Double-track type rotary manipulator cigarette packet mixed loading equipment and cigarette packet mixed loading method

Abstract

The invention discloses double-track type rotary manipulator cigarette packet mixed loading equipment. The equipment comprises a cigarette packet conveying module (1), a rotary transmission module (4) and a manipulator module (5), wherein the cigarette packet conveying module (1) comprises a first track (A) and a second track (B) which are vertically arranged on the same horizontal plane; the rotary transmission module (4) is arranged at the vertical intersection of the second track (B) and the first track (A); the number of the mechanical arm modules (5) is two, and the two mechanical arm modules (5) are arranged at the two ends of the rotary transmission module (4) respectively. The invention further discloses a cigarette packet mixed loading method of the double-track type rotary manipulator cigarette packet mixed loading equipment.

Description

Technical Field

[0001] The invention belongs to the technical field of tobacco packaging, and in particular relates to a double-track rotary manipulator cigarette pack mixing device and a cigarette pack mixing method. Background Art

[0002] With the rapid development of the tobacco industry, the improvement of the level of automation in tobacco production has become an important driving force for the development of the industry. The packaging process of tobacco products is a crucial link in the entire production chain, and its degree of automation is directly related to production efficiency, cost control and the stability of product quality. Traditional cigarettes are usually packaged in ten small boxes of the same type per carton. However, with the development of product diversification, the mixing of multiple types of small boxes per carton has become an innovation in cigarette products. In the traditional production process of tobacco carton packaging, the mixing of multiple types of small boxes mainly relies on manual sorting and packaging, which is inefficient and prone to errors. This not only affects production efficiency, but also increases labor costs; at the same time, the overall quality of the cigarette pack may be reduced due to the instability of manual operation.

[0003] The present invention is proposed for this purpose. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a dual-track rotary manipulator cigarette pack mixing equipment and a method for mixing cigarette packs into large strip boxes. The present invention adopts a modular approach and divides the entire equipment into several main modules. Through the synergistic effect of several modules, the mixing of different cigarette packs is completed.

[0005] The technical solution of the present invention is as follows:

[0006] The first aspect of the present invention discloses a dual-track rotary manipulator cigarette pack mixing device, which includes: a cigarette pack conveying module 1, a rotary transmission module 4 and a manipulator module 5; wherein, the cigarette pack conveying module 1 includes: a first track A and a second track B arranged vertically on the same horizontal plane; the rotary transmission module 4 is arranged at the vertical intersection of the second track B and the first track A; there are two manipulator modules 5, and the two manipulator modules 5 are respectively arranged at the two ends of the rotary transmission module 4.

[0007] Preferably, the rotary transmission module 4 comprises: a cylindrical fixed table 41, a polyhedral rotating chassis 43 and a rectangular parallelepiped manipulator module frame 44; the fixed table 41 and the rotating chassis 43 on the upper part thereof are connected by a hydraulic rod 42; the rotating chassis 43 and the manipulator module frame 44 on the upper part thereof are connected by a coupling 47 and a rotating shaft 48, and a first link bracket 45 and a second link bracket 46 are symmetrically provided at both ends of the rotating chassis 43 and the manipulator module frame 44 to fix the rotating chassis 43 and the manipulator module frame 44; the fixed table 41 is fixed on the stabilizer 3, and the stabilizer 3 is fixed on the base 31; the base 31 is arranged at the vertical intersection of the first track 1 and the second track 2; two manipulator modules 5 are respectively arranged at the lower parts of the two ends of the manipulator module frame 44; a motor 50 is fixedly provided in the middle of the upper surface of the manipulator module frame 44, and the rotating shaft 48 passes through the manipulator module frame 44 to connect the motor 50.

[0008] Preferably, rectangular manipulator movable grooves 441 are respectively opened at the lower parts of both ends of the manipulator module frame 44 , and the two manipulator modules 5 are respectively arranged in the manipulator movable grooves 441 and can move left and right in their respective manipulator movable grooves 441 .

[0009] Preferably, each manipulator module 5 includes: a left card plate 51 and a right card plate 52, a card plate beam 54, a left column 55, a right column 56 and a fixed beam 57; the left card plate 51 and the right card plate 52 are relatively arranged at the two ends of the lower part of the card plate beam 54; the card plate beam 54 is fixedly connected to the fixed beam 57 on its upper part through the left column 55 and the right column 56; a connecting shaft 58 is provided in the middle of the upper surface of the fixed beam 57; the connecting shaft 58 is arranged at both ends of the rotary transmission module 4.

[0010] Preferably, a rectangular card slot 541 is opened at the lower end of the card slot 54, and the left card 51 and the right card 52 are connected by mechanical components in the card slot 541; the left card 51 and the right card 52 are the same in size and shape, and buffer materials 53 are arranged on their respective opposite surfaces.

[0011] Preferably, a camera and a sensor are installed between the left card board 51 and the right card board 52 of the card board slot 541 .

[0012] Preferably, a detection device 12 is arranged downstream of the first track A.

[0013] Preferably, a sealing ring 49 is arranged on the outer side of the rotating shaft 47 on the upper surface of the rotating chassis 43 .

[0014] The second aspect of the present invention discloses a method for mixing cigarette packages using the dual-track rotary manipulator cigarette package mixing device, comprising the following steps:

[0015] (i) starting the motor 50, starting and initializing the rotary transmission module 4 and the manipulator module 5, so that the two manipulator modules 5 are respectively located on the first track A and the second track B;

[0016] (ii) starting the cigarette pack conveying module so that the first type of cigarette packs 11 and the second type of cigarette packs 22 are conveyed to the positions set on the second track B in a set order and quantity;

[0017] (iii) According to the camera and sensor in the card slot 541, the manipulator module 5 slides in the card slot 541 for positioning; after the positioning is completed, the hydraulic rod 42 drives the rotating module 4 and the manipulator module 5 to descend to grab the first type of cigarette pack 11 or the second type of cigarette pack 22;

[0018] (iv) The hydraulic rod 42 rises to a certain height, the rotary transmission module 4 rotates 180°, the hydraulic rod 42 descends again, and the manipulator module 5 that has grasped the first type of cigarette pack 11 or the second type of cigarette pack 22 descends to place the grasped first type of cigarette pack 11 or the second type of cigarette pack 22 at a set position on the first track 1;

[0019] (v) repeating steps iii and iv according to the type and quantity of cigarette packages to be mixed;

[0020] (vi) After the types and quantities of cigarette packages to be mixed are arranged on the first track A, the first track A moves, and the types and quantities of the mixed cigarette packages are inspected by the inspection device 12 before being packaged.

[0021] Preferably, each step is controlled and run by an automatic control system.

[0022] Beneficial effects of the present invention:

[0023] 1. The dual-track rotary manipulator cigarette pack mixing equipment of the present invention is equipped with a cigarette pack conveying module, a rotary transmission module and a manipulator module, etc. The core lies in the unique vertical dual-track design of the cigarette pack conveying module. During the operation of the equipment, multiple different types of cigarette packs can be processed at the same time. This design greatly improves the operating speed and production capacity of the production line. At the same time, the equipment of the present invention can achieve precise control of the position of the cigarette pack by adopting a high-precision camera sensor and control system, ensuring the accuracy of the cigarette pack during rotation and flipping, thereby ensuring the quality of the final product.

[0024] 2. The dual-track rotary manipulator cigarette pack mixing equipment of the present invention introduces two types of cigarette packs that can be arranged and packaged through two tracks, realizing the "mixed loading" of multiple different types of cigarette packs. At the same time, through the control of the automation system, the arrangement and packaging of different types of cigarette packs are automatically completed. The flexibility and work efficiency of the production line are improved, and the labor cost is reduced.

[0025] 3. The equipment of the present invention is intelligent, automated, efficient and accurate, with low equipment modification cost and can save a lot of labor costs. The mixed cigarette packs produced can be adjusted in time according to market demand and have strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic structural diagram of the double-track rotary manipulator cigarette pack mixing equipment of the present invention.

[0027] Figure 2 It is a schematic diagram of the mixed packing form of cigarette packages of the present invention.

[0028] Figure 3 It is a structural schematic diagram of the rotary transmission module of the present invention.

[0029] Figure 4 It is a schematic diagram of the structure of the robot module of the present invention.

[0030] The accompanying drawings are marked as follows: 1. cigarette pack conveying module; A. first track; B. second track; 11. first type of cigarette pack; 22. second type of cigarette pack; 12. positioning detection device; 3. stabilizer; 31. base; 4. rotating transmission module; 41. fixed table; 42. hydraulic rod; 43. rotating chassis; 44. manipulator module frame; 441. manipulator movable slot; 45. first link bracket; 46. second link bracket; 47. coupling; 48. rotating shaft; 49. sealing ring; 50. motor; 5. manipulator module; 51. left pallet; 52. right pallet; 53. buffer material; 54. pallet beam; 541. pallet slot; 55. left column; 56. right column; 57. fixed beam; 58. connecting shaft. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It will be understood by those skilled in the art that the following examples are only used to illustrate the present invention and should not be regarded as limiting the scope of the present invention. If no specific technology or conditions are indicated in the examples, the technology or conditions described in the literature in this area or the product specifications are used. If the materials or equipment used do not indicate the manufacturer, they are all conventional products that can be purchased.

[0032] Those skilled in the art will appreciate that, unless expressly stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "linked" to another element, it may be directly linked to the other element, or there may be intermediate elements. In addition, the "link" used herein may include a wireless link.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0034] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features.

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "bond" and the like should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0037] like Figure 1As shown, a dual-track rotary manipulator cigarette pack mixing equipment of the present invention comprises: a cigarette pack conveying module 1, a rotary transmission module 4 and a manipulator module 5; wherein, the cigarette pack conveying module 1 comprises: a first track A and a second track B arranged vertically on the same horizontal plane; the rotary transmission module 4 is arranged at the vertical intersection of the second track B and the first track A; the manipulator module 5 is two, and the two manipulator modules 5 are respectively arranged at the two ends of the rotary transmission module 4. The first track A and the second track B are respectively controlled by two control systems for speed control. The track design not only needs to meet a certain width to adapt to the size of the cigarette pack, but also needs to have sufficient length to ensure the smoothness of the conveying and intermittent pauses, so that the cigarette pack can move smoothly and complete accurate arrangement under the action of the manipulator. The main structure of the equipment of the present invention also includes a positioning detection device 12 to ensure the correctness of the type, quantity and position of the mixed cigarette packs. The design of the main structure of the equipment of the present invention is the key to ensure that the manipulator module 5 accurately and efficiently completes the task of rotating and mixing cigarette packs. The main structure of the equipment of the present invention not only needs to meet the automatic conveying, rotation and arrangement of various types of cigarette packs, but also ensures work efficiency and accuracy, and avoids the wrong loading and missing of cigarette packs.

[0038] Wherein, the rotation transmission module 4 is as follows Figure 3As shown, it includes: a cylindrical fixed platform 41, a polyhedral rotating chassis 43 and a cuboid manipulator module frame 44; the fixed platform 41 and the rotating chassis 43 on the upper part thereof are connected by a hydraulic rod 42; a gear box is arranged inside the fixed platform 41. The rotating chassis 43 and the manipulator module frame 44 on the upper part thereof are connected by a coupling 47 and a rotating shaft 48, and the rotating chassis 43 and the manipulator module frame 44 are symmetrically provided with a first link bracket 45 and a second link bracket 46 at both ends thereof to fix the rotating chassis 43 and the manipulator module frame 44; the rotating chassis 43 and the manipulator module frame 44 are arranged in parallel, and are fixed and linked by the first link bracket 45 and the second link bracket 46 perpendicular to the two sides of the edge. The fixed platform 41 is fixed on the stabilizer 3, and the stabilizer 3 is fixed on the base 31; the base 31 is arranged at the vertical intersection of the first track 1 and the second track 2; the stabilizer 3 is installed on the base 31, in order to have sufficient strength and stability to support the weight of the two manipulator modules 5 and ensure the smooth, stable and high-speed rotation of the two manipulator modules 5. The base is located at the vertical intersection of the A track 1 and the B track 2. The two manipulator modules 5 are respectively arranged at the lower parts of the two ends of the manipulator module frame 44; a motor 50 is fixedly arranged in the middle of the upper surface of the manipulator module frame 44, and the rotating shaft 48 passes through the manipulator module frame 44 to connect the motor 50. Among them, rectangular manipulator movable grooves 441 are respectively opened at the lower parts of the two ends of the manipulator module frame 44, and the two manipulator modules 5 are respectively arranged in the manipulator movable grooves 441 and can move left and right in their respective manipulator movable grooves 441. The coupling 47 connects the motor 50 and the rotating shaft 48 to transmit torque, and drives the entire lower rotating chassis 43 and the manipulator module frame 44 to rotate 180 degrees. The motor 50 can select a suitable motor according to the required torque and speed, and design a control circuit to achieve accurate 180 degree rotation control.

[0039] Wherein, each manipulator module 5 is as follows Figure 4As shown, it includes: a left cardboard 51 and a right cardboard 52, a cardboard crossbeam 54, a left column 55, a right column 56 and a fixed crossbeam 57; the left cardboard 51 and the right cardboard 52 are arranged oppositely at the two ends of the lower part of the cardboard crossbeam 54; the cardboard crossbeam 54 is fixedly connected to the fixed crossbeam 57 on its upper part through the left column 55 and the right column 56; a connecting shaft 58 is arranged in the middle of the upper surface of the fixed crossbeam 57; the connecting shaft 58 is arranged at the two ends of the rotation transmission module 4. Among them, a rectangular cardboard slot 541 is opened at the lower end of the cardboard crossbeam 54, and the left cardboard 51 and the right cardboard 52 are connected in the cardboard slot 541 through mechanical components; the left cardboard 51 and the right cardboard 52 are of the same size and shape, and a buffer material 53 is arranged on their respective opposite surfaces. The gripping method of the manipulator module 5 is the clamping of the left card plate 51 and the right card plate 52, and the gripping action of the cigarette package is completed by the opening and closing horizontal movement of the left card plate 51 and the right card plate 52. For the design of the left card plate 51 and the right card plate 52, it is required that the buffer material 53 is arranged on the opposite surface of each of them, and it must have a certain strength and softness to achieve accurate clamping force to adapt to the shape and size of the cigarette package. The card plate beam 54 is a fixed horizontal device, and a rectangular card plate groove 541 is opened at its lower end and is connected to the left card plate 51 and the right card plate 52 through mechanical components, supporting the gripper to complete horizontal movement according to the preset width and parameters. The fixed beam 57 is also a fixed horizontal device, which is fixedly connected to the card plate beam 54 at the lower part through the left column 55 and the right column 56. The left column 55 and the right column 56 are located on both sides of the fixed beam 57 and the card plate beam 54, and are placed at a vertical angle at the bottom of the manipulator module frame 44. The position setting must satisfy the state that the entire rotating module can correspond to the position of the cigarette pack on the first track A and the second track B when it is periodically reciprocating at 180°, so that the gripper can accurately complete the gripping action. The left column 55 and the right column 56 are provided with a driving transmission device controlled by an automatic control system, which is connected to the motor 50 and is used to control the corresponding actions of the rotating transmission module 4 and the manipulator module 5.

[0040] Among them, a camera and a sensor (not marked in the drawings) are installed between the left card board 51 and the right card board 52 of the card board slot 541.

[0041] A detection device 12 is provided downstream of the first track A. Figure 1 shown.

[0042] Among them, a sealing ring 49 is arranged on the outer side of the rotating shaft 47 on the upper surface of the rotating chassis 43. The sealing ring 49 is located on the outer side of the rotating shaft 47 and is fixed on the upper surface of the lower rotating chassis 43 to prevent dust and tobacco from entering.

[0043] The control technology of the manipulator module 5 is a complex system that integrates multiple control strategies. It needs to have high-precision position control and stable speed control, and it also needs to integrate intelligent technology to improve the adaptive ability and intelligence level. The control technology of the manipulator module 5 mainly includes position control, speed control, and force control. 1. Position control: The present invention adopts a closed-loop control system, and obtains the position information of the left card plate 51 and the right card plate 52 of the manipulator module 5 in real time through sensors such as encoders or laser rangefinders, and adjusts the motion trajectory of the manipulator through a position control algorithm to ensure that it can accurately deliver the cigarette package to the next station. 2. Speed ​​control: The speed control of the present invention is to ensure the stability and repeatability of the manipulator module 5 during the movement process, and combines position control and speed control to achieve smooth start, operation, and stop and other operation modes to ensure the smooth operation of the manipulator module 5. 3. Force control: By installing a tactile sensor, the control system of the present invention can accurately monitor and adjust the contact force between the left card plate 51 and the right card plate 52 of the manipulator module 5 and the cigarette package, and accurately adjust the gripping force to adapt to the physical characteristics of the cigarette package to avoid excessive compression or rupture.

[0044] The manipulator module 5 is the core component of the dual-track rotary manipulator cigarette pack mixing equipment of the present invention, and its main function is to realize the automatic grasping, rotation and placement of cigarette packs. When grasping and placing cigarette packs, it is necessary to ensure that the motion trajectory of the left card plate 51 and the right card plate 52 matches the position of the target cigarette pack. This requires the manipulator module 5 to be accurately positioned to ensure the accuracy of grasping. Positioning technology mainly includes visual positioning, sensor positioning and machine vision positioning. 1. Visual positioning is to capture images through a camera, and then determine the position of the manipulator through image processing technology. The advantage of this method is high precision, but it is greatly affected by factors such as ambient light and shadows. Therefore, it is necessary to equip it with a high-performance image processing algorithm to eliminate various interference factors. 2. Sensor positioning is to monitor the position and posture of the manipulator in real time through sensors installed at key parts of the manipulator. The advantages of this method are fast response speed and good real-time performance, but various sensors need to be accurately calibrated and maintained. 3. Machine vision positioning combines the advantages of visual positioning and sensor positioning, and realizes precise control of the position and posture of the manipulator through advanced image processing algorithms and sensor data. The advantages of this method are high precision, good real-time performance, and no influence from environmental factors. In the present invention, a camera and a sensor (not shown in the attached figure) are installed between the left card board 51 and the right card board 52 of the card board slot 541. The present invention adopts machine vision positioning technology; first, the image of the cigarette pack is captured by a high-definition camera, and then the position information of the cigarette pack is extracted by an image processing algorithm, and the motion trajectory of the manipulator module 5 is calculated by combining the sensor data installed in the card board slot 541, and finally the motion trajectory of the manipulator module 5 is adjusted by the control system to achieve precise positioning. In the implementation process, a deep learning algorithm is used to optimize the image processing algorithm and improve the positioning accuracy. At the same time, an optimized control algorithm is also used to improve the movement speed and accuracy of the manipulator.

[0045] The double-track rotary manipulator cigarette pack mixing device of the present invention is used in a cigarette pack mixing method, comprising the following steps:

[0046] (i) starting the motor 50, starting and initializing the rotary transmission module 4 and the manipulator module 5, so that the two manipulator modules 5 are respectively located on the first track A and the second track B; initialization is to start and initialize the rotary transmission module 4 and the manipulator module, and this process includes but is not limited to starting the equipment and establishing a communication connection with the central control system. After the communication connection is normally established, an important step is to send a command to enable the manipulator module 5 to perform a return to origin action, ensuring that the mechanical structure and moving parts of the manipulator module 5 are in the correct position and ready state before starting work;

[0047] (ii) starting the cigarette pack conveying module, so that the first type of cigarette packs 11 and the second type of cigarette packs 22 are conveyed to the set positions of the second track B in a set order and quantity; in this stage, the two types of cigarette packs are conveyed to the set positions by the second track B respectively, and the two tracks are controlled by independent control systems, and the track running speeds and pause periods are inconsistent to meet the movement cycle of the rotating transmission module 4 and the cigarette pack mixing ratio and quantity;

[0048] (iii) According to the camera and sensor in the card slot 541, the manipulator module 5 slides in the card slot 541 for positioning; after the positioning is completed, the hydraulic rod 42 drives the rotating module 4 and the manipulator module 5 to descend to grab the first type of cigarette package 11 or the second type of cigarette package 22; this process requires accurate data exchange between the positioning system of the manipulator module 5 and the control system, and relies on the precise control of the control system to complete the grabbing action of the first type of cigarette package 11 or the second type of cigarette package 22;

[0049] (iv) The hydraulic rod 42 rises to a certain height, the rotary transmission module 4 rotates 180°, the hydraulic rod 42 descends again, and the manipulator module 5 that has grasped the first type of cigarette pack 11 or the second type of cigarette pack 22 descends to place the grasped first type of cigarette pack 11 or the second type of cigarette pack 22 at a set position on the first track 1;

[0050] (v) repeating steps iii and iv according to the type and quantity of cigarette packages to be mixed;

[0051] (vi) After the types and quantities of cigarette packages to be mixed are arranged on the first track A (such as Figure 2 As shown), the first track A moves, and the types and quantities of the mixed cigarette packs are detected by the detection device 12, and then ten different types of small boxes are packaged in strip boxes (the packaging of strip boxes does not belong to the protection scope of the present invention), completing a cigarette pack mixing operation cycle.

[0052] Among them, the above steps are controlled and operated by an automatic control system.

[0053] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A double-track rotary manipulator cigarette pack mixing equipment, characterized in that: The device comprises: a cigarette pack conveying module (1), a rotary transmission module (4) and a manipulator module (5); wherein the cigarette pack conveying module (1) comprises: a first track (A) and a second track (B) arranged vertically on the same horizontal plane; the rotary transmission module (4) is arranged at the vertical intersection of the second track (B) and the first track (A); and there are two manipulator modules (5), which are respectively arranged at the two ends of the rotary transmission module (4).

2. The double-track rotary manipulator cigarette pack mixing equipment according to claim 1 is characterized in that: The rotary transmission module (4) comprises: a cylindrical fixed platform (41), a polyhedral rotating chassis (43) and a rectangular parallelepiped manipulator module frame (44); the fixed platform (41) and the rotating chassis (43) on the upper portion thereof are connected via a hydraulic rod (42); the rotating chassis (43) and the manipulator module frame (44) on the upper portion thereof are connected via a coupling (47) and a rotating shaft (48); and a first link bracket (45) and a second link bracket (46) are symmetrically provided at both ends of the rotating chassis (43) and the manipulator module frame (44) for fixed connection. The rotating chassis (43) and the manipulator module frame (44); the fixed platform (41) is fixed on the stabilizer (3), and the stabilizer (3) is fixed on the base (31); the base (31) is arranged at the vertical intersection of the first track (1) and the second track (2); the two manipulator modules (5) are respectively arranged at the lower parts of the two ends of the manipulator module frame (44); a motor (50) is fixedly arranged in the middle of the upper surface of the manipulator module frame (44), and the rotating shaft (48) passes through the manipulator module frame (44) to connect the motor (50).

3. The double-track rotary manipulator cigarette pack mixing equipment according to claim 2 is characterized in that: Rectangular manipulator movable grooves (441) are respectively formed at the lower parts of both ends of the manipulator module frame (44), and two manipulator modules (5) are respectively arranged in the manipulator movable grooves (441) and can move left and right in their respective manipulator movable grooves (441).

4. The double-track rotary manipulator cigarette pack mixing equipment according to claim 1 is characterized in that: Each manipulator module (5) comprises: a left card plate (51) and a right card plate (52), a card plate cross beam (54), a left column (55), a right column (56) and a fixed cross beam (57); the left card plate (51) and the right card plate (52) are arranged at two ends of the lower part of the card plate cross beam (54) relative to each other; the card plate cross beam (54) is fixedly connected to the fixed cross beam (57) at its upper part through the left column (55) and the right column (56); a connecting shaft (58) is arranged in the middle of the upper surface of the fixed cross beam (57); and the connecting shaft (58) is arranged at two ends of the rotary transmission module (4).

5. The double-track rotary manipulator cigarette pack mixing equipment according to claim 4 is characterized in that: A rectangular cardboard groove (541) is formed at the lower end of the cardboard crossbeam (54), and the left cardboard (51) and the right cardboard (52) are linked in the cardboard groove (541) by mechanical components; the left cardboard (51) and the right cardboard (52) are of the same size and shape, and buffer materials (53) are arranged on their respective opposite surfaces.

6. The double-track rotary manipulator cigarette pack mixing equipment according to claim 5 is characterized in that: A camera and a sensor are installed between the left card board (51) and the right card board (52) of the card board slot (541).

7. The double-track rotary manipulator cigarette pack mixing equipment according to claim 1 is characterized in that: A detection device (12) is arranged downstream of the first track (A).

8. The double-track rotary manipulator cigarette pack mixing equipment according to claim 3 is characterized in that: A sealing ring (49) is arranged on the outer side of the rotating shaft (47) on the upper surface of the rotating chassis (43).

9. The double-track rotary manipulator cigarette pack mixing equipment according to any one of claims 1 to 8 is used in a cigarette pack mixing method, characterized in that: The steps include: (i) starting the motor (50), starting and initializing the rotary transmission module (4) and the manipulator module (5), so that the two manipulator modules (5) are respectively located on the upper part of the first track (A) and the second track (B); (ii) starting the cigarette pack conveying module so that the first type of cigarette packs (11) and the second type of cigarette packs (22) are conveyed to the set positions of the second track (B) in a set order and quantity; (iii) according to the camera and the sensor in the card slot (541), the manipulator module (5) slides in the card slot (541) for positioning; after the positioning is completed, the hydraulic rod (42) drives the rotating module (4) and the manipulator module (5) to descend to grab the first type of cigarette package (11) or the second type of cigarette package (22); (iv) the hydraulic rod (42) rises to a certain height, the rotary transmission module (4) rotates 180 degrees, the hydraulic rod (42) descends again, the manipulator module (5) that has grasped the first type of cigarette package (11) or the second type of cigarette package (22) descends, and places the grasped first type of cigarette package (11) and second type of cigarette package (22) at a set position on the first track (1); (v) repeating steps (iii) and (iv) according to the type and quantity of the mixed cigarette packages; (vi) After the types and quantities of cigarette packages to be mixed are arranged on the first track (A), the first track (A) moves, and the types and quantities of the mixed cigarette packages are inspected by the inspection device (12) before being packaged.

10. The cigarette packing mixed packing method according to claim 9, characterized in that: Each step is controlled and operated by an automatic control system.

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