Automatic tobacco leaf boxing device and method

Abstract

The invention discloses an automatic tobacco leaf boxing device and method, and relates to the technical field of tobacco leaf packaging, the automatic tobacco leaf boxing device comprises a conveying mechanism, a three-coordinate truss and a turnover manipulator, the conveying mechanism is arranged on one side of a tobacco box and used for conveying a tobacco basket to a set position; the three-coordinate truss is positioned above the conveying mechanism and the smoke box; the overturning manipulator is arranged on the three-coordinate truss and can horizontally and vertically move on the three-coordinate truss; the overturning mechanical arm is used for grabbing the tobacco basket and can drive the tobacco basket to horizontally rotate or vertically overturn. According to the boxing method adopting the automatic tobacco leaf boxing device, the working efficiency is high, and stacking is standard during tobacco leaf boxing.

Description

Technical Field

[0001] The invention relates to the technical field of tobacco leaf packaging, and in particular to an automatic tobacco leaf boxing device and method. Background Art

[0002] Before packing, tobacco leaves need to be pre-pressed and shaped in boxes, and then the tobacco boxes drive the tobacco leaves inside into the packing system for final pressing and packing operations. However, in the pre-packing stage of tobacco leaves before packing, it is necessary to manually pour the tobacco leaves in multiple tobacco baskets into the tobacco boxes. The labor intensity is high, the efficiency is low, and the manual operation is arbitrary, which makes the tobacco leaves in the tobacco boxes not uniform in size when stacked, and ultimately leads to irregular appearance of the packaged tobacco leaves, which affects subsequent stacking and transportation. Therefore, it is urgent to design a technical solution with high efficiency and standardized stacking of tobacco leaves when packing. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic tobacco packing device and method to solve the problems existing in the above-mentioned prior art, with high working efficiency and standardized stacking of tobacco leaves during packing.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a tobacco leaf automatic boxing device, comprising:

[0006] A conveying mechanism, arranged on one side of the cigarette box, is used to convey the cigarette basket to a set position;

[0007] A three-coordinate gantry, located above the conveying mechanism and the cigarette box;

[0008] The flipping manipulator is arranged on the three-coordinate rack and can move horizontally and vertically on the three-coordinate rack; the flipping manipulator is used to grab the cigarette basket and can drive the cigarette basket to rotate horizontally or flip vertically.

[0009] Preferably, the conveying mechanism includes a full basket conveyor and an empty basket conveyor, the full basket conveyor can convey the tobacco basket filled with tobacco leaves to the bottom of the three-coordinate rack, and the empty basket conveyor can convey the empty tobacco basket to the frame stacking machine; the full basket conveyor and the empty basket conveyor have the same structure, both include a bracket, and a conveyor belt or conveying roller is arranged on the top of the bracket.

[0010] Preferably, a single basket conveyor is provided at one end of the full basket conveyor away from the three-coordinate frame, and a weighing module is provided on the single basket conveyor, which can weigh a single cigarette basket; a lifting conveyor is provided between the single basket conveyor and the full basket conveyor, and the lifting conveyor is used to lift the weighed cigarette basket onto the full basket conveyor.

[0011] Preferably, it also includes a primary pressing robot, which is arranged on the three-coordinate rack and can move horizontally and vertically on the three-coordinate rack. The primary pressing robot is used to pre-press the tobacco leaves in the cigarette box.

[0012] Preferably, the three-coordinate gantry includes a frame, two longitudinal movable guide pairs arranged in parallel are provided on the top of the frame, a transverse movable guide pair is slidably provided between the two longitudinal movable guide pairs, a vertical movable guide pair is provided on the transverse movable guide pair, and the flipping manipulator or the initial pressing manipulator is provided at the bottom of the vertical movable guide pair; the driving modes of the longitudinal movable guide pair, the transverse movable guide pair and the vertical movable guide pair are the same, the longitudinal movable guide pair includes a longitudinal guide rail, a longitudinal slider is slidably provided on the longitudinal guide rail, the longitudinal slider is connected to the transverse guide rail, a transverse slider is provided on the transverse guide rail, a vertical guide rail is provided on the transverse slider, a vertical slide is provided on the vertical guide rail, and a flipping manipulator or an initial pressing manipulator is provided on the vertical slide; each guide rail and the corresponding slide are driven by a screw nut pair, or a sprocket and chain transmission structure, which are all mature and known transmission modes.

[0013] Preferably, the flipping robot includes a slewing mechanism connected to the vertical moving guide rail pair, the slewing mechanism includes a slewing frame, a slewing motor is arranged on the slewing frame, the slewing motor is transmitted with a slewing shaft through gear meshing, the slewing shaft at the bottom of the slewing mechanism is connected with a door-type frame, a flipping mechanism is arranged on the inner side of the bottom of the door-type frame, a locking mechanism is installed at the end of the flipping mechanism, the locking mechanism can be fixedly clamped on the side wall of the tobacco basket, the flipping mechanism includes a flipping frame arranged at the side wall of the door-type frame, a horizontally arranged rotating motor is arranged on the flipping frame, the rotating shaft of the rotating motor is connected with a locking frame, the locking mechanism is provided on the locking frame, the locking mechanism adopts a claw driven by an electric push rod or a claw driven by an oil cylinder, the claws on both sides of the door-type frame are symmetrically arranged, and are driven to extend and retract by the electric push rod, so that the claws can fix and clamp the tobacco basket.

[0014] Preferably, the locking mechanism is provided with a door frame, which is fixed to one side of the locking frame. The door frame is a hollow rectangular frame structure, and the cigarette basket can be fixedly clamped at the hollow position of the door frame. The door frame is hinged with two symmetrically arranged cigarette-sealing plate doors through a rotating shaft. The locking mechanism can fix the cigarette basket in the door frame, and the cigarette-sealing plate doors can close the opening of the cigarette basket; one end of the cigarette-sealing plate door is connected to an opening and closing mechanism, which can drive the cigarette-sealing plate door to open and close, strip holes are provided at both ends of the door frame, and a strip frame is provided at the bottom of the strip hole, and an inclined telescopic cylinder is hinged on the strip frame, and the cylinder rod end of the telescopic cylinder is hinged to the cigarette-sealing plate door on the corresponding side, thereby driving the cigarette-sealing plate door to open and close.

[0015] Preferably, the initial pressing robot comprises an initial pressing head, and pressing head inclined surfaces are symmetrically provided on both sides of the top of the initial pressing head.

[0016] Preferably, a lateral movement mechanism is provided on the lower bottom surface of the initial pressure head, a cigarette pressing head is provided on the lateral movement mechanism, and the lateral movement mechanism has the same structure as the lateral movement guide rail substructure.

[0017] The present invention also provides a method for automatically packing tobacco leaves, comprising the steps of:

[0018] Weighing of single tobacco basket;

[0019] The lifting conveyor lifts the cigarette basket to the full basket conveyor;

[0020] The full basket conveyor transports the baskets containing tobacco leaves to the bottom of the three-coordinate rack;

[0021] The flipping robot lifts and the tobacco basket flips 180 degrees, moves to the tobacco box position, and rotates horizontally between boxes to achieve staggered placement of tobacco stems in each frame;

[0022] The manipulator descends to the cigarette box opening, opens the cigarette sealing door, and pours the tobacco leaves into the cigarette box;

[0023] The flipping robot is lifted, the empty tobacco basket is flipped 180 degrees, and moves to the empty basket conveyor position; during this period, the initial pressing robot moves to the cigarette box position, initially presses and moves the tobacco leaves in the cigarette box, and then the initial pressing robot returns to a position away from the cigarette box;

[0024] The flip robot descends and drops the empty cigarette basket onto the empty basket conveyor;

[0025] Flip the manipulator to lift and walk to the initial position;

[0026] The empty basket conveyor transports the empty cigarette baskets to the frame stacking machine.

[0027] Compared with the prior art, the present invention has achieved the following technical effects:

[0028] The present invention can realize automatic packing of tobacco leaves, and has the functions of automatic weighing, conveying, turning, initial pressing, empty frame collection and the like, thereby greatly improving the work efficiency; a turning manipulator is used to turn over the tobacco basket, so that the tobacco leaves in the tobacco basket are poured into the cigarette box; different tobacco baskets cooperate with the horizontal rotation action, so that the tobacco leaves poured into the cigarette box from different tobacco baskets are arranged head to tail in a staggered manner, and the tobacco leaves are stacked in the cigarette box more standardized, avoiding the formation of a wedge-shaped structure with one end high and the other end low when the tobacco leaves are subsequently packaged; the staggered arrangement method makes the tobacco leaves at both ends in the box body filled more fully, and the cigarette packages are more square. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 This is a schematic diagram of the overall layout of an automatic tobacco packing device according to one embodiment of the present invention;

[0031] Figure 2 This is a schematic structural diagram of an automatic tobacco packing device according to one embodiment of the present invention;

[0032] Figure 3 A schematic diagram of a three-coordinate rack of an automatic tobacco packing device according to one embodiment of the present invention;

[0033] Figure 4 A schematic diagram of a turning robot of an automatic tobacco packing device according to one embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the locking mechanism and the tobacco sealing door structure of the automatic tobacco box packing device according to one embodiment of the present invention;

[0035] Figure 6 A schematic diagram of a primary pressing robot of an automatic tobacco packing device according to one embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the initial pressing head of the automatic tobacco packing device according to one embodiment of the present invention.

[0037] In the figure: 1-three-coordinate frame, 2-lateral moving guide pair, 3-longitudinal moving guide pair, 4-vertical moving guide pair, 5-rotation mechanism, 6-door frame, 7-turning mechanism, 8-locking mechanism, 9-cigarette basket, 10-empty basket conveyor, 11-full basket conveyor, 12-initial pressing manipulator, 13-initial pressing head, 14-cigarette pressing head, 15-opening and closing mechanism, 16-door frame, 17-cigarette sealing board door, 18-pressing head inclined surface, 19-cigarette box, 20-frame stacking machine. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] The purpose of the present invention is to provide an automatic tobacco packing device and method to solve the problems existing in the above-mentioned prior art, with high working efficiency and standardized stacking of tobacco leaves during packing.

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Since tobacco leaves have stems at one end, manual stacking in a tobacco box is poor in standardization. When tobacco leaves in a tobacco basket are manually poured into a tobacco box, the thickness of the tobacco stem side and the other side are uneven, which makes the tobacco leaves in the tobacco box wedge-shaped as a whole, which is not conducive to subsequent packaging. In order to solve this problem, the present invention provides an automatic tobacco packing device, referring to Figure 1 to Figure 7 As shown, it includes a conveying mechanism, a three-coordinate rack 1 and a flipping manipulator. The conveying mechanism is arranged on one side of the cigarette box 19, and is used to convey the cigarette basket 9 to the set position; the three-coordinate rack 1 is located above the conveying mechanism and the cigarette box 19; a flipping manipulator is provided on the three-coordinate rack 1, and the flipping manipulator can move horizontally and vertically on the three-coordinate rack 1, so as to grasp the cigarette basket 9 and convey it to the position of the cigarette box 19 to realize the dumping and packing operation; the flipping manipulator is used to grasp the cigarette basket 9, and can drive the cigarette basket 9 to rotate horizontally or flip vertically. The horizontal rotation can achieve the purpose of staggered arrangement of the tobacco stems of two adjacent baskets of tobacco leaves, so that the tobacco leaves loaded into the cigarette box 19 are arranged alternately up and down in sequence, and the overall stacking is more neat. At the same time, the two ends in the cigarette box 19 are filled more fully, and the cigarette packages are more square during subsequent packaging, and the packaging is more standardized.

[0042] The conveying mechanism of this embodiment includes a full basket conveyor 11 and an empty basket conveyor 10. The full basket conveyor 11 can convey the tobacco basket 9 filled with tobacco leaves to the bottom of the three-coordinate rack 1, and the empty basket conveyor 10 can convey the empty tobacco basket 9 to the frame stacking machine. The full basket conveyor 11 and the empty basket conveyor 10 have the same structure and both include a bracket, and a conveyor belt or a conveying roller is arranged on the top of the bracket. A single basket conveyor is provided at the end of the full basket conveyor 11 away from the three-coordinate rack 1. The single basket conveyor is provided with a weighing module, which can weigh a single tobacco basket 9. A lifting conveyor is provided between the single basket conveyor and the full basket conveyor 11. The lifting conveyor is used to lift the weighed tobacco basket 9 onto the full basket conveyor 11. There is no restriction on the arrangement of the full basket conveyor 11 and the empty basket conveyor 10. The two can be arranged in parallel, vertically, or coaxially end to end.

[0043] In order to enable the cigarette box 19 to stack more tobacco leaves, the present embodiment designs a primary pressing robot 12, which is arranged on the three-coordinate rack 1 and can move horizontally and vertically on the three-coordinate rack 1. The primary pressing robot 12 adopts a primary pressing head 13, and the top of the primary pressing head 13 is symmetrically provided with pressing head inclined surfaces 18 on both sides. After the flipping robot pours the tobacco leaves in the tobacco basket 9 into the cigarette box 19, the primary pressing robot 12 can move to the top of the cigarette box 19 to vertically compact the tobacco leaves in the cigarette box 19. The pressing head inclined surface 18 of the primary pressing head 13 is designed to prevent the tobacco leaves from remaining on the upper part of the pressing head and the tobacco leaves fall to the cigarette box by gravity. In the box 19, the primary pressing robot 12 is mainly used to prevent the height of the tobacco leaves in the cigarette box 19 from exceeding the edge of the cigarette box 19; in another preferred embodiment, a lateral moving mechanism can also be provided on the lower bottom surface of the primary pressing head 13, and a cigarette pushing pressing head 14 is provided on the lateral moving mechanism. The cigarette pushing pressing head 14 is used to push the tobacco leaves to both sides of the cigarette box 19 to avoid bulging in the middle when the tobacco leaves are packaged. The lateral moving mechanism has the same structure as the lateral moving guide pair 2; the design of the cigarette pushing pressing head 14 relies on the lateral moving guide pair 2 to achieve the purpose of pushing the tobacco leaves to both sides, so that the arrangement height of the tobacco leaves in the cigarette box 19 is uniform, avoiding the phenomenon of bulging in the middle when the tobacco leaves are packaged.

[0044] In order to enable the flipping manipulator to drive the cigarette basket 9 to move to the desired position, a three-coordinate rack 1 is designed in this embodiment, whose structure includes a frame, two parallel longitudinal movable guide pairs 3 are arranged on the top of the frame, two transverse movable guide pairs 2 are slidably arranged between the two longitudinal movable guide pairs 3, each transverse movable guide pair 2 is provided with a vertical movable guide pair 4, one of the vertical movable guide pairs 4 is provided with a flipping manipulator at the bottom, and the other vertical movable guide pair 4 is provided with an initial pressing manipulator 12 at the bottom; the longitudinal movable guide pair 3, the transverse movable guide pair 2 and the vertical movable guide pair 4 are driven in the same way, the longitudinal movable guide pair 3 includes a longitudinal guide rail, a longitudinal slider is slidably provided on the longitudinal guide rail, the longitudinal slider is connected to a transverse guide rail, a transverse slider is arranged on the transverse guide rail, a vertical guide rail is arranged on the transverse slider, a vertical guide rail is arranged on the vertical guide rail, and a flipping manipulator or an initial pressing manipulator 12 is arranged on the vertical slider; each guide rail and the corresponding slider are driven by a screw nut pair, or a sprocket and chain transmission structure, which are all mature and known transmission methods.

[0045] The flip manipulator of this embodiment includes a slewing mechanism 5 connected to the vertical moving guide pair 4. The specific structure of the slewing mechanism is not limited, and a slewing screw, a slewing gear and other structures can be used. It belongs to the known technology and will not be described in detail. In one embodiment, the slewing mechanism 5 includes a slewing frame, a slewing motor is arranged on the slewing frame, and the slewing motor has a slewing shaft through gear meshing transmission. The slewing shaft at the bottom of the slewing mechanism 5 is connected to a door-shaped frame 6, and a flipping mechanism 7 is arranged on the inner side of the bottom of the door-shaped frame 6. A locking mechanism 8 is installed at the end of the flipping mechanism 7, and the locking mechanism 8 includes a telescopic cylinder. Or screw-driven clamping claws, clamping blocks, etc., two symmetrical locking mechanisms 8 can clamp and fix the two sides of the tobacco basket 9, the locking mechanism 8 can be fixedly clamped on the side walls of the tobacco basket 9, the flipping mechanism 7 includes a flipping frame arranged at the side wall of the door-type frame 6, and the flipping frame is provided with a horizontally arranged rotating motor, and the rotating shaft of the rotating motor is connected to the locking frame, and the locking frame is provided with a locking mechanism 8. The locking mechanism 8 adopts a claw driven by an electric push rod or a claw driven by a cylinder. The claws on both sides of the door-type frame 6 are symmetrically arranged and are extended and retracted by the electric push rod, so that the claws can fix and clamp the tobacco basket 9.

[0046] In order to prevent tobacco leaves from falling when the tobacco basket 9 is turned over, a door frame 16 is provided on the locking mechanism 8 of the present embodiment. The door frame 16 is fixed on one side of the locking frame. The door frame 16 is a hollow rectangular frame structure. The tobacco basket 9 can be fixedly clamped at the hollow position of the door frame 16. Two symmetrically arranged tobacco sealing plate doors 17 are hinged on the door frame 16 through a rotating shaft. The locking mechanism 8 can fix the tobacco basket 9 in the door frame 16, and the tobacco sealing plate doors 17 can close the opening of the tobacco basket 9; one end of the tobacco sealing plate door 17 is connected to an opening and closing mechanism 15, which can drive the tobacco sealing plate door 17 to open and close, strip holes are provided at both ends of the door frame 16, and a strip frame is provided at the bottom of the strip hole, and an inclined telescopic cylinder is hinged on the strip frame, and the cylinder rod end of the telescopic cylinder is hinged to the tobacco sealing plate door 17 on the corresponding side, thereby driving the tobacco sealing plate door 17 to open and close; the tobacco sealing plate door 17 protects the tobacco from leaving the tobacco basket 9 during the process of following the tobacco basket 9 turning over. When the tobacco basket 9 is turned upside down above the tobacco box 19 , the tobacco sealing door 17 is opened, so that the tobacco leaves in the tobacco basket 9 fall into the tobacco box 19 .

[0047] The present invention also provides a method for automatically packing tobacco leaves, comprising the steps of:

[0048] Single tobacco basket 9 weighing;

[0049] The lifting conveyor lifts the cigarette basket 9 to the full basket conveyor 11;

[0050] The full basket conveyor 11 conveys the tobacco basket 9 containing tobacco leaves to the bottom of the three-coordinate rack 1;

[0051] The flip manipulator descends to grab the cigarette basket 9, and the cigarette sealing door 17 closes the opening of the cigarette basket 9;

[0052] The flipping manipulator lifts, and the tobacco basket 9 flips vertically 180 degrees, moves to the position of the tobacco box 19, and rotates horizontally between boxes, so that the tobacco stems of the tobacco leaves in two adjacent baskets are in different positions, so that after each basket of tobacco leaves is poured into the tobacco box 19, the tobacco stems can be staggered and placed more evenly;

[0053] The manipulator descends to the opening of the cigarette box 19, opens the cigarette sealing door 17, and pours the tobacco leaves into the cigarette box 19;

[0054] The flipping robot is lifted, the empty tobacco basket 9 is flipped 180 degrees, and moves to the position of the empty material basket conveyor 10. During this period, the initial pressing robot 12 moves to the position of the cigarette box 19, and initially presses and moves the tobacco leaves in the cigarette box 19. Then the initial pressing robot 12 returns to a position away from the cigarette box 19. The initial pressing robot 12 is not a necessary structure, so its setting position and working period are not limited. After the flipping mechanism 7 is away from the cigarette box 19 and before the next cigarette basket 9 is transported to the top of the cigarette box 19, the tobacco leaves in the cigarette box 19 can be initially pressed and moved.

[0055] The flip manipulator descends and drops the empty cigarette basket 9 onto the empty basket conveyor 10;

[0056] Flip the manipulator to lift and walk to the initial position;

[0057] The empty basket conveyor 10 conveys the empty tobacco basket 9 to the frame stacking machine 20. The frame stacking machine 20 is a mature technology and will not be described in detail. The above method enables the present invention to realize automatic boxing of tobacco leaves, and has the functions of automatic weighing, conveying, turning, initial pressing, empty frame collection, etc., which greatly improves the work efficiency.

[0058] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A tobacco leaf automatic packing device, characterized in that: include: A conveying mechanism, arranged on one side of the cigarette box, is used to convey the cigarette basket to a set position; A three-coordinate gantry, located above the conveying mechanism and the cigarette box; The flipping manipulator is arranged on the three-coordinate rack and can move horizontally and vertically on the three-coordinate rack; the flipping manipulator is used to grab the cigarette basket and can drive the cigarette basket to rotate horizontally or flip vertically.

2. The automatic tobacco packing device according to claim 1 is characterized in that: The conveying mechanism includes a full basket conveyor and an empty basket conveyor. The full basket conveyor can convey the tobacco basket filled with tobacco leaves to the bottom of the three-coordinate rack, and the empty basket conveyor can convey the empty tobacco basket to the frame stacking machine.

3. The automatic tobacco packing device according to claim 2 is characterized in that: A single basket conveyor is provided at one end of the full basket conveyor away from the three-coordinate frame, and a weighing module is provided on the single basket conveyor, which can weigh a single cigarette basket; a lifting conveyor is provided between the single basket conveyor and the full basket conveyor, and the lifting conveyor is used to lift the weighed cigarette basket onto the full basket conveyor.

4. The automatic tobacco packing device according to claim 1 is characterized in that: It also includes a primary pressing robot, which is arranged on the three-coordinate rack and can move horizontally and vertically on the three-coordinate rack. The primary pressing robot is used to pre-press the tobacco leaves in the cigarette box.

5. The automatic tobacco packing device according to claim 4 is characterized in that: The three-coordinate gantry includes a frame, two parallel longitudinal movable guide pairs are arranged on the top of the frame, a transverse movable guide pair is slidably arranged between the two longitudinal movable guide pairs, a vertical movable guide pair is arranged on the transverse movable guide pair, and the flipping robot or the initial pressing robot is arranged at the bottom of the vertical movable guide pair.

6. The automatic tobacco packing device according to claim 5 is characterized in that: The flipping robot includes a rotating mechanism connected to the vertical moving guide rail pair, the bottom of the rotating mechanism is connected to a door-shaped frame, the inner side of the bottom of the door-shaped frame is provided with a flipping mechanism, and a locking mechanism is installed at the end of the flipping mechanism, and the locking mechanism can be fixedly clamped on the side wall of the cigarette basket.

7. The automatic tobacco packing device according to claim 6, characterized in that: The locking mechanism is provided with a door frame, and a smoke-sealing board door is hinged on the door frame. The locking mechanism can fix the smoke basket in the door frame, and the smoke-sealing board door can close the opening of the smoke basket; one end of the smoke-sealing board door is connected to an opening and closing mechanism, which can drive the smoke-sealing board door to open and close.

8. The automatic tobacco packing device according to claim 5 is characterized in that: The initial pressing manipulator comprises an initial pressing head, and pressing head inclined surfaces are symmetrically arranged on both sides of the top of the initial pressing head.

9. The automatic tobacco packing device according to claim 8, characterized in that: A lateral moving mechanism is arranged on the lower bottom surface of the initial pressure head, and a cigarette pushing pressure head is arranged on the lateral moving mechanism.

10. A method for automatically packing tobacco leaves, characterized in that: Includes steps: Weighing of single tobacco basket; The lifting conveyor lifts the cigarette basket to the full basket conveyor; The full basket conveyor transports the baskets containing tobacco leaves to the bottom of the three-coordinate rack; The flip manipulator descends to grab the cigarette basket; The flipping manipulator lifts and the tobacco basket flips 180 degrees, moves to the tobacco box position, and rotates horizontally to achieve staggered placement of tobacco stems in two adjacent baskets; The manipulator descends to the cigarette box opening, opens the cigarette sealing door, and pours the tobacco leaves into the cigarette box; The flipping robot is lifted, the empty tobacco basket is flipped 180 degrees, and moves to the empty basket conveyor position; during this period, the initial pressing robot moves to the cigarette box position, initially presses and moves the tobacco leaves in the cigarette box, and then the initial pressing robot returns to a position away from the cigarette box; The flip robot descends and drops the empty cigarette basket onto the empty basket conveyor; Flip the manipulator to lift and walk to the initial position; The empty basket conveyor transports the empty cigarette baskets to the frame stacking machine.

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