Double-track rotary mechanical hand cigarette packet mixed loading equipment and cigarette packet mixed loading method

Abstract

The application discloses a double-track rotary mechanical hand cigarette package mixed loading equipment, which comprises a cigarette package conveying module (1), a rotary transmission module (4) and a mechanical hand module (5), wherein the cigarette package 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); and the mechanical hand module (5) is two, and the two mechanical hand modules (5) are respectively arranged at two ends of the rotary transmission module (4). The application also discloses a method for using the double-track rotary mechanical hand cigarette package mixed loading equipment to mix and load cigarette packages.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of tobacco packaging, and particularly relates to a double-track rotary mechanical hand tobacco packet mixed packaging device and a tobacco packet mixed packaging method. BACKGROUND

[0002] With the rapid development of the tobacco industry, the improvement of the automation level of 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 the degree of automation directly relates to the production efficiency, cost control and stability of product quality. Traditional cigarettes are usually packaged according to ten same types of small boxes per strip. However, with the development of product diversification, the mixed packaging of multiple types of small boxes per strip has become an innovation point of cigarette products. In the traditional tobacco strip packaging production process, the mixed packaging of multiple types of small boxes mainly relies on manual sorting and packaging, which is low in efficiency and prone to errors, which not only affects the production efficiency, but also increases the labor cost; at the same time, the overall quality of the tobacco packet may be reduced due to the instability of manual operation.

[0003] Therefore, the present application is proposed. SUMMARY

[0004] In order to solve the above technical problems, the present application provides a double-track rotary mechanical hand tobacco packet mixed packaging device and a method for mixed packaging of tobacco packets into strip box large packages. The present application adopts a modular approach, divides the entire device into several main modules, and completes the mixed packaging of different tobacco packets through the synergistic effect of several modules.

[0005] The technical scheme of the present application is as follows:

[0006] The present application discloses a double-track rotary mechanical hand tobacco packet mixed packaging device, which comprises a tobacco packet conveying module 1, a rotary transmission module 4 and a mechanical hand module 5; wherein the tobacco packet 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 mechanical hand module 5 is two, and two mechanical hand modules 5 are respectively arranged at both ends of the rotary transmission module 4.

[0007] Preferably, the rotary transmission module 4 comprises a cylindrical fixed table 41, a polyhedral rotary base 43 and a cuboid mechanical arm module frame 44; the fixed table 41 and the rotary base 43 on the upper part thereof are connected through a hydraulic rod 42; the rotary base 43 and the mechanical arm module frame 44 on the upper part thereof are connected through a shaft coupling 47 and a rotary shaft 48, and the rotary base 43 and the mechanical arm module frame 44 are also symmetrically provided with a first linking bracket 45 and a second linking bracket 46 fixedly connected with the rotary base 43 and the mechanical arm module frame 44; the fixed table 41 is fixed on a stabilizer 3, and the stabilizer 3 is fixed on a base 31; the base 31 is arranged at the vertical intersection of a first track A and a second track B; two mechanical arm modules 5 are respectively arranged at the lower parts of the two ends of the mechanical arm module frame 44; a motor 50 is fixedly arranged on the upper surface of the middle part of the mechanical arm module frame 44, and the rotary shaft 48 penetrates through the mechanical arm module frame 44 to connect the motor 50.

[0008] Preferably, the lower parts of the two ends of the mechanical arm module frame 44 are respectively provided with rectangular mechanical arm movable grooves 441, and the two mechanical arm modules 5 are respectively arranged in the mechanical arm movable grooves 441 and can move left and right in the respective mechanical arm movable grooves 441.

[0009] Preferably, each mechanical arm module 5 comprises a left clamping plate 51 and a right clamping plate 52, a clamping plate cross beam 54, a left stand column 55, a right stand column 56 and a fixed cross beam 57; the left clamping plate 51 and the right clamping plate 52 are oppositely arranged at the lower ends of the two ends of the clamping plate cross beam 54; the clamping plate cross beam 54 is fixedly connected with the fixed cross beam 57 on the upper part thereof through the left stand column 55 and the right stand column 56; a connecting shaft 58 is arranged on the upper surface of the middle part of the fixed cross beam 57; and the connecting shaft 58 is arranged at the two ends of the rotary transmission module 4.

[0010] Preferably, the lower end of the clamping plate cross beam 54 is provided with a rectangular clamping plate groove 541, and the left clamping plate 51 and the right clamping plate 52 are linked through mechanical components in the clamping plate groove 541; the left clamping plate 51 and the right clamping plate 52 are the same in size and shape, and each is provided with a buffer material 53 on the opposite surface thereof.

[0011] Preferably, a camera and a sensor are arranged between the left clamping plate 51 and the right clamping plate 52 in the clamping plate groove 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 shaft coupling 47 on the upper surface of the rotary base 43.

[0014] The second aspect of the present application discloses a double-track rotary mechanical arm cigarette packet mixed packaging device for a cigarette packet mixed packaging method, which comprises the following steps:

[0015] (i) Start the motor 50, start and initialize the rotating transmission module 4 and the mechanical arm module 5, so that the two mechanical arm modules 5 are respectively located at the upper part of the first track A and the second track B;

[0016] (ii) Start the cigarette packet conveying module, so that the first type of cigarette packet 11 and the second type of cigarette packet 22 are conveyed to the set position 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 mechanical arm module 5 is positioned by sliding in the card slot 541; after positioning is completed, the hydraulic rod 42 drives the rotating transmission module 4 and the mechanical arm module 5 to descend for grabbing the first type of cigarette packet 11 or the second type of cigarette packet 22;

[0018] (iv) The hydraulic rod 42 is raised to a certain height, the rotating transmission module 4 is rotated by 180°, the hydraulic rod 42 is lowered again, and the mechanical arm module 5 that has grabbed the first type of cigarette packet 11 or the second type of cigarette packet 22 is lowered to place the grabbed first type of cigarette packet 11 and second type of cigarette packet 22 on the set position on the first track A;

[0019] (v) According to the set type and quantity of mixed cigarette packets, steps (ii) and (iii) are repeated;

[0020] (vi) After the type and quantity of mixed cigarette packets are completed on the first track A, the first track A moves, and the type and quantity of mixed cigarette packets are detected by the detection device 12 and then packaged.

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

[0022] The beneficial effects of the present application are as follows:

[0023] 1. The double-track rotating mechanical arm cigarette packet mixing equipment of the present application is provided with a cigarette packet conveying module, a rotating transmission module and a mechanical arm module, and the core lies in the unique vertical double-track design of the cigarette packet conveying module. During the operation of the equipment, multiple different types of cigarette packets can be processed simultaneously, which greatly improves the operation speed and production capacity of the production line. At the same time, through the use of high-precision camera sensors and control systems, the present application can realize accurate control of the position of the cigarette packet and ensure the accuracy of the cigarette packet during rotation and turning, thereby ensuring the quality of the final product.

[0024] 2. The double-track rotating mechanical arm cigarette packet mixing equipment of the present application introduces two types of cigarette packet arrangements that can be conveyed through two tracks, and realizes the "mixing" of multiple different types of cigarette packets through the control of an automatic system, and automatically completes the arrangement and packaging of different types of cigarette packets. The flexibility and work efficiency of the production line are improved, and the labor cost is reduced.

[0025] 3、The device of the present application has the characteristics of intelligence, automation, high efficiency and precision, and the cost of equipment modification is relatively low, while a large amount of labor cost can be saved. The mixed packaging cigarette products produced can be timely adjusted according to market demand, and have strong adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the double-track rotary mechanical hand cigarette package mixed packaging equipment of the present application.

[0027] Figure 2 It is a schematic diagram of the cigarette package mixed packaging form of the present application.

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

[0029] Figure 4 It is a structural schematic diagram of the mechanical hand module of the present application.

[0030] The figure mark is: 1, cigarette package conveying module; A, first track; B, second track; 11, first kind of cigarette package; 22, second kind of cigarette package; 12, positioning detection device; 3, stabilizer; 31, base; 4, rotary transmission module; 41, fixed table; 42, hydraulic rod; 43, rotary chassis; 44, mechanical hand module frame; 441, mechanical hand movable groove; 45, first linking support; 46, second linking support; 47, coupling; 48, rotary shaft; 49, sealing ring; 50, motor; 5, mechanical hand module; 51, left clamping plate; 52, right clamping plate; 53, buffer material; 54, clamping plate cross beam; 541, clamping plate groove; 55, left stand column; 56, right stand column; 57, fixed cross beam; 58, connecting shaft. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application will be further described in detail below in combination with the drawings and embodiments. Those skilled in the art will understand that the following examples are only for illustrating the present application, and should not be regarded as limiting the scope of the present application. If the specific technology or condition is not specified in the examples, it is carried out according to the technology or condition described in the literature in the art or according to the product instruction. If the manufacturer of the material or equipment is not specified, it is a conventional product that can be obtained by purchase.

[0032] It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It is further understood that the terms "comprise" and "comprising" and the like, when used in the specification, do not exclude the presence of other elements or steps than those listed. It is further understood that the term "linked" when used in this specification, can include a direct connection between elements, or can also include intervening elements. Further, "linked" as used herein can include a wireless link.

[0033] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0034] In addition, the terms "first", "second", "third", and the like are used only for descriptive purposes and should not be construed as indicating or implying relative importance or a specific number of the technical features indicated.

[0035] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing", "bonding", and the like should be interpreted broadly, for example, it can be a connection, or a detachable connection, or an integral. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0036] Those skilled in the art can understand that, unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have meanings consistent with those in the context of the prior art, and should not be interpreted with idealized or overly formal meanings unless otherwise defined.

[0037] As Figure 1As shown, a double-track rotary mechanical hand cigarette package mixed loading equipment of the present application, the equipment comprises: a cigarette package conveying module 1, a rotary transmission module 4 and a mechanical hand module 5; wherein the cigarette package 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 mechanical hand module 5 is two, and two mechanical hand modules 5 are respectively arranged at two ends of the rotary transmission module 4. The first track A and the second track B are respectively controlled by two sets of control systems for speed control. The track design not only needs to meet a certain width to adapt to the size of the cigarette package, but also needs to have enough length to guarantee the stability and intermittent pause of the conveying, so that the cigarette package can move smoothly and complete accurate arrangement under the action of the mechanical hand. The main body structure of the equipment of the present application further comprises a positioning detection device 12 to ensure the correctness of the type, quantity and position of the mixed loading cigarette package. The design of the main body structure of the equipment of the present application is the key to ensure that the mechanical hand module 5 accurately and efficiently completes the tasks of rotating and mixed loading of the cigarette package. The main body structure of the equipment of the present application not only needs to meet the automatic conveying, rotation, arrangement of various types of cigarette packages, guarantee the working efficiency and accuracy, but also avoid the misloading and missing loading of the cigarette package.

[0038] Wherein, the rotary transmission module 4 is as Figure 3As shown, including: cylindrical fixed platform 41, polyhedral rotating chassis 43 and rectangular mechanical arm module frame 44; the fixed platform 41 and its upper rotating chassis 43 are connected by hydraulic rod 42; the fixed platform 41 is provided with a gear box. The rotating chassis 43 and its upper mechanical arm module frame 44 are connected through coupling 47 and rotating shaft 48, and the rotating chassis 43 and mechanical arm module frame 44 are also symmetrically provided with first linking bracket 45 and second linking bracket 46 fixedly connected with the rotating chassis 43 and mechanical arm module frame 44; the rotating chassis 43 and mechanical arm module frame 44 are arranged in parallel, and are fixed and linked through the first linking bracket 45 and second linking bracket 46 perpendicular to the edges of both sides. 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 A and the second track B; the base 31 is provided with a stabilizer 3, in order to have enough strength and stability to support the weight of two mechanical arm modules 5, and to ensure the smooth and stable high-speed rotation of the two mechanical arm modules 5. The base is located at the vertical intersection of A track 1 and B track 2. Two mechanical arm modules 5 are arranged at the lower part of both ends of the mechanical arm module frame 44 respectively; a motor 50 is fixedly arranged on the upper surface of the mechanical arm module frame 44, and the rotating shaft 48 penetrates the mechanical arm module frame 44 to connect the motor 50. Among them, the lower part of both ends of the mechanical arm module frame 44 is respectively opened with a rectangular mechanical arm movable slot 441, and two mechanical arm modules 5 are arranged in the mechanical arm movable slot 441 respectively and can move left and right in the respective mechanical arm movable slot 441. Coupling 47 connects motor 50 and rotating shaft 48 to transmit torque and drive the 180° rotation of the entire lower rotating chassis 43 and mechanical arm module frame 44. The motor 50 can select appropriate motor according to the required torque and speed, and design control circuit to realize accurate 180° rotation control.

[0039] Wherein, each mechanical arm module 5 is as Figure 4As shown, it comprises: left and right clamping plates 51 and 52, clamping plate crossbeam 54, left and right vertical columns 55 and 56, and fixed crossbeam 57; the left and right clamping plates 51 and 52 are oppositely arranged at the lower ends of the clamping plate crossbeam 54; the clamping plate crossbeam 54 is fixedly connected with the fixed crossbeam 57 at its upper portion through the left and right vertical columns 55 and 56; a connecting shaft 58 is arranged at the middle of the upper surface of the fixed crossbeam 57; the connecting shaft 58 is arranged at the two ends of the rotary transmission module 4. Among them, the lower end of the clamping plate crossbeam 54 is provided with a rectangular clamping plate slot 541, and the left and right clamping plates 51 and 52 are linked through mechanical components in the clamping plate slot 541; the left and right clamping plates 51 and 52 are the same in size and shape, and each of the opposite surfaces is arranged with a buffer material 53. The grabbing mode of the mechanical hand module 5 is the clamping of the left and right clamping plates 51 and 52, and the grabbing action of the cigarette packet is completed through the opening and closing horizontal movement of the left and right clamping plates 51 and 52. For the design of the left and right clamping plates 51 and 52, each of the opposite surfaces is arranged with a buffer material 53, which has certain strength and softness to realize accurate clamping force, so as to adapt to the shape and size of the cigarette packet. The clamping plate crossbeam 54 is a fixed horizontal device, and the lower end is provided with a rectangular clamping plate slot 541 and linked with the left and right clamping plates 51 and 52 through mechanical components, supporting the grabber to complete the horizontal movement according to the preset width and parameters. The fixed crossbeam 57 is also a fixed horizontal device, and the clamping plate crossbeam 54 at its lower portion is fixedly connected through the left and right vertical columns 55 and 56. The left and right vertical columns 55 and 56 are located on the two sides of the fixed crossbeam 57 and the clamping plate crossbeam 54, and are vertically arranged at the bottom of the mechanical hand module frame 44. The position setting needs to meet the condition that the whole rotary module can correspond to the position of the cigarette packet on the first track A and the second track B under the condition of 180° periodic reciprocating rotation, so as to accurately make the grabber complete the grabbing action. The left and right vertical columns 55 and 56 are provided with drive transmission devices controlled by an automatic control system and connected with the motor 50, which are used to control the corresponding actions of the rotary transmission module 4 and the mechanical hand module 5.

[0040] Among them, a camera and a sensor (not shown in the figure) are installed between the left and right clamping plates 51 and 52 of the clamping plate slot 541.

[0041] Among them, a detection device 12 is arranged downstream of the first track A, as Figure 1 shown.

[0042] Among them, a sealing ring 49 is arranged outside the coupling 47 on the upper surface of the rotary base plate 43. The sealing ring 49 is located outside the coupling 47 and is fixed on the upper surface of the lower rotary base plate 43, which can prevent dust and tobacco from entering.

[0043] The control technology of the manipulator module 5 is a complex system integrating multiple control strategies, which needs to have high-precision position control and smooth speed control, and also needs to integrate intelligent technology to improve adaptive ability and intelligent level. The control technology of the manipulator module 5 mainly includes position control, speed control and force control. 1. Position control: the present application adopts a closed-loop control system, the position information of the left clamping plate 51 and the right clamping plate 52 of the manipulator module 5 is acquired in real time through an encoder or a laser range finder and the like, and the motion trajectory of the manipulator is adjusted through a position control algorithm to ensure that it can accurately deliver the cigarette packet to the next station. 2. Speed control: the speed control of the present application is to ensure the smoothness and repeatability of the manipulator module 5 during the movement process, and multiple operation modes such as smooth starting, running and stopping are realized by combining position control and speed control, to ensure the smooth running of the manipulator module 5. 3. Force control: the present application installs a tactile sensor, the control system can accurately monitor and adjust the contact force between the left clamping plate 51 and the right clamping plate 52 of the manipulator module 5 and the cigarette packet, and the gripping force is accurately adjusted to adapt to the physical characteristics of the cigarette packet, to avoid excessive compression or breakage.

[0044] The mechanical hand module 5 is the core component of the double-track rotary mechanical hand cigarette packet mixed loading equipment of the present application, and its main function is to realize automatic grabbing, rotating and placing of cigarette packets. When grabbing and placing cigarette packets, it is necessary to ensure that the movement trajectories of the left and right clamping plates 51 and 52 match the positions of the target cigarette packets. Therefore, the mechanical hand module 5 needs to be accurately positioned to ensure the accuracy of grabbing. The 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 mechanical hand through image processing technology. The advantage of this method is high precision, but it is greatly affected by environmental light, shadow and other factors. Therefore, high-performance image processing algorithms are required to eliminate various interference factors. 2. Sensor positioning is to install sensors on the key parts of the mechanical hand to monitor the position and attitude of the mechanical hand in real time. The advantage of this method is fast response 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 accurate control of the position and attitude of the mechanical hand through advanced image processing algorithms and sensor data. The advantage of this method is high precision, good real-time performance and not affected by environmental factors. In the present application, a camera and a sensor (not shown in the figure) are installed between the left and right clamping plates 51 and 52 of the clamping plate groove 541. The machine vision positioning technology is used in the present application; first, the image of the cigarette packet is captured by a high-definition camera, then the position information of the cigarette packet is extracted by an image processing algorithm, combined with the sensor data installed in the clamping plate groove 541, the movement trajectory of the mechanical hand module 5 is calculated, and finally the movement trajectory of the mechanical hand module 5 is adjusted by the control system to realize accurate positioning. In the implementation process, a deep learning algorithm is used to optimize the image processing algorithm, which improves the positioning accuracy. At the same time, an optimized control algorithm is used to improve the movement speed and accuracy of the mechanical hand.

[0045] The double-track rotary mechanical hand cigarette packet mixed loading equipment of the present application is used for a cigarette packet mixed loading method, which comprises the following steps:

[0046] (i) Start the motor 50, start and initialize the rotary transmission module 4 and the mechanical hand module 5, so that the two mechanical hand modules 5 are respectively located at the upper parts of the first track A and the second track B; initialization is to start and initialize the rotary transmission module 4 and the mechanical hand module, which includes but is not limited to the start of the equipment, and the establishment of communication connection with the central control system. After the communication connection is normally established, an important step is to send a command to make the mechanical hand module 5 perform a return-to-origin action, so as to ensure that the mechanical structure and moving parts of the mechanical hand module 5 are in the correct position and preparation state before starting work;

[0047] (ii) Start the cigarette packet conveying module, so that the first kind of cigarette packet 11 and the second kind of cigarette packet 22 are conveyed to the set position of the second track B in the set order and quantity; in this stage, the two kinds of cigarette packets are conveyed to the set position by the second track B respectively, the two tracks are controlled by independent control systems, and the track running speed and the stop period are inconsistent to meet the motion period of the rotary transmission module 4 and the mixing loading proportion and quantity of the cigarette packets;

[0048] (iii) According to the camera and the sensor in the card slot 541, the mechanical hand module 5 is positioned by sliding in the card slot 541; after positioning, the hydraulic rod 42 drives the rotary transmission module 4 and the mechanical hand module 5 to descend to grasp the first kind of cigarette packet 11 or the second kind of cigarette packet 22; this process needs precise data exchange between the positioning system and the control system of the mechanical hand module 5, and is realized by relying on the accurate control of the control system to complete the grasping action of the first kind of cigarette packet 11 or the second kind of cigarette packet 22;

[0049] (iv) The hydraulic rod 42 rises to a certain height, the rotary transmission module 4 rotates by 180°, the hydraulic rod 42 descends again, and the mechanical hand module 5 grasping the first kind of cigarette packet 11 or the second kind of cigarette packet 22 descends to place the grasped first kind of cigarette packet 11 and the second kind of cigarette packet 22 on the set position of the first track A;

[0050] (v) According to the set kind and quantity of the mixed loading cigarette packets, the steps ⅲ and ⅳ are repeated;

[0051] (vi) When the kind and quantity of the mixed loading cigarette packets are completed on the first track A (as shown in the figure), the first track A moves, and the kind and quantity of the mixed loading cigarette packets are detected by the detection device 12, then the ten different kinds of carton packets are packaged (the packaging of the carton is not within the protection scope of the present application), and a cigarette packet mixing loading operation period is completed. Figure 2

[0052] Wherein, each of the above steps is controlled and operated by an automatic control system.

[0053] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principle of the present application, and various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.​

Claims

1. A double-track rotary mechanical hand cigarette and cigar mixing and loading equipment, characterized in that, The device comprises a cigarette packet conveying module (1), a rotary transmission module (4) and a mechanical arm module (5); wherein the cigarette packet 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 mechanical arm module (5) is two, and two mechanical arm modules (5) are respectively arranged at the two ends of the rotary transmission module (4); a detection device (12) is arranged downstream of the first track (A); the cigarette packet is a small box in each tobacco strip; the first track (A) is arranged in the transverse direction, the second track (B) is arranged in the longitudinal direction, and the mechanical arm module (5) can move in the transverse direction on the rotary transmission module (4); wherein the first type of cigarette packet (11) and the second type of cigarette packet (22) are conveyed to the set positions on the second track (B) in the set order and quantity, the first track (A) is used for placing and conveying the mixed first type of cigarette packet (11) and the second type of cigarette packet (22), and the first track (A) and the second track (B) are both controlled by independent control systems, the track running speed and the stop period are inconsistent, so as to meet the movement period of the rotary transmission module (4) and the mixed loading proportion and quantity requirements of the cigarette packet.

2. The dual-track rotary mechanical cigarette and packet mixing and loading apparatus according to claim 1, characterized in that, The rotary transmission module (4) comprises a cylindrical fixed table (41), a polyhedral rotary base plate (43) and a cuboid mechanical arm module frame (44); the fixed table (41) and the rotary base plate (43) on the upper part thereof are connected through a hydraulic rod (42); the rotary base plate (43) and the mechanical arm module frame (44) on the upper part thereof are connected through a shaft coupling (47) and a rotary shaft (48), and the rotary base plate (43) and the mechanical arm module frame (44) are also fixedly connected through the first linking bracket (45) and the second linking bracket (46) symmetrically arranged at the two ends thereof; the fixed table (41) is fixed on a stabilizer (3), and the stabilizer (3) is fixed on a base (31); the base (31) is arranged at the vertical intersection of the first track (A) and the second track (B); two mechanical arm modules (5) are respectively arranged at the lower parts of the two ends of the mechanical arm module frame (44); a motor (50) is fixedly arranged on the middle part of the upper surface of the mechanical arm module frame (44), and the rotary shaft (48) penetrates through the mechanical arm module frame (44) to connect the motor (50).

3. The dual-track rotary mechanical cigarette and packet mixing and loading apparatus according to claim 2, characterized in that, The lower parts of the two ends of the mechanical arm module frame (44) are respectively provided with rectangular mechanical arm movable grooves (441), and two mechanical arm modules (5) are respectively arranged in the mechanical arm movable grooves (441) and can move left and right in the respective mechanical arm movable grooves (441); the left and right directions are the transverse directions.

4. The dual-track rotary mechanical cigarette and packet mixing and loading apparatus according to claim 3, characterized in that, Each mechanical hand module (5) comprises: left and right clamping plates (51) and (52), a clamping plate crossbeam (54), left and right upright columns (55) and (56), and a fixed crossbeam (57); the left and right clamping plates (51) and (52) are oppositely arranged at the two ends of the lower part of the clamping plate crossbeam (54); the clamping plate crossbeam (54) is fixedly connected with the fixed crossbeam (57) at the upper part thereof through the left and right upright columns (55) and (56); a connecting shaft (58) is arranged at the middle of the upper surface of the fixed crossbeam (57); and the connecting shaft (58) is arranged at the two ends of the rotary transmission module (4).

5. The dual-track rotary mechanical cigarette and packet mixing and loading apparatus according to claim 4, characterized in that, The lower end of the clamping plate crossbeam (54) is provided with a rectangular clamping plate slot (541), and the left and right clamping plates (51) and (52) are linked through mechanical components in the clamping plate slot (541); the left and right clamping plates (51) and (52) are the same in size and shape, and each is arranged with a buffer material (53) on the opposite surface thereof.

6. The dual-track rotary mechanical cigarette and packet mixing and loading apparatus according to claim 5, characterized in that, A camera and a sensor are arranged between the left and right clamping plates (51) and (52) in the clamping plate slot (541).

7. The dual-track rotary mechanical cigarette and packet mixing and loading apparatus according to claim 6, characterized in that, A sealing ring (49) is arranged outside the coupling (47) on the upper surface of the rotary base plate (43).

8. The double-track rotary mechanical cigarette pack mixing and loading apparatus for the cigarette pack mixing and loading method according to claim 7, wherein, The method comprises the following steps: (i) starting the motor (50), starting and initializing the rotary transmission module (4) and the mechanical hand module (5), so that the two mechanical hand modules (5) are respectively located at the upper parts of the first track (A) and the second track (B); (ii) starting the cigarette packet conveying module, so that the first type of cigarette packet (11) and the second type of cigarette packet (22) are conveyed to the set position on the second track (B) in a set order and quantity; (iii) according to the camera and the sensor in the clamping plate slot (541), the mechanical hand module (5) is positioned by sliding in the clamping plate slot (541); after positioning, the hydraulic rod (42) drives the rotary transmission module (4) and the mechanical hand module (5) to descend for grabbing the first type of cigarette packet (11) or the second type of cigarette packet (22); (iv) the hydraulic rod (42) is raised to a certain height, the rotary transmission module (4) is rotated by 180°, the hydraulic rod (42) is lowered again, and the mechanical hand module (5) that has grabbed the first type of cigarette packet (11) or the second type of cigarette packet (22) is lowered to place the grabbed first type of cigarette packet (11) and second type of cigarette packet (22) on the set position on the first track (A); (v) according to the set type and quantity of mixed cigarette packets, steps (ii) and (iii) are repeated; (vi) after the type and quantity of mixed cigarette packets are matched on the first track (A), the first track (A) is moved, and the type and quantity of mixed cigarette packets are detected by the detection device (12) and then packaged.

9. The method of claim 8, wherein, Each step is controlled and operated by an automatic control system.

Images