Packaging and positioning production line and packaging and positioning method for cone-like products

Abstract

The invention relates to a packaging and positioning production line and a packaging and positioning method for cone-like products. The packaging positioning production line comprises an assembly line used for conveying similar-cone-shaped products and a mechanical arm used for grabbing the similar-cone-shaped products from the assembly line and placing the grabbed similar-cone-shaped products in a packaging container. The guiding and positioning mechanism is arranged at the feeding end of the assembly line and used for guiding the cone-like products and conveying the cone-like products to the assembly line according to the same posture. According to the packaging positioning production line, posture adjustment is carried out on the to-be-packaged products entering the production line through the positioning mechanism by means of the weight of the to-be-packaged products, the to-be-packaged products enter the production line in the mode that the large ends of the to-be-packaged products face forwards, and meanwhile the V-shaped grooves are used for positioning the products in the transverse position of the production line; the operation difficulty of a mechanical arm used in the follow-up packaging process is effectively reduced, the failure rate of the mechanical arm is also reduced, and the packaging efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of packaging equipment, in particular to a feeding device and a feeding method for packaging quasi-conical products. Background Art

[0002] Existing automatic packaging production lines usually adopt visual recognition solutions, which use cameras to visually identify materials and give coordinates for grabbing. When faced with materials with regular shapes, the recognition accuracy and grabbing efficiency are relatively high. However, when faced with materials with irregular shapes or when materials are irregularly arranged on the conveyor belt, the difficulty of recognition will increase. At the same time, the irregular arrangement of irregular-shaped materials will cause low grabbing efficiency.

[0003] When using existing manipulators to grab rigid products with regular shapes and put them into packaging containers, it is not difficult. However, when the products to be packaged are irregular in shape, it is very difficult to arrange the products in a consistent posture, especially when soft conical products are vertically loaded into packaging tubes (bottles) on the production line, the difficulty is even greater. Summary of the invention

[0004] To solve the above problems, the present invention provides a packaging and positioning production line for cone-like products, comprising an assembly line for conveying cone-like products, and a robot for grabbing cone-like products from the assembly line and placing the grabbed cone-like products in a packaging container; characterized in that it also includes a guiding and positioning mechanism arranged at the feed end of the assembly line for guiding the cone-like products and conveying the cone-like products to the assembly line in the same posture.

[0005] On the basis of the above scheme, the manipulator is a suction cup manipulator, and the suction cup of the suction cup manipulator is a soft telescopic suction cup.

[0006] On the basis of the above scheme, the quasi-conical products are conveyed to the assembly line in the same posture in such a way that all the quasi-conical products maintain a posture with their large heads facing forward when entering the assembly line.

[0007] On the basis of the above scheme, the guiding and positioning mechanism includes a rolling plate for receiving the quasi-conical product and allowing the quasi-conical product to roll toward a side close to the assembly line by its own gravity;

[0008] and

[0009] A guide plate used to receive the conical products falling from the rolling plate and allow the conical products to continue sliding down to the assembly line with the big end facing forward.

[0010] On the basis of the above scheme, the angle between the guiding and positioning mechanism and the horizontal plane is 24°, and the lower end is close to one side of the assembly line 1.

[0011] Based on the above solution, a guide groove is provided on the guide plate, and the guide groove is a V-shaped groove.

[0012] Based on the above scheme, the length of the rolling plate for the quasi-conical product to roll down is 1.5-2.0 times the length of the quasi-conical product; the length of the guide groove for the quasi-conical product to slide down is 1.1-1.6 times the length of the quasi-conical product.

[0013] On the basis of the above scheme, it also includes a conveyor line for conveying packaging containers containing conical products; the conveyor line is provided with a cone cylinder on the side away from the assembly line (1) for positioning and restraining the conical products when the suction cup manipulator vertically places the conical products into the packaging cylinder (or packaging bottle).

[0014] On the basis of the above scheme, the cone includes a cylinder body and a stopper back for stopping the tilted cone-shaped product to prevent it from exceeding the constraint range of the cone when the suction cup manipulator releases the cone-shaped product.

[0015] The present application also provides a packaging positioning method for cone-shaped products, using the above-mentioned production line, comprising the following steps:

[0016] (1) The quasi-conical product is fed into the guide positioning mechanism located at the feed end of the assembly line;

[0017] (2) The guiding and positioning mechanism guides the quasi-conical products and delivers the quasi-conical products to the production line in the same posture;

[0018] (3) A robot located above the assembly line grabs the cone-shaped product from the assembly line and transports it to the top of the packaging container;

[0019] (4) The manipulator rotates in such a way that the cone-shaped product remains in a vertical position (with the big end facing downward);

[0020] (5) The robot releases the quasi-conical product, and under the constraint of the cone, the quasi-conical product falls into the packaging container;

[0021] (6) When a packaging container is full, the conveyor line moves forward and transports an empty packaging container to the bottom of the cone.

[0022] The packaging positioning production line of the present invention uses a positioning mechanism to adjust the posture of the products to be packaged entering the production line by their own weight, so that the products to be packaged enter the production line with their big heads facing forward. At the same time, the use of V-shaped grooves positions the products in the lateral position of the production line, effectively reducing the difficulty of operating the manipulator used in the subsequent packaging process, reducing the failure rate of the manipulator, and greatly improving the efficiency of packaging. For quasi-conical cigarettes, the present invention uses a telescopic suction cup manipulator to apply a certain pressure to the material to ensure that the material can be sucked up without crushing the material. During bottling, the use of the cone barrel forms an effective positioning constraint on the quasi-conical product during packaging, and the stop back of the cone barrel can effectively solve the problem of product tilting beyond the constraint range of the cone barrel caused by the use of a soft telescopic suction cup, thereby ensuring that the product can smoothly enter the packaging barrel vertically. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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 or the description of the prior art 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.

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of the production line in Example 1 of the present application;

[0025] Figure 2 This is a schematic structural diagram of a cone-shaped product in Example 1 of the present application;

[0026] Figure 3 This is a structural schematic diagram of the guiding and positioning mechanism in Example 1 of the present application;

[0027] Figure 4 This is a structural schematic diagram of the loading state of the assembly line in Example 1 of the present application;

[0028] Figure 5 This is a structural diagram of the lifting device and the guiding and positioning mechanism used in the production line of this application;

[0029] Figure 6 This is a schematic diagram of the structure of the robot in the production line of this application;

[0030] Figure 7 This is a three-dimensional structural diagram of the production line in Example 1 of the present application (including the conveyor line);

[0031] Figure 8 This is a schematic diagram of the structure of the cone in the production line of Example 1 of the present application;

[0032] Fig. 9This is a schematic diagram of the working state of the production line of Example 1 of the present application when loading products into containers;

[0033] Fig.10 for Fig. 9 A schematic diagram of the enlarged structure of part A;

[0034] Fig.11 for Figure 7 A schematic diagram of the enlarged structure of part A;

[0035] Fig.12 This is a schematic diagram of the structure of a conveyor line in the production line of Example 1 of the present application;

[0036] Fig.13 This is a schematic diagram of the exploded structure of the chain plate and the carrier from a first perspective in Example 1 of the present application (three fixing holes);

[0037] Fig.14 It is a schematic diagram of the exploded structure of the chain plate and the carrier in Example 1 of the present application from a second perspective (three fixing holes);

[0038] Fig.15 This is a schematic diagram of the exploded structure of the chain plate and the carrier in Example 1 of the present application from a first perspective (one fixing hole);

[0039] Fig.16 A schematic diagram of the exploded structure of the chain plate and the carrier from a second perspective in Example 1 of the present application (one fixing hole);

[0040] Fig.17 This is a schematic diagram of the cross-sectional view of the carrier body in Example 1 of the present application; (three fixing holes);

[0041] Fig.18 This is a schematic diagram of the cross-sectional structural view of the carrier body in Example 1 of the present application; (one fixing hole). DETAILED DESCRIPTION

[0042] The following will be combined with 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 making creative work are within the scope of protection of the present invention.

[0043] Example 1

[0044] like Figure 1As shown, the present invention provides a packaging and positioning production line for cone-like products, including an assembly line 1 for conveying cone-like products, a robot 2 for grabbing cone-like products from the assembly line 1 and placing the grabbed cone-like products in a packaging container; and also includes a guiding and positioning mechanism 3 arranged at the feed end of the assembly line 1 for guiding the cone-like products and conveying the cone-like products to the assembly line 1 in the same posture.

[0045] like Figure 2 As shown, the quasi-conical product described in the present application refers to a product whose overall shape is similar to a cone. The quasi-conical product has a large end (diameter A) and a small end (diameter a), and A>a.

[0046] As a product for specific application, the quasi-conical product is a quasi-conical cigarette, which is made of a relatively soft material, with paper or tobacco leaves on the outside and shredded tobacco on the inside.

[0047] During packaging, due to the material factors of the quasi-conical products, when using a gripper-type manipulator to grab them, the quasi-conical products will be very easy to be scratched. In order to solve this technical problem, based on the above technical solution, the present application provides a packaging and positioning production line for quasi-conical products, and the manipulator 2 is a suction cup manipulator. The suction cup manipulator can absorb 5 products, and the products can be rotated 90° when placed. It needs to be equipped with an air circuit, a rotary cylinder, a Z-axis motion cylinder, a solenoid valve, etc., so the weight is relatively large. The manipulator used in the present invention is a KM1510 manipulator produced by Qingdao Kumi Industrial Equipment Co., Ltd.

[0048] When the traditional feeding mechanism is feeding, the quasi-conical products to be packaged will be directly transported to the assembly line. At this time, the quasi-conical products cannot maintain a posture, that is, the large head or small head of the quasi-conical products entering the assembly line 1 cannot be oriented in the same direction. This brings great problems to the manipulator when packaging on the assembly line, because when the quasi-conical products are loaded into the packaging container (the packaging container is a packaging box or a packaging tube) in the same direction, when the large heads or small heads of the two quasi-conical products in front and behind are opposite, in order to achieve the same direction, the suction cup manipulator needs to rotate 180° after grabbing the first one before grabbing the second one. Due to the weight and rotation speed of the suction cup manipulator, a large inertia will be formed, and it is very easy to throw off the absorbed materials. Therefore, in order to operate stably and reliably, the running speed of the manipulator needs to be reduced, which will greatly reduce the speed of the manipulator grabbing the products. In order to solve this technical problem, it is best to make the quasi-conical products entering the assembly line maintain the same posture, so that the suction cup manipulator does not need to rotate excessively when grabbing. The present invention uses a guiding and positioning mechanism 3 to enable the conical products entering the production line 1 to maintain the same posture, so that the robot 2 can grasp and box them at a faster speed.

[0049] The way that the quasi-conical products are conveyed to the assembly line 1 in the same posture can be that the large heads of all the quasi-conical products enter the assembly line first, or the small heads of all the quasi-conical products enter the assembly line first; or all the quasi-conical products enter in other directions but all the quasi-conical products maintain the same posture.

[0050] like Figure 3 As shown, the present application provides a specific structure of a guide positioning mechanism 3 that allows the large heads of all cone-like products to enter the production line 1 first. Specifically, the guide positioning mechanism 3 includes a rolling plate 3-1 for receiving the cone-like products and allowing the cone-like products to roll toward a side close to the production line 1 by their own gravity;

[0051] and

[0052] The guide plate 3-2 is used to receive the cone-shaped products falling from the rolling plate 3-1 and allow the cone-shaped products to continue to slide down to the assembly line with the big end facing forward.

[0053] like Figure 4 As shown, when in use, the operator can directly place the quasi-conical product on the rolling plate 3-1. Since the quasi-conical product is a special-shaped structure with one end large and the other end small, the quasi-conical product will roll downward under the action of its own gravity (the arc with an arrow is the rolling direction of the quasi-conical product, and the straight line with an arrow is the overall moving direction of the quasi-conical product), and the large end is downward during rolling. Finally, the quasi-conical product will fall onto the guide plate 3-2 and continue to slide down to the assembly line 1. When the quasi-conical product falls onto the guide plate 3-2, the large end will first contact the guide plate 3-2.

[0054] In order to make the cone-shaped products fall onto the rolling plate 3-1 and roll down by their own gravity, the angle between the guiding and positioning mechanism 3 and the horizontal plane is 24°, and the lower end is close to one side of the assembly line 1; that is, the rolling plate 3-1 and the guide plate 3-2 are both at an angle of 24° with the horizontal plane.

[0055] The cone-like product is adjusted in posture during rolling down and sliding down from the guide positioning mechanism 3, so that all cone-like products entering the production line 1 have the same posture with the big head facing forward. The process of the cone-like product rolling down on the rolling plate 3-1 is a process of preliminary posture adjustment, while the final posture adjustment is performed on the guide plate 3-2. As a specific embodiment, the rolling plate 3-1 is a smooth flat plate, and the guide plate 3-2 is provided with a guide groove 3-3. In order to better adjust the posture of the cone-like product, the guide groove 3-3 is a V-shaped groove.

[0056] If the length of the rolling plate 3-1 for the quasi-conical product to roll down is too short, the posture of the quasi-conical product has not yet started to adjust. At this time, the posture of the quasi-conical product falling into the V-shaped guide groove 3-3 of the guide plate 3-2 is relatively messy, and the subsequent posture adjustment cannot be completed; if it is too long, due to the influence of inertia, the posture of the quasi-conical product is over-adjusted, which will also cause the posture of the quasi-conical product falling into the V-shaped guide groove 3-3 of the guide plate 3-2 to be relatively messy; therefore, the length of the rolling plate 3-1 for the quasi-conical product to roll down is 1.5-2.0 times the length of the quasi-conical product; this length can meet the requirement that the quasi-conical product that enters the rolling plate 3-1 laterally will rotate due to its own gravity so that its thick end is forward. Similarly, the length of the guide groove 3-3 for the cigarette to slide down should not be too long or too short. If it is too long, the quasi-conical product will be affected by friction and eventually stay in the V-shaped guide groove of the guide plate 4-2 and cannot enter the assembly line. If it is too short, the quasi-conical product will directly enter the assembly line before the rolling plate 3-1 is completely stabilized. Therefore, the length of the guide groove 3-3 for the quasi-conical product to slide down is 1.1-1.6 times the length of the quasi-conical product.

[0057] Both sides of the guide and positioning mechanism 3 are provided with fixing parts 4 - 4 for fixing the guide and positioning mechanism 3 .

[0058] After using the above-mentioned guiding and positioning mechanism 3, the cone-shaped products entering the production line will maintain the same posture with the big head facing forward, thereby providing a good foundation for the next step of packaging.

[0059] In addition to the operator being able to directly place the product on the rolling plate 3-1, the operator can also use a lifting device to lift the product and transport it to the rolling plate 3-1, such as Figure 5 Here, no more detailed description will be given on the lifting device.

[0060] For cone-shaped cigarettes, when the suction cup manipulator is used to place the cigarettes from the production line 1 into the packaging container, the selection and operation of the suction cup are related to whether the soft special-shaped cigarettes can be stably grasped.

[0061] The suction cup 2 - 1 of the suction cup manipulator 2 is a soft telescopic suction cup.

[0062] As a specific implementation scheme, the packaging and positioning production line for cone-like products of the present application also includes a conveyor line 4 for conveying packaging containers (the packaging containers are packaging tubes or packaging bottles) containing cone-like products; the conveyor line 4 is provided with a cone 5 on the side away from the assembly line 1 for positioning and constraining the cone-like products when the suction cup manipulator 2 vertically places the cone-like products into the packaging tube (or packaging bottle).

[0063] Because the inlet of the packaging tube (or packaging bottle) is relatively small, when the quasi-conical product is placed vertically, there may be a certain deviation that causes the quasi-conical product to fail to be loaded into the packaging tube. In order to solve this technical problem, Figure 7 and Fig.10 As shown, the present application sets a cone 5 on the outside of the conveyor line 4 (the side away from the assembly line 1); when loading the tube, the large end of the cone 5 faces upward, and the small end corresponds to the mouth of the packaging tube. When the suction cup manipulator 2 releases the conical product in a vertical posture, the conical product will smoothly enter the packaging tube under the positioning and constraint of the cone 5.

[0064] When the suction cup manipulator 2 releases the cone-shaped product, the soft telescopic suction cup 2-1 will generate a thrust on the cone-shaped product, causing the vertical cone-shaped product to tilt, thereby exceeding the constraint range of the cone 5 and thus failing to enter the packaging tube smoothly. In order to solve this technical problem, the present application provides a specific implementation scheme of the cone 5, such as Figure 8 , Fig. 9 and Fig.10 As shown, the cone 5 includes a cylinder body 5-1 and a stopper back 5-2 for stopping the tilted cone-shaped product to prevent it from exceeding the constraint range of the cone 5 when the suction cup type manipulator 2 releases the cone-shaped product. Specifically, the stopper back 5-2 is formed by extending a part of the cone surface of the cylinder body 5-1 toward the opening direction of the cone 5.

[0065] Specifically, Figure 7 , Fig.11 and Fig.12 As shown, the conveyor line 4 is a plate chain line, and a carrier (6) for carrying the packaging tube is arranged on the plate chain line; the chain plate on the plate chain line includes a chain plate body (4-1), as shown Figure 13-Figure 16 As shown, a metal plate (4-2) is arranged on the chain plate body (4-1); the carrier (6) comprises a carrier body (6-1) for carrying the packaging tube and a magnet block (6-2) arranged at the bottom of the carrier body (6-1) and adapted to the metal plate (4-2).

[0066] This type of conveyor line 4 can be applied to the packaging production of various packaging containers. When the packaging container needs to be replaced, only the carrier 6 needs to be replaced. Since the carrier and the chain plate are connected by the cooperation between the magnet block 6-2 and the metal plate 4-2, the carrier 6 can be quickly replaced during replacement.

[0067] As a specific implementation scheme, Fig.14 and Fig.16As shown, a plate groove 6-3 for matching with the metal plate 4-2 is formed at the bottom of the carrier body 6-1; the magnet block 6-2 is arranged in the plate groove 6-3.

[0068] The adaptation here means that the shape of the plate groove 6-3 is consistent with the outer contour of the metal plate 4-2. When fixed, the metal plate 4-2 can be inserted into the plate groove 6-3, thereby better stabilizing the carrier 6.

[0069] During packaging, different packaging containers and carriers may be replaced for different products or different packaging models of the same product. For this reason, the carrier 6 in the present application also includes multiple forms. Specifically, at least one fixing hole 6-4 for supporting the packaging tube is formed on the carrier body 6-1. Fig.13 The carrier body 6-1 is formed with three fixing holes 6-4 for carrying the packaging tubes, and the three fixing holes 6-4 can carry three thin cylindrical packaging containers; Fig.15 A fixing hole 6-4 for carrying a packaging tube is formed on the carrier body 6-1, and one fixing hole 6-4 can carry a thick cylindrical packaging container.

[0070] In order to install the carrier and chain plate more conveniently, Figure 13-Figure 16 As shown, the chain plate body 4-1 is provided with at least two positioning posts 4-11 extending toward the carrier 6, the metal plate 4-2 is formed with a first positioning hole 4-21 used in conjunction with the positioning posts 4-11, and the plate slot 6-3 of the carrier body 6-1 is formed with a second positioning hole 6-11 used in conjunction with the positioning posts 4-11. During installation, the chain plate body 4-1 is fixed to the metal plate 4-2 after the positioning posts 4-11 are inserted into the first positioning holes 4-21 of the metal plate 4-2; then the positioning posts 4-11 are inserted into the second positioning holes 6-11 of the carrier body 6-1, and then the metal plate 4-2 is inserted into the plate slot 6-3, and finally the carrier and the chain plate are fixed by the magnetic attraction between the metal plate 4-2 and the magnet block 6-2.

[0071] When the carrier runs on the plate chain line, when it runs to the arc-shaped area at the end of the conveyor line, the chain plate next to the chain plate on which the carrier is installed will be tilted due to the arc angle. At this time, the tilted chain plate is easy to push the carrier off the chain plate. In order to solve this technical problem, the present application provides a specific implementation case of a carrier 6, such as Fig.17 and Fig.18As shown, the carrier 6 has a notch area 6-5 formed at the bottom of the front and rear sides to prevent it from hitting the adjacent chain plates on the plate chain line during transportation. The front and rear sides refer to the front in the transportation direction of the conveyor line and the rear in the opposite direction. The purpose of providing the notch area 6-5 is to keep the bottom of the carrier 6 as far away as possible from the chain plates on the front and rear sides of the chain plates connected to it.

[0072] Example 2

[0073] Based on the production line in Example 1, the present application provides a packaging positioning method for cone-shaped products, comprising the following steps:

[0074] (1) The quasi-conical product is fed into the guide positioning mechanism 3 located at the feed end of the assembly line 1;

[0075] (2) The guiding and positioning mechanism 3 guides the quasi-conical product and conveys the quasi-conical product to the assembly line 1 in the same posture;

[0076] Specifically, the quasi-conical product is first input onto the rolling plate 3-1. Since the quasi-conical product is a special-shaped structure with one end large and the other end small, the quasi-conical product will roll downward under the action of its own gravity, with the large end facing downward during rolling.

[0077] When the quasi-conical product leaves the rolling plate 3-1, the thick end of the quasi-conical product enters the guide groove 3-3 forward and the guide groove 3-3 further adjusts the posture of the quasi-conical product. Then the quasi-conical product continues to slide along the guide groove 3-3 and finally enters the assembly line.

[0078] When the quasi-conical product leaves the rolling plate 3-1 and enters the guide groove 3-3, the thick end of the quasi-conical product is forward, but at this time, the quasi-conical product is not completely along the direction of the guide groove 3-3. However, due to the effect of the V-shaped guide groove 3-3, the thick posture of the quasi-conical product completes the final adjustment, and the big end moves forward and continues to slide forward along the guide groove 3-3.

[0079] (3) The robot 2 located above the assembly line 1 grabs the cone-shaped product from the assembly line 1 and transports it to the top of the packaging tube;

[0080] (4) The direction of rotation of the robot 2 is to keep the cone-shaped product in a vertical position (with the big end facing downward);

[0081] (5) The manipulator 2 releases the quasi-conical product, and under the constraint of the cone 5, the quasi-conical product falls into the packaging tube;

[0082] (6) When a packaging tube is full, the conveyor line 4 moves forward and transports an empty packaging tube to the bottom of the cone 5.

[0083] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A packaging and positioning production line for cone-like products, comprising an assembly line (1) for conveying cone-like products, and a robot (2) for grabbing cone-like products from the assembly line (1) and placing the grabbed cone-like products in a packaging container; characterized in that: It also includes a guiding and positioning mechanism (3) disposed at the feed end of the assembly line (1) and used for guiding the quasi-conical products and conveying the quasi-conical products to the assembly line (1) in the same posture.

2. The packaging and positioning production line for cone-shaped products according to claim 1, characterized in that: The manipulator (2) is a suction cup type manipulator, and the suction cup (2-1) of the suction cup type manipulator (2) is a soft telescopic suction cup.

3. The packaging and positioning production line for cone-shaped products according to claim 1, characterized in that: The quasi-conical products are conveyed to the assembly line (1) in the same posture in such a manner that all the quasi-conical products maintain a posture with their large ends facing forward when entering the assembly line (1).

4. The packaging and positioning production line for cone-shaped products according to claim 3, characterized in that: The guiding and positioning mechanism (3) comprises a rolling plate (3-1) for receiving the quasi-conical product and allowing the quasi-conical product to roll toward a side close to the production line (1) by its own gravity; and The guide plate (3-2) is used for receiving the quasi-conical product falling from the rolling plate (3-1) and allowing the quasi-conical product to continue to slide down to the production line in a posture with the big end facing forward.

5. The packaging and positioning production line for cone-like products according to claim 3, characterized in that: The angle between the guiding and positioning mechanism (3) and the horizontal plane is 24°, and the lower end is close to one side of the assembly line 1.

6. The packaging and positioning production line for cone-like products according to claim 3, characterized in that: The guide plate (3-2) is provided with a guide groove (3-3), and the guide groove (3-3) is a V-shaped groove.

7. The packaging and positioning production line for cone-like products according to claim 3, characterized in that: The length of the rolling plate (3-1) for the quasi-conical product to roll down is 1.5-2.0 times the length of the quasi-conical product; the length of the guide groove (3-3) for the quasi-conical product to slide down is 1.1-1.6 times the length of the quasi-conical product.

8. The packaging and positioning production line for cone-like products according to claim 1, characterized in that: It also includes a conveyor line (4) for conveying packaging containers containing quasi-conical products; the conveyor line (4) is provided with a cone cylinder (5) on the side away from the assembly line (1) for positioning and restraining the quasi-conical products when the suction cup type manipulator (2) vertically places the quasi-conical products into the packaging cylinder; The conveying line (4) is a plate chain line, and a carrier (6) for carrying the packaging tube is arranged on the plate chain line.

9. The packaging and positioning production line for cone-like products according to claim 8, characterized in that: The cone (5) comprises a cylinder body (5-1) and a stopper back (5-2) for stopping the tilted cone-shaped product when the suction cup manipulator (2) releases the cone-shaped product to prevent it from exceeding the restraining range of the cone (5).

10. A packaging positioning method for cone-shaped products, characterized in that: Using the production line according to any one of claims 1 to 9 comprises the following steps: (1) feeding the quasi-conical product into a guide positioning mechanism (3) located at the feed end of the production line (1); (2) a guiding and positioning mechanism (3) guides the quasi-conical product and conveys the quasi-conical product to the production line (1) in the same posture; (3) a robot (2) located above the production line (1) grabs the cone-shaped product from the production line (1) and transports it to the top of the packaging container; (4) The manipulator (2) rotates in such a direction that the cone-shaped product maintains a vertical posture (with the large end facing downward); (5) The manipulator (2) releases the quasi-conical product, and under the constraint of the cone cylinder (5), the quasi-conical product falls into the packaging container; (6) When a packaging container is full, the conveyor line (4) moves forward and transports an empty packaging container to the bottom of the cone (5).

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