423, and a pressing piece 428 is provided on the piston rod of the rotary cylinder 427. When the tab 340 needs to be returned to the carton 300, the rotary cylinder 427 rotates toward the interior of the carton 300, thereby placing the tab 340 therein. Compared to using the carton handling and loading robot 7 to insert the tab 340 into the carton, this embodiment is more efficient and helps to increase the speed of the tab 340 insertion process. Furthermore, the tab suction cup 423 is slidably mounted on the slide rail, thereby making it easy to adjust its position so that it can be used with different strip boxes 300 to improve its applicability.

[0105] Optionally, a liner paper suction cup 424 is provided at the other end of the cartoning station 42. When the liner paper 330 is pulled out of the carton 300, the liner paper suction cup 424 holds the liner paper 330, effectively preventing the liner paper 330 from bouncing when the cigarette pack 100 is loaded, thereby ensuring smooth cartoning of the cigarette pack 100.

[0106] Optionally, a positioning spring piece 425 is provided on the side of the cartoning station 42 away from the stacking station 41. After the strip box 300 is opened at the cartoning station 42, the box cover 320 of the strip box 300 can be hooked by the positioning spring piece 425, so that the position of the box cover 320 can be fixed, and the box cover 320 can be tilted, so that the top surface of the strip box 300 can be grasped by the strip box handling and filling robot 7.

[0107] Specifically, the positioning spring piece 425 includes an elastic support portion 4251, a transition portion 4252 and a hook tongue portion 4253; the elastic support portion 4251 and the hook tongue portion 4253 are respectively located on both sides of the transition portion 4252, the lower end of the elastic support portion 4251 is fixed to the cigarette packaging box platform 4, and the other end extends vertically upward. When the lid is opened, the edge of the box lid 320 of the box 300 first contacts the hook tongue portion 4253, driving the elastic support portion 4251 to bend backward, and then the edge of the box lid 320 passes over the hook tongue portion 4253 and enters between the transition portion 4252 and the hook tongue portion 4253, thereby achieving the purpose of using the positioning spring piece 425 to hook the box lid 320. After the strip box handling and loading robot 7 releases the box cover 320, the positioning spring 425 rebounds and resets, thereby fixing the box cover 320 in a certain position. This avoids the problem that the top surface of the box cover 320 is in contact with the table surface on which the strip box 300 is placed after it is opened, causing the strip box handling and loading robot 7 to be unable to perform the cover closing operation normally, thereby effectively ensuring the smooth progress of the mechanized box loading process. In this embodiment, the positioning spring 425 can be made of an elastic material, such as a steel sheet. Optionally, two positioning springs 425 are provided at intervals along the length of the box loading station 42. The spacing between the two positioning springs 425 matches the length of the strip box 300. The two positioning springs 425 provide multi-point support for the box cover 320, thereby improving the stability of the positioning springs 425 supporting the box cover 320.

[0108] Optionally, a barcode scanner 426 is provided on one side of the cartoning station 42 for reading the barcode or QR code on the barcode 300 and uploading the information of each barcode 300 to the backend server, which is helpful for the staff to trace the source of each barcode 300 later.

[0109] Optionally, a 2D camera for detecting the posture of the cigarette packs 100, the liner 330, the pull tab 340 and the number of cigarette packs 100 is provided above the cartoning station 42. The 2D camera is connected to the background controller. When an error occurs, the 2D camera transmits a signal to the background controller, and the background controller controls the corresponding equipment to issue an alarm.

[0110] Alternatively, in some embodiments, Figure 18-19As shown, the cigarette pack handling and arranging robot 5 includes a second robotic arm 51 and a cigarette pack shifting robot 52 arranged at the end of the second robotic arm 51, the cigarette pack shifting robot 52 includes a base 524, a first suction cup 521, a second suction cup 522 and a third driving member 523, the base 524 is installed at the end of the second robotic arm 51; the first suction cup 521 is fixed to the bottom of the base 524; the second suction cup 522 is movably arranged on the base 524, and is arranged side by side on one side of the first suction cup 521; the third driving member 523 is fixed on the base 524, and the output end of the third driving member 523 is fixedly connected to the second suction cup 522, for driving the second suction cup 522 to move up and down. During operation, the first and second suction cups 521, 522 are each connected to an external pressure-supply device via a pipe. This external pressure-supply device enables the first and second suction cups 521, 522 to generate suction, thereby holding the corresponding cigarette packs 100. By moving the second suction cup 522 up and down, the cigarette pack handling and arrangement robot 5 can pick up one cigarette pack 100 at a time or two cigarette packs 100 simultaneously. The third driving member 523 can be a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, or the like, with a pneumatic cylinder being preferred in this embodiment.

[0111] When the cigarette pack handling and arranging robot 5 of this embodiment sucks up the cigarette pack 100, the first suction cup 521 and the second suction cup 522 are flush with each other, and then the two cigarette packs 100 are sucked at the same time. Then the second robotic arm 51 moves the cigarette pack shifting robot 52 to the position corresponding to the stacking station 41, and the third driving member 523 is actuated to drive the second suction cup 522 to move downward. Then the second suction cup 522 releases the cigarette pack 100 and places the corresponding cigarette pack 100 on the stacking station 41. Then the third driving member 523 is actuated to drive the second suction cup 522 to reset. At this time, the cigarette pack 100 on the first suction cup 521 protrudes outward, and then the second robotic arm 51 is actuated to align the cigarette pack 100 on the first suction cup 521 with the set position of the stacking station 41, and then releases the first suction cup 521 to complete the placement of the two cigarette packs 100. In this embodiment, the second suction cup 522 moves up and down, so that the two cigarette packs 100 are offset up and down, so that the cigarette pack handling and arranging robot 5 can first place one pack of cigarette packs 100 on the stacking station 41, and then place another pack of cigarette packs 100 on the stacking station 41, 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 and arranging robot 5 of this embodiment has higher work efficiency.

[0112] 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 52 picks up a cigarette pack 100, the cigarette packs 100 held by the first suction cup 521 and the cigarette packs 100 held by the second suction cup 522 are arranged in opposite directions, which makes it difficult to box or stack the cigarette packs 100.

[0113] In order to solve the above problems, the cigarette pack handling and arranging robot 5 of this embodiment also includes a rotary drive member, which is fixedly mounted on the end of the second robotic arm 51, and the output end of the rotary drive member is fixedly connected to the upper end of the base 524. In this way, the cigarette pack shifting robot 52 can be driven to rotate by the rotary drive member, thereby realizing the packing or stacking of the cigarette packs 100 adsorbed on the first suction cup 521 and the second suction cup 522 in the same direction. Specifically, the rotary drive member of this embodiment can drive the base 524 to rotate 180 degrees, thereby realizing a 180-degree turn of the cigarette packs 100 on the first suction cup 521 or the second suction cup 522. Optionally, the rotary drive member of this embodiment is a rotary motor, and the output shaft of the rotary motor is fixedly connected to the top of the base 524. It has a simple structure and is easy to control.

[0114] Alternatively, in some embodiments, Figure 20 As shown, the carton supply and finished product output device 6 includes a fourth conveyor belt 61 and a fifth conveyor belt 62 arranged parallel to each other, rotating in opposite directions. During operation, the carton 300 is placed in a carton frame 63, which is then neatly placed on the fourth conveyor belt 61. The carton handling and filling robot 7 removes the carton 300 from the carton frame 63 at the forefront of the fourth conveyor belt 61. When all the carton 300 in the carton frame 63 are removed, the carton handling and filling robot 7 moves the carton frame 63 from the fourth conveyor belt 61 to the forefront of the fifth conveyor belt 62. When the carton handling and filling robot 7 returns the carton 300 filled with cigarette packs 100 to the carton supply and finished product output device 6, it can place the carton 300 filled with cigarette packs 100 in the empty carton frame 63 on the fifth conveyor belt 62, thus forming a circulation system and effectively reducing the use of carton frames 63.

[0115] Optionally, in some specific embodiments, a 3D camera for detecting the posture of the strip box 300 in the strip box frame 63 is provided above the strip box supply and finished product output device 6, so that the strip box handling and filling robot 7 can adjust the corresponding picking position according to the posture of different prefabricated strip boxes 300 when picking up the strip box 300; and the 3D camera is connected to the background controller. When the posture of the strip box 300 is wrong, the 3D camera transmits a signal to the background controller, and the background controller controls the corresponding equipment to issue an alarm.

[0116] Alternatively, in some embodiments, Figure 21-23 As shown, the strip box handling and filling robot 7 includes a third robotic arm 71 and a strip box handling opening and closing robot 72 installed at the end of the third robotic arm 71; the strip box handling opening and closing robot 72 includes a main suction cup 721, an auxiliary suction cup 722 arranged on one side of the main suction cup 721 and a point suction cup 723 arranged on the top of the main suction cup 721, the main suction cup 721 is used to adsorb the top surface of the strip box 300, the auxiliary suction cup 722 is used to adsorb the side surface of the strip box 300, and the angle between the adsorption surface of the main suction cup 721 and the adsorption surface of the auxiliary suction cup 722 is equal to the angle between the top surface and the side surface of the strip box 300; the adsorption end of the point suction cup 723 protrudes outward from one side of the main suction cup 721, and the point suction cup 723 is used to adsorb the lining paper 330 and the pull tab 340 in the strip box 300. In this embodiment, when transporting a cassette 300, the main suction cup 721 holds the top surface of the lid 320 of the cassette 300, while the auxiliary suction cup 722 holds the side surface of the body 310 of the cassette 300. This not only improves the stability of the cassette handling and opening and closing robot 72 in grasping the cassette 300, but also limits the position of the body 310 of the cassette 300 by the auxiliary suction cup 722, effectively preventing the cassette 300 from automatically opening during transport, thereby ensuring safety during the handling of irregular-shaped cassettes. Furthermore, the angle between the suction surfaces of the main suction cup 721 and the auxiliary suction cup 722 is set according to the shape of the cassette 300, ensuring that the main suction cup 721 and the auxiliary suction cup 722 are in close contact with the top surface of the cassette 300 and the auxiliary suction cup 722 are in close contact with the side surface of the cassette 300, thereby improving the reliability of the cassette 300 grasping.

[0117] Optionally, the angle between the suction surface of the main suction cup 721 and the suction surface of the auxiliary suction cup 722 in this embodiment ranges from 70 degrees to 110 degrees, for example, 70 degrees, 80 degrees, 85 degrees, 95 degrees, or 110 degrees, etc., and can be specifically set according to the shape of the cassette 300 to be grasped, as long as the main suction cup 721 can reliably absorb the top surface of the cassette 300 and the auxiliary suction cup 722 can reliably absorb the side surface of the cassette 300. Preferably, the angle between the suction surface of the main suction cup 721 and the suction surface of the auxiliary suction cup 722 in this embodiment is 90 degrees, so as to be suitable for use with conventional rectangular cassettes.

[0118] Optionally, the main suction cup 721 and auxiliary suction cup 722 of this embodiment are arranged in an L-shape. Specifically, the auxiliary suction cup 722 is connected to the main suction cup 721 via a first connecting member 724. The first connecting member 724 is L-shaped and includes a horizontal section 7242 and a vertical section 7241. The horizontal section 7242 is fixedly connected to the top of the main suction cup 721, and the vertical section 7241 is fixedly connected to the side of the auxiliary suction cup 722 facing away from its suction surface. In this way, a secure connection is achieved between the main suction cup 721 and the auxiliary suction cup 722, while the structure is simple and the connection is convenient.

[0119] Furthermore, the length of the vertical section 7241 extending downward relative to the horizontal section 7242 is adjustable. During use, the downward extension of the vertical section 7241 is adjusted according to the height of the box 300, thereby adjusting the suction and support position of the auxiliary suction cup 722 on the box 300. This ensures the reliability of the auxiliary suction cup 722's suction on the side of the box 300, allowing the box handling and opening and closing robot 72 to be applicable to a wider range of boxes 300, thereby improving its applicability. For example, the vertical section 7241 can be connected to the horizontal section 7242 by a telescopic rod that extends or retracts to change its length. Alternatively, the vertical section 7241 can be connected to the horizontal section 7242 in a sliding manner in the vertical direction. When the vertical section 7241 slides to the appropriate position, the position of the vertical section 7241 relative to the horizontal section 7242 can be locked by a fastener.

[0120] Furthermore, the cassette handling and opening / closing robot 72 of this embodiment includes a second connecting member 725. The second connecting member 725 comprises a connecting tube, a first flange disposed at the upper end of the connecting tube, and a second flange disposed at the lower end of the connecting tube. The first flange is fixedly connected to the end of the third robotic arm 71 via fasteners, and the second flange is fixedly connected to the top of the main suction cup 721 via fasteners. The second connecting member 725 has a simple structure and is easy to manufacture, thereby achieving a secure and reliable connection between the cassette handling and opening / closing robot 72 and the third robotic arm 71.

[0121] refer to Figure 24 In this embodiment, the flexible movement of the third robot arm 71 drives the carton handling and opening and closing robot 72 to move along a fixed route, thereby realizing the empty carton handling, opening, cigarette packing, closing, and full carton handling of the carton 300. The specific workflow is as follows:

[0122] Empty Carton Transport: The third robotic arm 71 operates, causing the primary suction cup 721 to adhere to the top surface of the carton 300 and the secondary suction cup 722 to adhere to the sides of the carton 300. This secures the carton 300 and prevents it from opening during transport. The carton 300 is then transported from the carton supply and finished product output device 6 to the cartoning station 42.

[0123] Box opening action: After the main suction cup 721 sucks the box cover 320 of the box 300, the third robotic arm 71 drives the main suction cup 721 to rotate around the hinge point of the box cover 320, thereby opening the box cover 320 of the box 300; then the third robotic arm 71 continues to move, so that the point suction cup 723 faces downward, and then the third robotic arm 71 moves the point suction cup 723 to a position corresponding to the backing paper 330, and pulls the backing paper 330 out of the box 300; then the third robotic arm 71 continues to move, moves the point suction cup 723 to a position corresponding to the pull tab 340, pulls the pull tab 340 out of the box 300, and completes the opening of the box 300.

[0124] Cigarette packaging action: The third robotic arm 71 moves, causing the main suction cup 721 to suck the cigarette pack 100 on the stacking station 41, and then moves the cigarette pack 100 into the carton 300 and releases it.

[0125] Box closing action: The third robotic arm 71 moves the point suction cup 723 to the position corresponding to the pull tab 340, re-inserts the pull tab 340 into the box 300, and then re-inserts the liner 330 into the box 300; then, the third robotic arm 71 continues to move, causing the main suction cup 721 to suck the rear side of the box cover 320, and the third robotic arm 71 drives the main suction cup 721 to rotate around the hinge point of the upper cover, thereby closing the box cover 320 of the box 300.

[0126] Transporting full cartons: The third robotic arm 71 moves, causing the main suction cup 721 to suck the top surface of the cartons 300, and the auxiliary suction cup 722 to suck the sides of the cartons 300, thereby firmly adsorbing the cartons 300 to prevent the cartons 300 filled with cigarette packs 100 from opening during transport; then the cartons 300 filled with cigarette packs 100 are transported from the cartoning station 42 to the cartons supply and finished product output device 6.

[0127] Optionally, in some specific embodiments, such as Figure 25-27 As shown, the first robotic arm 31 and the cigarette pack grabbing suction device 32 , the second robotic arm 51 and the cigarette pack shifting robot 52 , and the third robotic arm 71 and the cigarette box transporting and opening and closing robot 72 are all connected via quick connectors 8 .

[0128] The quick connector 8 includes a manipulator-side connection base 81, a gripper-side connection base 82, a drive base 83, and a guide sleeve 84. A drive chamber 831 is provided within the drive base 83. A slider 832 is slidably mounted within the drive chamber 831, which can move up and down. The slider 832 divides the drive chamber 831 into an upper chamber and a lower chamber. The drive base 83 is provided with a first control hole 833 communicating with the upper chamber and a second control hole 834 communicating with the lower chamber. The control medium is then introduced into or out of the upper and lower chambers through the first and second control holes 833, 834, respectively, thereby controlling the upward and downward movement of the slider 832.

[0129] The manipulator side connection seat 81 is fixedly mounted on the top of the drive seat 83. When in use, the manipulator side connection seat 81 is connected to the corresponding manipulator via screws or bolts. A detection cavity 811 is provided in the manipulator side connection seat 81. A detection block 812 that can move up and down is provided in the detection cavity 811. The detection block 812 extends downward through the bottom of the manipulator side connection seat 81 and the top of the drive seat 83, penetrates deep into the drive cavity 831, and is fixedly connected to the slider 832, so that when the slider 832 moves up and down, it drives the detection block 812 to move up and down synchronously. A detection probe 813 is provided on the inner wall of the detection cavity 811. There are two detection probes 813, one for detecting the position of the slider 832 when it rises to the extreme position and the other for detecting the position when it falls to the extreme position. The detection probe 813 uses a proximity switch.

[0130] The guide sleeve 84 is fixedly mounted on the bottom of the drive base 83 and coaxially arranged with the drive cavity 831. The slider 832 is provided with a drive portion 8321 extending downward from its lower end surface. The drive portion 8321 extends into the guide sleeve 84, and the lower end of the drive portion 8321 is tapered. The side wall of the guide sleeve 84 is provided with three mounting holes 841, evenly spaced around the circumference of the guide sleeve 84. Each of the three mounting holes 841 houses a locking ball 842 that can move radially along the guide sleeve 84. When the drive portion 8321 moves downward, it inserts between the three locking balls 842, thereby driving the locking balls 842 outward.

[0131] The fixture side connecting seat 82 is fixedly connected to the corresponding fixture or manipulator by screws or bolts, and a stepped hole 821 is provided on the fixture side connecting seat 82, wherein the aperture of the through hole located above matches the diameter of the guide sleeve 84, and the aperture of the through hole located below is larger than the aperture of the through hole located above.

[0132] When the robotic arm needs to be connected to the corresponding gripper or manipulator, first move the slider 832 upward to the extreme position so that the locking ball 842 can move inward and be hidden in the guide sleeve 84. Then insert the guide sleeve 84 into the stepped hole 821 until the top surface of the gripper side connecting seat 82 fits with the bottom surface of the drive seat 83. Then drive the slider 832 downward so that the drive part 8321 is inserted between the three locking balls 842, and then drive the locking balls 842 to move outward, protruding from the outer surface of the guide sleeve 84, thereby firmly connecting the guide sleeve 84 to the gripper side connecting seat 82, thereby achieving the purpose of connecting the robotic arm to the gripper or manipulator.

[0133] The shoulder 822 of the stepped hole 821 is inclined. When the robot arm and the gripper or manipulator need to be released, the slider 832 moves upward and drives the locking ball 842 to retract into the guide sleeve 84 through the inclined surface, ensuring that the separation of the two is more convenient.

[0134] The working process of the automatic cartoning system for special-shaped boxes provided by the present invention is as follows:

[0135] 1) The cigarette pack handling and loading robot 3 picks up cigarette packs 100 from the cigarette pack supply device 2 step by step according to the set coordinates, and then transports them to the cigarette pack stacking mold box 11 parked at the specified coordinates. After the cigarette pack handling and loading robot 3 has removed all cigarette packs 100 from the cigarette rack 200 a certain number of times, the lifting mechanism 23 activates, moving the empty cigarette rack 200 onto the second conveyor belt 22 for transport. The first conveyor belt 21 then activates, moving the cigarette rack 200 containing cigarette packs 100 at the rear to the specified position (on the lifting mechanism 23) for further removal by the cigarette pack handling and loading robot 3.

[0136] 2) The cigarette pack conveying platform 1 moves the cigarette pack stacking mold box 11 containing the cigarette packs 100 to a designated coordinate for the cigarette pack handling and arranging robot 5 to pick up.

[0137] 3) The cigarette pack transporting and arranging robot 5 takes the cigarette packs 100 from the cigarette pack stacking mold box 11 in sequence according to the set coordinates, and transports them to the stacking station 41 for neat stacking.

[0138] 4) The first driving member 413 is actuated to drive the second baffle 412 to move toward the first baffle 411 , thereby arranging the cigarette packs 100 in the stacking station 41 in order.

[0139] 5) The carton handling and loading robot 7 sequentially picks up cartons 300 from the cartons frame 63 on the fourth conveyor belt 61 according to the set path (Note: In the initial state, a cartons frame 63 full of empty cartons 300 is placed on the end of the fourth conveyor belt 61 near the cartons handling and loading robot 7, and an empty cartons frame 63 is placed on the end of the fifth conveyor belt 62 near the cartons handling and loading robot 7), and transports the cartons 300 to the cartoning station 42. If a serious error occurs in the posture of the cartons 300 in the cartons frame 63, the 3D camera transmits a signal to the background controller, which controls the alarm device to sound an alarm.

[0140] 6) The second driving member 422 is actuated to drive the clamping baffle 421 to move toward the first baffle 411 , thereby clamping the cassette 300 .

[0141] 7) The carton handling and filling robot 7 moves along the previously set trajectory, and sequentially completes the following actions: opening the lid of the carton 300, pulling the lining paper 330 out of the carton 300 and fixing it by the lining paper suction cup 424, pulling the pull tab 340 out of the carton 300 and fixing it by the pull tab suction cup 423, placing the cigarette pack 100 into the carton 300, pulling the lining paper 330 into the carton 300, pulling the pull tab 340 into the carton 300 (the pressing plate 428 can also be driven to rotate by the rotating cylinder 427, thereby sweeping the pull tab 340 into the carton 300), closing the lid of the carton 300, and transporting the carton 300 to the carton frame 63 on the fifth conveyor belt 62. The 2D camera monitors the entire process in real time. If the number or position of cigarette packs 100 in the carton 300 is incorrect, if the pull tab 340 fails to be pulled out of or into the carton 300, or if the liner 330 fails to be pulled out of or into the carton 300, the 2D camera transmits a signal to the backend controller, which controls the alarm device to sound an alarm. When all the cartons 300 in the carton frame 63 on the fourth conveyor belt 61 have been removed, the carton handling and loading robot 7 moves the empty carton frame 63 to the fifth conveyor belt 62.

[0142] The automatic cartoning system for special-shaped strip boxes provided by the present invention has different control programs written for the filling of cigarette products of different specifications, sizes and arrangements during program setting. Therefore, when performing flexible filling, the program of the corresponding specification can be called to realize the filling of cigarette products of different specifications, sizes and arrangements in the same system.

[0143] like Figure 28 As shown, the present invention also provides a control method for an automatic cartoning system for special-shaped strip boxes, which is used in any of the above-mentioned automatic cartoning systems for special-shaped strip boxes. The control method specifically includes the following step modules:

[0144] S1. Check whether the empty cigarette pack palletizing mold box 11 is in place. If so, the cigarette pack handling and loading robot 3 grabs the cigarette pack 100 from the cigarette pack supply device 2, and transports the cigarette pack 100 to the cigarette pack palletizing mold box 11. Then, the cigarette pack conveying platform 1 transports the cigarette pack palletizing mold box 11 containing the cigarette pack 100 to the designated position, and at the same time returns to continue to check whether the next empty cigarette pack palletizing mold box 11 is in place. If not, return to continue to check whether the empty cigarette pack palletizing mold box 11 is in place.

[0145] Optionally, in S1, the cigarette pack handling and loading robot 3 first grabs the 1*5 group of cigarette stacks on one side, and then the first robotic arm 31 drives the cigarette pack grabbing suction device 32 to rotate 180 degrees to grab the 1*5 group of cigarette stacks on the other side. Thereafter, the cigarette pack handling and loading robot 3 transports the 2*5 group of cigarette stacks to a position opposite to the cigarette pack stacking mold box 11, and then places the 1*5 group of cigarette stacks on one side, and then places the 1*5 group of cigarette stacks on the other side, and finally transports the cigarette pack stacking mold box 11 containing the 2*5 group of cigarette stacks to the cigarette packaging box platform 4 through the cigarette pack conveying platform 1.

[0146] S2. Check whether the cigarette pack stacking mold box 11 containing cigarette packs 100 is in place. If so, the cigarette pack transporting and arranging robot 5 picks up cigarette packs 100 from the cigarette pack stacking mold box 11 in sequence, transports the cigarette packs 100 along the cigarette packs 100 and places them on the stacking station 41. After all the cigarette packs 100 in the cigarette pack stacking mold box 11 are taken out, the empty cigarette pack stacking mold box 11 is returned to its original position via the cigarette pack conveying platform 1, and the cigarette packs 100 on the stacking station 41 are sorted. If not, return to check whether the cigarette pack stacking mold box 11 containing cigarette packs 100 is in place.

[0147] Optionally, in S2, the cigarette pack stacking mold box 11 contains 2*5 groups of cigarette stacks, and the cigarette pack handling and arranging robot 5 picks up 1*2 groups of cigarette packs 100 side by side each time, and then the cigarette pack handling and arranging robot 5 first places one cigarette pack 100 in the 1*2 group of cigarette packs 100 on the stacking station 41, and then places another cigarette pack 100 in the 1*2 group of cigarette packs 100 on the stacking station 41; repeat the above operation five times in a cycle, and all the cigarette packs 100 in the cigarette pack stacking mold box 11 can be taken out.

[0148] S3, check whether the empty strip box 300 in the strip box supply and finished product output device 6 is in place, if so, the strip box handling and filling robot 7 picks up the empty strip box 300 from the strip box supply and finished product output device 6, and transports the empty strip box 300 to the cartoning station 42, and then the strip box handling and filling robot 7 opens the box cover 320 of the strip box 300, pulls the lining paper 330 and the pull tab 340 out of the strip box 300 respectively, fills the cigarette packs 100 from the stacking station 41 into the strip box 300, pulls the lining paper 330 and the pull tab 340 back into the strip box 300 respectively, closes the box cover 320 of the strip box 300, and transports the strip box 300 filled with cigarette packs 100 to the strip box supply and finished product output device 6; if not, return to continue to check whether the empty strip box 300 in the strip box supply and finished product output device 6 is in place.

[0149] Optionally, in S3 , when loading the cigarette packs 100 on the stacking station 41 into the carton 300 , a layer of cigarette packs 100 is first loaded into the box body 310 , and then a second layer of cigarette packs 100 is loaded, thereby filling the entire carton 300 .

[0150] 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. Automatic cartoning system for special-shaped boxes, characterized by: include: A cigarette pack conveying platform (1) is provided with a cigarette pack stacking mold box (11) capable of accommodating at least two types of cigarette packs (100); A cigarette pack supply device (2), arranged at a supply end of the cigarette pack conveying platform (1), for providing cigarette packs (100); a cigarette pack handling and loading robot (3), arranged at the feeding end of the cigarette pack conveying platform (1), and used for carrying the cigarette packs (100) on the cigarette pack supply device (2) into the cigarette pack stacking mold box (11); A cigarette packing platform (4) is arranged on the side of the cigarette pack conveying platform (1), and a stacking station (41) and a packing station (42) are provided on the cigarette packing platform (4); a cigarette pack transporting and arranging robot (5), arranged on the same side as the cigarette packing box platform (4), for transporting cigarette packs (100) from the cigarette pack stacking mold box (11) to the stacking station (41); a strip box supply and finished product output device (6), arranged on the side of the cigarette pack conveying platform (1), for providing empty strip boxes (300) and transporting strip boxes (300) filled with cigarette packs (100); A strip box handling and filling robot (7) is arranged on the same side as the strip box supply and finished product output device (6), and is used to transport empty strip boxes (300) from the strip box supply and finished product output device (6) to the box filling station (42), and to open the strip boxes (300), process the lining paper (330) and the pull tab (340), fill the strip boxes (300), close the boxes, and carry the strip boxes (300) filled with cigarette packs (100) back to the strip box supply and finished product output device (6).

2. The automatic cartoning system for special-shaped boxes according to claim 1 is characterized in that: The cigarette pack stacking mold box (11) comprises a base (111) and side baffles (112), wherein a plurality of side baffles (112) are arranged around the base (111) to form an enclosed space for placing cigarette packs (100); the fixed position of each side baffle (112) on the base (111) is adjustable, and by adjusting the position of each side baffle (112), the stacking of cigarette packs (100) of different forms can be adapted.

3. The automatic cartoning system for special-shaped boxes according to claim 1, characterized in that: The cigarette pack supply device (2) includes a first conveyor belt (21), a second conveyor belt (22) and a lifting mechanism (23), wherein the second conveyor belt (22) is located above the first conveyor belt (21) and the first conveyor belt (21) and the second conveyor belt (22) are arranged parallel to each other; the lifting mechanism (23) is arranged on the side of one end of the first conveyor belt (21) and the second conveyor belt (22) and is used to transport the empty cigarette frame (200) on the first conveyor belt (21) to the second conveyor belt (22).

4. The automatic cartoning system for special-shaped boxes according to claim 3 is characterized in that: The lifting mechanism (23) comprises two symmetrically distributed third conveyor belts (231), the gap between the two third conveyor belts (231) matches the length of the cigarette frame (200); a supporting plate (232) is provided on the third conveyor belt (231); the two third conveyor belts (231) rotate synchronously in opposite directions, and the empty cigarette frame (200) is transported downward by being placed on the two supporting plates (232).

5. The automatic cartoning system for special-shaped boxes according to claim 1, characterized in that: The cigarette pack handling and loading robot (3) comprises a first robotic arm (31) and a cigarette pack grabbing suction device (32) mounted on the first robotic arm (31), wherein the cigarette pack grabbing suction device (32) comprises a picking body (321), wherein the picking body (321) comprises a horizontal connector (3212) and a vertical connector (3211) connected vertically, wherein a picking position for adsorbing cigarette packs (100) is formed between the horizontal connector (3212) and the vertical connector (3211); a first adsorption hole is provided on the side surface of the vertical connector (3211), and a second adsorption hole is provided on the bottom surface of the horizontal connector (3212), wherein the first adsorption hole and the second adsorption hole are connected through an air flow channel in the picking body (321), and the air flow channel is connected to an external negative pressure device.

6. The automatic cartoning system for special-shaped boxes according to claim 5, characterized in that: The cigarette pack handling and loading robot (3) further comprises a suction base (33), wherein the cigarette pack grabbing suction base (32) is connected to the first robot arm (31) via the suction base (33); a first slide bar (331) is provided on the suction base (33), and at least two spaced-apart cigarette pack grabbing suction bases (32) are slidably mounted on the first slide bar (331); a bidirectional driving member (332) and a second slide bar (333) are fixedly mounted on the suction base (33) above the first slide bar (331), and the second slide bar (333) is provided above the first slide bar (331). Two connecting blocks (334) are slidably mounted on the rod (333), and are located on both sides of the bidirectional driving member (332). The two output ends of the bidirectional driving member (332) are respectively connected to the two connecting blocks (334) for driving the two connecting blocks (334) to move closer to or away from each other. The lower ends of the two connecting blocks (334) are respectively fixedly connected to the tops of the cigarette pack grabbing suckers (32) located on the two most sides, and the adjacent cigarette pack grabbing suckers (32) are connected by a hinge quadrilateral structure (335).

7. The automatic cartoning system for special-shaped boxes according to claim 1, characterized in that: The stacking station (41) is rectangular, and two adjacent sides of the stacking station (41) are fixedly provided with first baffles (411), and the other two adjacent sides are movably provided with second baffles (412) corresponding to the first baffles (411), and the second baffles (412) are connected to a first driving member (413), and the first driving member (413) is used to drive the second baffle (412) to approach or move away from the first baffle (411); The box loading station (42) is arranged adjacent to the stacking station (41), and the box loading station (42) is movably provided with a clamping baffle (421), and the clamping baffle (421) is opposite to one of the first baffles (411), and the clamping baffle (421) and the first baffle (411) are used to accommodate the box (300); the clamping baffle (421) is connected to a second driving member (422), and the second driving member (422) is used to drive the clamping baffle (421) to approach or move away from the first baffle (411); A tab suction cup (423) is provided at one end of the box loading station (42), and a lining paper suction cup (424) is provided at the other end; a positioning spring piece (425) is provided on the side of the box loading station (42) away from the stacking station (41); after the strip box (300) is opened at the box loading station (42), the box cover (320) of the strip box (300) can be hooked by the positioning spring piece (425).

8. The automatic cartoning system for special-shaped boxes according to claim 1, characterized in that: The cigarette pack handling and arranging robot (5) comprises a second mechanical arm (51) and a cigarette pack shifting manipulator (52) arranged at the end of the second mechanical arm (51), the cigarette pack shifting manipulator (52) comprising a base (524), a first suction cup (521), a second suction cup (522) and a third driving member (523), wherein the base (524) is mounted at the end of the second mechanical arm (51); the first suction cup (521) is fixed to the bottom of the base (524); the second suction cup (522) is arranged on the base (524) so ​​as to be movable up and down, and is arranged side by side on one side of the first suction cup (521); the third driving member (523) is fixed on the base (524), and the output end of the third driving member (523) is fixedly connected to the second suction cup (522) for driving the second suction cup (522) to move up and down.

9. The automatic cartoning system for special-shaped boxes according to claim 1, characterized in that: The strip box supply and finished product output device (6) comprises a fourth conveyor belt (61) and a fifth conveyor belt (62) arranged parallel to each other, and the fourth conveyor belt (61) and the fifth conveyor belt (62) rotate in opposite directions.

10. The automatic cartoning system for special-shaped boxes according to claim 1, characterized in that: The strip box handling and filling robot (7) comprises a third mechanical arm (71) and a strip box handling opening and closing mechanical arm (72) installed at the end of the third mechanical arm (71); the strip box handling opening and closing mechanical arm (72) comprises a main suction cup (721), a secondary suction cup (722) arranged on one side of the main suction cup (721) and a point suction cup (723) arranged on the top of the main suction cup (721), wherein the main suction cup (721) is used to absorb the strip box (300) The auxiliary suction cup (722) is used to absorb the side surface of the strip box (300), and the angle between the absorption surface of the main suction cup (721) and the absorption surface of the auxiliary suction cup (722) 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 (723) protrudes outward from one side of the main suction cup (721), and the point suction cup (723) is used to absorb the lining paper (330) and the pull tab (340) in the strip box (300).

11. A control method for an automatic cartoning system for special-shaped strip boxes, used in the automatic cartoning system for special-shaped strip boxes according to any one of claims 1 to 10, characterized in that: include: Detecting whether an empty cigarette pack stacking mold box (11) is in place; if so, the cigarette pack handling and loading robot (3) grabs a cigarette pack (100) from the cigarette pack supply device (2), and transports and places the cigarette pack (100) into the cigarette pack stacking mold box (11); then, the cigarette pack stacking mold box (11) containing the cigarette pack (100) is transported to a designated position via the cigarette pack conveying platform (1), and at the same time, returns to continue detecting whether the next empty cigarette pack stacking mold box (11) is in place; Detect whether the cigarette pack stacking mold box (11) containing cigarette packs (100) is in place. If so, the cigarette pack transporting and arranging robot (5) picks up cigarette packs (100) from the cigarette pack stacking mold box (11) in sequence, and transports the cigarette packs (100) along the cigarette packs (100) and places them on the stacking station (41). After all the cigarette packs (100) in the cigarette pack stacking mold box (11) are taken out, the empty cigarette pack stacking mold box (11) is returned to its original position through the cigarette pack conveying platform (1), and the cigarette packs (100) on the stacking station (41) are sorted. Detect whether the empty strip box (300) in the strip box supply and finished product output device (6) is in place. If so, the strip box transporting and filling robot (7) picks up the empty strip box (300) from the strip box supply and finished product output device (6) and transports the empty strip box (300) to the box loading station (42). Then, the strip box transporting and filling robot (7) opens the box cover (320) of the strip box (300), pulls the lining paper (330) and the pull tab (340) out of the strip box (300), loads the cigarette packs (100) in the stacking station (41) into the strip box (300), pulls the lining paper (330) and the pull tab (340) back into the strip box (300), closes the box cover (320), and transports the strip box (300) filled with cigarette packs (100) to the strip box supply and finished product output device (6).

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