Cigarette packaging box stacking device

Abstract

The invention discloses a cigarette packaging box stacking device, which relates to the technical field of packaging integrated devices, and comprises a box folding device, a product collecting and arranging device and a boxing robot, the box folding device is used for folding and forming the packaging box; the product collecting and arranging device is in butt joint with the output end of the product conveying device, and the product collecting and arranging device is provided with a product collecting station and a pushing mechanism used for pushing cigarette cases sent out by the product conveying device into the product collecting station. The boxing robot comprises a mechanical arm and a clamping mechanism, the clamping mechanism is installed at the output end of the mechanical arm, and the clamping mechanism clamps the cigarette packets collected by the product collecting station and the packaging boxes completing the cigarette packaging boxes and is matched with the mechanical arm to stack the packaging boxes completing the cigarette packaging boxes. By means of the automatic folding and stacking device, the packaging boxes can be automatically folded and formed, cigarette packets can be automatically boxed and stacked after being boxed and sent out, manual participation is completely not needed for cigarette boxing, the labor intensity is low, the production efficiency is high, and manpower is saved.

Description

Technical Field

[0001] This invention relates to the technical field of integrated packaging devices, and more specifically, to a cigarette packaging box palletizing device. Background Technology

[0002] Cigarettes are tobacco products made by rolling tobacco into strips using cigarette paper; they are also called paper cigarettes, cigarettes, or cigarette rolls. There are filtered cigarettes and unfiltered cigarettes, and they also come in mild and strong flavors.

[0003] During cigarette production, cigarette packs must be inspected before being packaged. Only after the cigarette boxes pass inspection are they provided to the packaging line, where finished cigarettes are automatically packed into the inspected boxes. Currently, to minimize damage to the inspected boxes during transport from the inspection line to the packaging line and ensure quality, the boxes are manually packed and stacked before being transported to the packaging line by forklift. This process is inefficient, physically demanding for workers, and increases labor costs, hindering companies from improving production efficiency and reducing costs. Summary of the Invention

[0004] The purpose of this invention is to provide a cigarette packaging box palletizing device that can not only automatically fold and form the packaging box, but also automatically pack the cigarettes after they are packed and sent out. This makes the packing of cigarettes completely free of manual intervention, and has the characteristics of low labor intensity, high production efficiency, saving manpower and reducing labor costs.

[0005] To achieve the objective of this invention, the technical solution adopted is: a cigarette packaging box palletizing device, comprising:

[0006] Folding box device, used to fold packaging boxes into shape;

[0007] The product collection and sorting device is connected to the output end of the product conveying device, and the product collection and sorting device has a product collection station and a pushing mechanism that pushes the cigarette boxes sent out by the product conveying device into the product collection station.

[0008] The packing robot includes a robotic arm and a gripping mechanism. The gripping mechanism is installed at the output end of the robotic arm and grips the cigarette packs collected at the product collection station and the finished cigarette boxes, and works with the robotic arm to stack the finished cigarette boxes.

[0009] Furthermore, the product collection and sorting device includes a base, on which a workbench is provided. The product collection station and the pushing mechanism are both installed on the workbench, and the feeding side of the product collection station is open. The output end of the pushing mechanism corresponds to the feeding side of the product collection station, and the output end of the product conveying device is located on one side of the pushing mechanism.

[0010] Furthermore, the output end of the product conveying device is perpendicular to the worktable, and the output end of the product conveying device also has a pusher mechanism that pushes the product forward towards the pusher mechanism.

[0011] Furthermore, the pusher mechanism includes a through hole on the conveying surface of the product conveying device, and a pusher block that can move forward and backward in the through hole, and a drive structure for driving the pusher block is also installed at the output end of the product conveying device.

[0012] Furthermore, the product conveying device is also equipped with a linear auxiliary unit whose extension direction is consistent with the movement direction of the pusher block. The pusher block is fixedly installed at the output end of the linear auxiliary unit, and the driving structure includes a pusher motor installed on the back of the product conveying device. The output end of the pusher motor is eccentrically connected to a connecting rod, and the extension end of the connecting rod is connected to the pusher block.

[0013] Furthermore, the pushing mechanism includes a linear drive element supported on the worktable by a support, and a pusher plate is also installed at the output end of the linear drive element.

[0014] Furthermore, the workbench is also provided with an installation port, which is located between the pushing mechanism and the feeding side of the product collection station, and a flipping mechanism is also installed in the installation port; the flipping mechanism has a receiving slot that can accommodate a set of cigarette boxes. Before the flipping mechanism flips, the opening of the receiving slot corresponds to the pushing mechanism. After the flipping mechanism flips, the opening of the receiving slot corresponds to the feeding side of the product collection station, and the flipping mechanism also has a pushing structure that pushes a set of cigarette boxes in the receiving slot into the product collection station.

[0015] Furthermore, the flipping mechanism also includes a rotating shaft rotatably mounted on a base, and a fixed plate extending along its diameter is mounted on the rotating shaft. The pushing structure includes a movable plate that can reciprocate along its extension direction on the fixed plate, and the inner side of the movable plate and the inner side of the fixed plate cooperate to form a receiving groove.

[0016] Furthermore, the pushing structure includes two linear auxiliary plates mounted on a fixed plate and extending along its extension direction, a movable plate jointly mounted on the output ends of the two linear auxiliary plates, and a linear driving element is also mounted on the fixed plate, the output end of the linear driving element being connected to the output end of the movable plate or the linear auxiliary plate.

[0017] Furthermore, two linear drive elements are hinged to the worktable. The output end of the linear drive element is hinged with a curved arm, and the extension ends of the two curved arms are respectively connected to the two ends of the rotating shaft.

[0018] Furthermore, the fixing plate is U-shaped, with two linear auxiliary components installed on both sides of the fixing plate, and there are two linear drive elements installed on both sides of the back of the fixing plate. The output end of the linear drive element is connected to the output end of the linear auxiliary component located on the same side by a connecting plate.

[0019] Furthermore, the product collection station includes three limiting plates fixed on the workbench. The three limiting plates are arranged in a U-shape, and the height of the limiting plates is less than half the height of the product.

[0020] Furthermore, the folding device includes a base two, on which are mounted a cardboard storage compartment for placing cardboard, a primary folding assembly located below the cardboard storage compartment, and a lifting robot arm for extracting cardboard from the cardboard storage compartment onto the primary folding assembly for folding; the base two is also equipped with a guide rail for supporting the cardboard during the folding and conveying process, a secondary folding assembly for conveying and secondary folding the packaging box folded by the primary folding assembly, and a box pushing mechanism for conveying the packaging box that has completed secondary folding forward along the guide rail.

[0021] Furthermore, the cardboard storage compartment includes multiple limiting strips installed on the machine base two. The multiple limiting strips are divided into four groups, and the four groups of limiting strips are arranged in a rectangular pattern.

[0022] Furthermore, the first folding assembly includes two support plates symmetrically arranged on the base two. The upper ends of the two support plates each have a folding part for supporting the folded edges of the cardboard on both sides. The distance between the lower ends of the two support plates is adapted to the width of the cardboard after initial folding, and the lower ends of the inner sides of the two support plates are flush with the outer edges of the two guide rails respectively.

[0023] Furthermore, the lifting robot includes a linear drive element four that can be vertically extended and retracted, mounted on a base two, and a mounting frame one is installed at the output end of the linear drive element four. Multiple suction cups one for picking up cardboard are installed on the mounting frame one.

[0024] Furthermore, the secondary folding assembly includes X-axis linear pairs one, which are installed on both sides of the base two and extend along their axial direction. Each of the two X-axis linear pairs one has a base plate installed on it. A Y-axis linear pair one is installed on the base plate. A push plate one is installed on the Y-axis linear pair one to push the folded edge of the primary folding assembly. The base two also has a linear drive element five for pushing the push plate one.

[0025] Furthermore, there is a certain distance between the lower end of the support plate and the upper surface of the guide rail, and the push plate one is located between the lower end of the support plate and the upper surface of the guide rail in the height direction of the base two.

[0026] Furthermore, the output end of the Y-axis linear sub-axis on the substrate is also equipped with a linear drive element six that extends and retracts to one side of the substrate, and the output ends of the two linear drive elements six are also equipped with push plates two that push the ear plates at both ends of the folded edge.

[0027] Furthermore, the secondary folding assembly also includes two sets of synchronous pulleys 1 rotatably supported on the base 2. The two synchronous pulleys 1 in the same set correspond to the two ends of the X-axis linear pair 1 respectively, and a synchronous belt 1 is wound around the two synchronous pulleys 1 in the same set. A clamping block 1 clamped on the synchronous belt 1 is installed on the base plate.

[0028] Furthermore, the two sets of synchronous pulleys are connected by a transmission, and a drive motor is also installed on the base. The output end of the drive motor is connected to one of the synchronous pulleys by a transmission.

[0029] Furthermore, the secondary folding assembly also includes two sets of Z-axis linear pairs 1 mounted on the base 2. Both sets of Z-axis linear pairs 1 are located between two guide rails. A vertical plate is mounted on multiple Z-axis linear pairs 1 in the same set. A linear drive element 7 that extends and retracts relative to each other is mounted on the two vertical plates. A push plate 3 that pushes the other two folding edges of the cardboard is mounted on the output end of the linear drive element 7. A linear drive element 8 that drives the vertical plates to move up and down is also mounted on the base 2.

[0030] Furthermore, the tops of the two uprights are also equipped with linear drive elements nine that extend and retract relative to each other, and the output end of the linear drive elements nine is equipped with push plates four that push and fold the covering surface on the cardboard.

[0031] Furthermore, the pushing mechanism includes X-axis linear pairs II, each extending along its axial direction, mounted on both sides of the base II. Mounting brackets are mounted on each of the two X-axis linear pairs II, and Z-axis linear pairs II are mounted on the mounting brackets. A fixed frame is mounted on both Z-axis linear pairs II. A linear drive element 10 for driving the fixed frame to move up and down is also mounted on the mounting brackets. Linear drive elements 11 are mounted on two beams extending in the width direction of the base II or around the perimeter of the fixed frame. A push plate 5 for pressing the folded covering surface is also mounted at the output end of the linear drive element 11.

[0032] Furthermore, the pushing mechanism also includes two sets of synchronous pulleys 2 rotatably supported on the base 2. The two synchronous pulleys 2 in the same set correspond to the two ends of the X-axis linear pair 2 respectively, and the two synchronous pulleys 2 in the same set are wound with a synchronous belt 2. The mounting bracket is equipped with a clamping block 2 clamped on the synchronous belt 2.

[0033] Furthermore, the two sets of synchronous pulleys are connected by a transmission, and a drive motor is also installed on the base. The output end of the drive motor is connected to one of the synchronous pulleys.

[0034] Furthermore, a stop bar is also installed on the outer side of the output end of the guide rail to limit the packaging box pushed by the box pushing mechanism, and the input end of the stop bar is bent outward.

[0035] Furthermore, the base 2 is also equipped with a positioning structure that can fix the packaging box to the output end of the guide rail.

[0036] Furthermore, the positioning structure includes a vertically extendable linear drive element twelve on the base two, the linear drive element twelve being located between two guide rails, and a mounting bracket two being installed at the output end of the linear drive element twelve, on which multiple suction cups two for picking up packaging boxes are installed.

[0037] Furthermore, the clamping mechanism includes a base installed at the output end of the robotic arm, the shape of which is adapted to the inside of the packaging box, and flip-up clamps are installed around the base; one of the clamps is also equipped with a tray that can extend into or out of the base.

[0038] Furthermore, the base is equipped with side plates on all four sides, and a rotatable drive shaft is supported on the side plates. Multiple connecting arms are mounted on the drive shaft, and clamps are mounted on the connecting arms.

[0039] Furthermore, one of the drive shafts is also equipped with a mounting bracket, on which a linear drive element thirteen is mounted, and a support plate is mounted on the output end of the linear drive element thirteen.

[0040] Furthermore, a rotary drive element for driving the transmission shaft to rotate is also installed on the side plate.

[0041] Furthermore, the rotary drive element is a rotary cylinder.

[0042] The beneficial effects of this invention are:

[0043] In this invention, a folding device folds the packaging box into shape, and a product collection and sorting device collects and sorts the cigarette boxes sent by the product conveying device to the product collection station. A robotic arm drives a clamping mechanism to clamp and transfer the cigarette packs in the product collection station to the folded packaging box. Then, the robotic arm drives the clamping mechanism to stack the boxed packaging boxes. This allows the cigarette packs to be automatically packed after production, eliminating the need for manual intervention. This invention features low labor intensity, high production efficiency, labor saving, and reduced labor costs. Attached Figure Description

[0044] The accompanying drawings illustrate exemplary embodiments of the invention and, together with the description thereof, serve to explain the principles of the invention. These drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification.

[0045] Figure 1 This is a structural diagram of the cigarette packaging box palletizing device provided by the present invention;

[0046] Figure 2 This is a structural diagram of the product collection and sorting device;

[0047] Figure 3 It is the structure of the product conveying device Figure 1 ;

[0048] Figure 4 It is the structure of the product conveying device Figure 2 ;

[0049] Figure 5 This is a layout diagram of the product conveying device and the product collection and sorting device;

[0050] Figure 6 This is a structural diagram of the product collection and sorting device;

[0051] Figure 7 This is a structural diagram of the folding box device;

[0052] Figure 8 This is a structural diagram of the cardboard storage compartment;

[0053] Figure 9 This is a structural diagram of a single-fold component;

[0054] Figure 10 This is a structural diagram of the double-folding component;

[0055] Figure 11 This is an installation structure diagram of push plate one and push plate two;

[0056] Figure 12 This is the structural installation diagram of push plate three and push plate four;

[0057] Figure 13 This is a structural diagram of the pusher mechanism;

[0058] Figure 14 This is a side view of the pusher mechanism.

[0059] The attached diagram shows the markings and corresponding component names:

[0060] 1. Product conveying device;

[0061] 10. Box pushing mechanism;

[0062] 100. Through hole; 101. Push box motor; 102. Linear pair 1; 103. Connecting rod; 104. Push box block;

[0063] 2. Product collection and sorting device;

[0064] 20. Workbench; 21. Pushing mechanism; 22. Tilting mechanism; 23. Product collection station; 24. Machine base one;

[0065] 210. Linear drive component one; 211. Push box plate;

[0066] 220. Mounting port; 221. Rotating shaft; 222. Fixing plate; 223. Linear pair II; 224. Moving plate; 225. Receiving groove; 226. Linear drive element II; 227. Connecting plate; 228. Linear drive element III; 229. Bend arm.

[0067] 230. Limit plate;

[0068] 3. Packing robot;

[0069] 30. Robotic arm; 31. Gripping mechanism;

[0070] 310. Base; 311. Side plate; 312. Drive shaft; 313. Connecting arm; 314. Clamping plate; 315. Mounting support; 316. Linear drive element thirteen; 317. Support plate; 318. Rotary drive element.

[0071] 4. Folding box device;

[0072] 41. Base 2; 42. Cardboard storage bin; 43. First folding assembly; 44. Lifting robot; 45. Second folding assembly; 46. Pushing mechanism; 47. Guide rail; 48. Stop bar; 49. Positioning structure.

[0073] 4200, Limiting strip;

[0074] 4300, Support plate; 4301, Folding section;

[0075] 4400 Linear drive component four; 4401 Mounting bracket one; 4402 Suction cup one;

[0076] 4500. Drive motor 1; 4501. Synchronous pulley 1; 4502. Synchronous belt 1; 4503. X-axis linear pair 1; 4504. Clamping block 1; 4505. Base plate; 4506. Y-axis linear pair; 4507. Linear drive element 5; 4508. Push plate 1; 4509. Linear drive element 6; 4510. Push plate 2; 4511. Z-axis linear pair 1; 4512. Vertical plate; 4513. Linear drive element 8; 4514. Linear drive element 7; 4515. Push plate 3; 4516. Linear drive element 9; 4517. Push plate 4.

[0077] 4600. Drive motor II; 4601. Synchronous pulley II; 4602. Synchronous belt II; 4603. X-axis linear pair II; 4604. Clamping block II; 4605. Mounting bracket; 4606. Z-axis linear pair II; 4607. Fixing frame; 4608. Linear drive component eleven; 4609. Push plate five; 4610. Linear drive component ten.

[0078] 4900, Linear drive element twelve; 4901, Mounting bracket two; 4902, Suction cup two. Detailed Implementation

[0079] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings.

[0080] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other. The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0081] like Figure 1 As shown, the present invention provides a cigarette packaging box palletizing device, including a folding box device 4, a product collection and sorting device 2, and a packing robot 3. The folding box device 4 is used to fold cardboard into packaging boxes, which facilitates the subsequent packing of cigarette boxes. The product collection and sorting device 2 is used to collect and sort the cigarette packs sent out by the product conveying device 1 on the cigarette pack production line, so that the packing robot 3 can clamp and transfer the collected and sorted cigarette packs as a whole, thereby filling the entire packaging box with cigarette packs clamped by the packing robot 3 at one time. The packing robot 3 is used to clamp and transfer the cigarette packs collected and sorted by the product collection and sorting device 2, and then clamp and transfer the packaging boxes after the cigarette packaging boxes for palletizing. In this invention, when the folding box device 4, the product collection and sorting device 2, and the packing robot 3 are arranged and installed, the packing robot 3 can be arranged between the folding box device 4 and the product collection and sorting device 2, while the product palletizing station can be located on one side of the packing robot 3. This not only makes it convenient for the packing robot 3 to clamp and transfer the cigarette packs collected by the product collection and sorting device 2 into the packaging box folded by the folding device, but also makes it convenient to clamp and transfer the packaging box containing the cigarette packs to the palletizing station after the cigarette packaging box.

[0082] In this invention, the cigarette pack production line connected to the product collection and sorting device 2 can be a cigarette pack folding and forming production line, a cigarette pack forming and testing production line, or a cigarette pack packaging production line. That is, the cigarette packs entering the product collection and sorting device 2 can be either unpacked or packed with cigarettes. When arranged, the product collection and sorting device 2 is connected to the output end of the product conveying device 1 on the cigarette pack production line, allowing the cigarette packs sent out by the product conveying device 1 on the cigarette pack production line to directly enter the product collection and sorting device 2.

[0083] The product collection and sorting device 2 has a product collection station 23 and a pushing mechanism 21. The pushing mechanism 21 is used to push the cigarette packs fed into the product collection and sorting device 2. The product collection station 23 is used to collect the cigarette packs pushed by the pushing mechanism 21, so that the cigarette packs are neatly arranged on the product collection station 23, so that the clamping mechanism 31 on the packing robot 3 can clamp the cigarette packs on the product collection station 23 in one go.

[0084] The packing robot 3 includes a robotic arm 30 and a gripping mechanism 31. The type of robotic arm 30 can be selected according to the requirements. The robotic arm 30 can be directly installed on the ground via a base. The gripping mechanism 31 can grip the cigarette packs at the product collection station 23 in one go, and it can also grip the packaging boxes after the cigarette packs have been boxed. The gripping mechanism 31 is directly mounted on the robotic arm 30. When the robotic arm 30 moves, it drives the gripping mechanism 31 to move, thereby completing the boxing of the cigarette packs held by the gripping mechanism 31 and enabling the packaging boxes held by the gripping mechanism 31 to be stacked.

[0085] In this invention, such as Figure 4 , Figure 5 As shown, the product collection and sorting device 2 includes a base 24 with a workbench 20. A product collection station 23 and a pushing mechanism 21 are both mounted on the workbench 20. To ensure that the cigarette packs pushed by the pushing mechanism 21 can smoothly enter the product collection station 23, the side of the product collection station 23 closest to the pushing mechanism 21 is open. When the pushing mechanism 21 is arranged, the output end of the product conveying device 1 is located on one side of the pushing mechanism 21, allowing the cigarette packs sent out by the product conveying device 1 to sequentially enter the front of the pushing mechanism. The open side of the product collection station 23 is located in the pushing direction of the pushing mechanism 21, allowing the cigarette packs entering the front of the pushing mechanism to be pushed forward by the pushing mechanism 21 into the product collection station 23, thereby achieving neat collection of the cigarette packs.

[0086] Since the thickness of cigarette packs is generally between 15mm and 25mm, and the cigarette packs are all laid flat on the cigarette pack production line, in order to facilitate the clamping mechanism 31 to clamp the cigarette packs after they are pushed to the product collection station 23 by the pushing mechanism 21, the output end of the product conveying device 1 on the cigarette pack production line is perpendicular to the worktable 20. This ensures that after the cigarette packs are conveyed to the worktable 20 by the product conveying device 1, the cigarette packs are perpendicular to the worktable 20. That is, when the cigarette packs are on the worktable 20, the length direction of the cigarette packs is consistent with the pushing direction of the pushing mechanism 21, and the width direction of the cigarette packs on the worktable 20 is consistent with the vertical direction.

[0087] When the output end of the product conveying device 1 is perpendicular to the worktable 20, the forward direction of the cigarette packs conveyed by the product conveying device 1 is not the same as the direction in which the cigarette packs enter the front of the pushing mechanism 21 from one side. Therefore, in order to ensure that the cigarette packs conveyed by the product conveying device 1 can sequentially enter the front of the pushing mechanism 21 after entering the worktable 20, a pusher mechanism 10 is also installed at the output end of the product conveying device 1. The pushing direction of the pusher mechanism 10 extends horizontally and is perpendicular to the pushing direction of the pushing mechanism 21. When the cigarette packs are conveyed to the worktable 20 by the product conveying device 1, the cigarette packs are perpendicular to the worktable 20 and parallel to the conveying surface of the product conveying device 1. At this time, the pusher mechanism 10 pushes the cigarette packs, causing the cigarette packs to be sequentially squeezed into the front of the pushing mechanism 21 in a vertical state.

[0088] In this invention, since the output end of the product conveying device 1 is perpendicular to the worktable 20, in order to prevent the cigarette packs from falling directly onto the worktable 20 when being conveyed by the product conveying device 1, a guide strip parallel to the conveying surface of the product conveying device 1 is also installed on the product conveying device 1. The distance between the guide strip and the conveying surface of the product conveying device 1 is adapted to the thickness of the cigarette pack. At the same time, there is a certain distance between the discharge end of the guide strip and the worktable 20, and the distance between the discharge end of the guide strip and the worktable 20 is not less than the width of one cigarette pack. This ensures that when the pusher mechanism 10 pushes the cigarette packs that have entered the worktable 20, the cigarette packs will not be blocked by the guide strip, so that the cigarette packs sent out by the product conveying device 1 can be pushed sequentially to the front of the pusher mechanism 21 by the pusher mechanism 10.

[0089] In this invention, such as Figure 2 , Figure 3As shown, the pusher mechanism 10 includes a through hole 100 formed on the conveying surface of the product conveying device 1. When the cigarette pack is sent out by the product conveying device 1 and is perpendicular to the worktable 20, the through hole 100 corresponds to the center of the cigarette pack. The pusher mechanism 10 also includes a pusher block 104 located in the through hole 100. The pusher block 104 is clearance-fitted with the through hole 100, allowing the pusher block 104 to move forward or backward smoothly within the through hole 100. When the pusher block 104 moves forward, it pushes the cigarette pack located at the output end of the product conveying device 1 forward. When the pusher block 104 moves backward, the output end of the product conveying device 1 is vacated, allowing the next cigarette pack on the product conveying device 1 to enter the output end of the product conveying device 1. A drive structure is also installed on the back of the product conveying device 1. The drive structure drives the pusher block 104, causing the pusher block 104 to move forward and backward automatically within the through hole 100.

[0090] A linear coupling 102 is also installed on the back of the product conveying device 1. The linear coupling 102 includes a slide rail whose extension direction is consistent with the movement direction of the pusher block 104. The linear coupling 102 also includes a slider that can slide on the slide rail, and the rear end of the pusher block 104 is directly mounted on the slider. At the same time, the drive structure also includes a pusher motor 101 installed on the back of the product conveying device 1. An eccentric wheel is installed at the output end of the pusher motor 101, and a connecting rod 103 is hinged to the eccentric wheel. The extension end of the connecting rod 103 is hinged to the rear end of the pusher block 104 or the slider in the linear coupling 102. Through the cooperation of the slide rail and the slider on the linear coupling 102, when the pusher motor 101 rotates, the pusher motor 101 drives the slider and the pusher block 104 forward or backward through the connecting rod 103, thereby causing the pusher block 104 to push the cigarette pack forward.

[0091] In this invention, to enable the pushing mechanism 21 to push the neatly arranged cigarette packs in front of it, the pushing mechanism 21 includes a linear drive element 210 mounted on the workbench 20 via a support, and a pusher plate 211 is also mounted on the output end of the linear drive element 210. When the linear drive element 210 is not activated, the pusher plate 211 is located on the side of the cigarette packs away from the product collection station 23. By pushing the pusher plate 211 with the linear drive element 210, the cigarette packs located in front of the pusher plate 211 are pushed forward toward the product collection station 23.

[0092] To prevent the cigarette packs from shifting laterally as they are pushed forward by the pusher mechanism 10 towards the pusher mechanism 21, multiple guide strips are installed on the worktable 20. After the cigarette packs enter the worktable 20, two guide strips are positioned on either side of the pack's length, and the other is positioned above it. These three guide strips, in conjunction with the worktable 20, form a guide channel corresponding to the pusher mechanism 10, allowing the cigarette packs pushed forward by the pusher mechanism 10 to be sequentially pushed forward within this channel. Since one of the guide strips is located above the cigarette pack, two L-shaped brackets can also be installed on the worktable 20 for easier installation. The vertical portion of the brackets is mounted on the worktable 20, and the guide strip is mounted on the horizontal portion of the brackets. To prevent the guide strips on both sides of the cigarette pack from obstructing the pushing mechanism 21 from pushing the cigarette pack, the two guide strips are designed such that the end of the guide strip near the pushing mechanism 21 extends to the end of the pusher plate 211 and then stops extending forward of the pusher plate 211. That is, there is a certain gap between the end of the guide strip near the pushing mechanism 21 and the pusher plate 211, and this gap is less than half the thickness of a cigarette pack. This ensures that when the pushing mechanism 21 pushes the cigarette packs neatly arranged in front of the pusher plate 211, the pushing mechanism 21 will not move forward the cigarette packs that have not entered the front of the pusher plate 211, making the pushing mechanism 21 push the cigarette packs more accurately.

[0093] Since the length direction of the cigarette pack is consistent with the pushing direction of the pushing mechanism 21 and the width direction is consistent with the vertical direction when the cigarette pack is fed from the product conveying device 1 onto the workbench 20, and the width direction of the cigarette pack is generally between 55mm and 75mm, in order to further facilitate the clamping mechanism 31 to clamp the cigarette pack after it is pushed into the product collection station 23 by the pushing mechanism 21, a flipping mechanism 22 is also installed between the pushing mechanism 21 and the product collection station 23 to flip the cigarette pack. The flipping mechanism 22 flips the cigarette pack pushed by the pushing mechanism 21, so that the length direction of the cigarette pack is consistent with the vertical direction and the width direction is consistent with the horizontal direction. This makes the cigarette pack taller after it enters the product collection station 23, so that when the clamping mechanism 31 clamps the cigarette pack in the product collection station 23, more parts of the cigarette pack in the product collection station 23 are clamped. This not only facilitates the clamping mechanism 31 to clamp the cigarette pack, but also makes the cigarette pack more stable after the clamping mechanism 31 clamps the cigarette pack.

[0094] To facilitate the smooth entry of the cigarette packs pushed by the pushing mechanism 21 into the flipping mechanism 22, and to ensure that the cigarette packs flipped by the flipping mechanism 22 can smoothly enter the product collection station 23, the flipping mechanism 22 also has a receiving groove 225 for accommodating cigarette boxes. The length of the receiving groove 225 is not less than the length of the pusher plate 211, and the receiving groove 225 is in an open state. Before the flipping mechanism 22 flips, the opening of the receiving groove 225 corresponds to the pushing mechanism 21, so that the cigarette packs located in front of the pusher plate 211 pass through the pushing mechanism 211 smoothly. When the mechanism 21 pushes the cigarette pack, the cigarette pack located in front of the pusher plate 211 can smoothly enter the receiving groove 225. At the same time, in order to enable the cigarette pack in the receiving groove 225 to smoothly enter the product collection station 23 after the flipping mechanism 22 flips, the receiving groove 225 on the flipping mechanism 22 corresponds to the feeding side of the product collection station 23 after the flipping mechanism 22 flips. The flipping mechanism 22 also has a pushing structure, which can push the cigarette pack in the receiving groove 225 into the product collection station 23 after the flipping mechanism 22 flips.

[0095] To ensure that the opening of the receiving slot 225 of the flipping mechanism 22 aligns with the pushing mechanism 21 before flipping, the opening of the receiving slot 225 of the flipping mechanism 22 is flush with the worktable 20. Furthermore, to ensure that the opening of the receiving slot 225 of the flipping mechanism 22 aligns with the product collection station 23 after flipping, the opening of the receiving slot 225 of the flipping mechanism 22 is flush with the support surface of the product collection station 23. Therefore, for the installation of the flipping mechanism 22, an installation port 220 is also provided on the worktable 20. The installation port 220 is located between the feeding side of the pushing mechanism 21 and the product collection station 23, and the flipping mechanism 22 is installed within this installation port 220.

[0096] In this invention, the flipping mechanism 22 further includes a rotating shaft 221 rotatably mounted on the base 24 via a bearing seat. The central axis of the rotating shaft 221 is lower than the worktable 20, and a fixing plate 222 is mounted on the rotating shaft 221. The extending direction of the fixing plate 222 is parallel to the diameter direction of the rotating shaft 221. When the rotating shaft 221 is not rotating, the fixing plate 222 extends vertically upwards towards the worktable 20 through the mounting opening 220. At the same time, the pushing structure includes a movable plate 224 that can reciprocate in the extending direction of the fixing plate 222. The movable plate 224 is located on the side of the fixing plate 222 close to the pushing mechanism 21, and the extending direction of the movable plate 224 is perpendicular to the extending direction of the fixing plate 222. When the rotating shaft 221 is not rotating and the moving plate 224 is not moving on the fixed plate 222, the bearing surface of the moving plate 224 for carrying the cigarette pack is flush with the worktable 20. At this time, the cigarette pack pushed by the pushing mechanism 21 can smoothly enter the moving plate 224. When the rotating shaft 221 drives the moving plate 224 and the fixed plate 222 to rotate 90 degrees, the cigarette pack carried by the moving plate 224 is changed to be carried by the fixed plate 222. At this time, the bearing surface of the fixed plate 222 for carrying the cigarette pack is flush with the support surface of the product collection station 23. With the movement of the moving plate 224 on the fixed plate 222, the cigarette pack carried by the fixed plate 222 is pushed by the moving plate 224 to the support surface of the product collection station 23.

[0097] That is, the receiving groove 225 on the flipping mechanism 22 is formed by the cooperation of the moving plate 224 and the fixed plate 222. The receiving groove 225 is L-shaped. Before the flipping mechanism 22 flips, the opening of the receiving groove 225 corresponds to the pushing mechanism 21. After the flipping mechanism 22 flips, the opening of the receiving groove 225 corresponds to the feeding side of the product collection station 23.

[0098] In this invention, to prevent the cigarette pack from shifting along the length of the pusher plate 211 when it is pushed into the receiving slot 225 by the pusher mechanism 21, guide strips can also be installed between the pusher mechanism 21 and the flipping mechanism 22. Specifically, there are two guide strips between the pusher mechanism 21 and the flipping mechanism 22, and the two guide strips correspond to the two ends of the pusher plate 211 in the pusher mechanism 21, respectively. When the pusher mechanism 21 is not in operation, one end of the guide strip away from the pusher mechanism 10 is located outside the pusher plate 211, and the other end of the guide strip extends to the mounting opening 220; one end of the guide strip close to the pusher mechanism 10 is connected to the guide strip used to guide the cigarette pack pushed out by the pusher mechanism 10, and the other end of the guide strip also extends to the mounting opening 220. By installing two guide strips between the pusher mechanism 21 and the flipping mechanism 22, a guide channel for guiding the cigarette pack is formed between the pusher mechanism 21 and the flipping mechanism 22, so that the cigarette pack in front of the pusher plate 211 can move forward neatly when the pusher mechanism 21 pushes the cigarette pack towards the flipping mechanism 22. Similarly, to prevent the cigarette pack from falling out of the fixed plate 222 and the moving plate 224 due to the flipping mechanism 22 after entering the receiving slot 225, guide strips can also be installed on both sides of the fixed plate 222 and the moving plate 224. When the flipping mechanism 22 is not flipped, the guide strip on the moving plate 224 is aligned with the guide strip between the pushing mechanism 21 and the flipping mechanism 22, while the guide strips on both sides of the fixed plate 222 correspond to the guide strips on both sides of the moving plate 224. At the same time, in order to ensure that the cigarette pack located in front of the push box plate 211 can smoothly enter between the two guide strips on the moving plate 224 when pushed by the pushing mechanism 21, the ends of the two guide strips on the moving plate 224 away from the fixed plate 222 can be bent outward, so that the inlet end of the channel formed by the two guide strips on the fixed plate 222 is funnel-shaped.

[0099] To enable the movable plate 224 to reciprocate on the fixed plate 222, the pushing structure includes two slide rails mounted on the fixed plate 222. The two slide rails are spaced apart along the width of the fixed plate 222, and each slide rail is equipped with a slider. The slide rails and sliders together form a linear coupling 223. The movable plate 224 is mounted on the sliders of the two linear couplings 223. When the movable plate 224 reciprocates on the fixed plate 222, the linear couplings 223 guide the movement of the movable plate 224. The linear motion of plate 224 is more precise; the pushing structure also includes a second linear drive element 226 mounted on the fixed plate 222. The extension and retraction direction of the second linear drive element 226 is consistent with the reciprocating motion direction of the moving plate 224 on the fixed plate 222, and the output end of the second linear drive element 226 is connected to the slider on the moving plate 224 or the second linear pair 223, so that when the second linear drive element 226 extends and retracts, it drives the slider on the moving plate 224 and the second linear pair 223 to move along the slide rail on the second linear pair 223.

[0100] In order to drive the rotating shaft 221 to rotate, so that the rotating shaft 221 can drive the fixed plate 222 and the moving plate 224 to flip when rotating, two linear drive elements 228 can be hingedly installed on the upper surface of the worktable 20, the lower surface of the worktable 20, or the machine base 24. The two linear drive elements 228 are located on both sides of the worktable 20 or the two sides of the machine base 24, and the two linear drive elements 228 correspond to the two ends of the rotating shaft 221. The output ends of the two linear drive elements 228 are hinged with bent arms 229, and the extension ends of the two bent arms 229 are installed on the two ends of the rotating shaft 221. When the two linear drive elements 228 extend or retract, both linear drive elements 228 drive the two ends of the rotating shaft 221 to rotate via the swing arm, allowing the rotating shaft 221 to rotate forward or backward within a 90-degree range. This causes the fixed plate 222 and the moving plate 224 to rotate 90 degrees on the rotating shaft 221, thus allowing the cigarette box stored in the receiving slot 225 to rotate 90 degrees. In this invention, while meeting the rotation requirements of the rotating shaft 221, the linear drive elements 228 can also be replaced by stepper motors. In this case, there can be only one stepper motor, which is mounted on the base 24, and the output end of the stepper motor is connected to one end of the rotating shaft 221 by a coupling.

[0101] In this invention, the structure of the fixing plate 222 is designed to be U-shaped. During installation, the slide rails in the two linear auxiliary plates 223 can be installed on both sides of the fixing plate 222. By setting the fixing plate 222 to a U-shape, the extension length at the middle of the fixing plate 222 is less than the extension lengths on both sides in the width direction. This allows the moving plate 224 to move directly out of the middle of the extension end of the fixing plate 222 when guided by the linear auxiliary plates 223. This allows the moving plate 224 to directly push the cigarette pack out of the fixing plate 222 when it is being carried by the fixing plate 222, ensuring that the cigarette pack after being flipped by the flipping mechanism 22 can enter the product collection station 23. In this invention, when the fixing plate 222 is U-shaped, the mounting opening 220 on the worktable 20 is also U-shaped to ensure that the worktable 20 does not obstruct the flipping mechanism 22 during flipping.

[0102] To make the movement of the mounting plate on the fixed plate 222 smoother, two linear drive elements 226 can be used. In this case, the two linear drive elements 226 are located on both sides of the fixed plate 222, and the output ends of the two drive elements 226 are connected to the sliders on the two linear pairs 223, or the output ends of the two drive elements 226 are connected to both ends of the moving plate 224. At the same time, in order to avoid the width of the fixed plate 222 being too large due to the installation of linear drive elements 226 on both sides of the fixed plate 222, the linear drive elements 226 can also be directly installed on the back of the fixed plate 222, and a connecting plate 227 can be connected between the output end of the linear drive elements 226 and the side of the slider in the linear pair 223 or the side of the moving plate 224, so that when the linear drive elements 226 extend or retract, they can drive the sliders on the moving plate 224 and the linear pair 223 to slide along the slide rail on the linear pair 223.

[0103] Furthermore, the product collection station 23 includes three limiting plates 230 fixed on the workbench 20. The three limiting plates 230 are arranged in a U-shape and work together to form the product collection station 23. The limiting plates 230 are designed with the same height. Two of the limiting plates 230 correspond to the sides of the moving plate 224, and the third limiting plate 230 is connected to the end of the other two limiting plates away from the flipping mechanism 22. Since the length of the cigarette pack is perpendicular to the workbench 20 after being flipped and pushed to the product collection station 23 by the flipping mechanism 22, the height of the limiting plates 230 is designed to be less than half the height of the cigarette pack in order to facilitate clamping by the clamping mechanism 31 after the cigarette pack enters the product collection station 23. In this invention, in order to enable the cigarette packs carried on the fixed plate 222 to be pushed smoothly into the product collection station 23 by the moving plate 224, the two limiting plates 230 corresponding to the two sides of the moving plate 224 can be folded outward at the end near the flipping mechanism 22, so that the inlet of the product collection station 23 is funnel-shaped.

[0104] In this invention, the packaging box used for cigarette packs, before folding, comprises a bottom surface with folded edges connected by fold lines around its perimeter. Two oppositely arranged folded edges have ear plates connected at both ends by connecting lines, and the other two oppositely arranged folded edges have covering surfaces connected by connecting lines. When the cardboard is folded into a packaging box, the edges with ear plates are folded first, then the ear plates are folded, then the other two folded edges are folded, and finally the covering surfaces are folded. After the cardboard is folded into a packaging box, the size and shape of the packaging box are adapted to the size and shape of the product collection station 23, so that the cigarette packs held by the clamping mechanism 31 at the product collection station 23 can be placed into the packaging box in one go, thus completing the packaging of the cigarette packs in one go.

[0105] To fold the above cardboard into a packaging box, as follows: Figures 6 to 13 As shown, the folding box device 4 includes a base 41, on which a cardboard storage compartment 42, a first folding assembly 43, and a second folding assembly 45 are installed. The cardboard storage compartment 42 is used to store cardboard to be folded. The first folding assembly 43 folds the two folded edges of the cardboard with ear plates. The second folding assembly 45 folds the ear plates and the other two folded edges, and folds the covering surface. The second folding assembly 45 also pushes the packaging box behind the first folding assembly 43 forward. In the folding device 4, the primary folding component 43 is located below the cardboard storage bin 42, and the base 41 is also equipped with a lifting robot 44 for extracting the cardboard from the cardboard storage bin 42 onto the primary folding component 43 for folding. The lifting robot 44 is located below the primary folding component 43. After the lifting robot 44 rises, it extracts the cardboard from the cardboard storage bin 42 downwards onto the primary folding component 43, thereby completing the first fold on the primary folding component 43. At the same time, in order to smoothly push the packaging box after the first fold onto the secondary folding component 45, two guide rails 47 are also installed on the base 41. The two guide rails 47 are arranged at intervals along the width direction of the base 41, and the primary folding component 43 and the secondary folding component 45 are arranged at intervals along the axial direction of the guide rails 47. When the lifting robot 44 pulls the cardboard from the cardboard storage bin 42 downwards onto the first folding assembly 43, the packaging box is supported on the guide rail 47. This allows the guide rail 47 to not only lift the packaging box after the first fold, preventing it from moving too downwards when the lifting robot 44 pulls the cardboard from the cardboard storage bin 42 onto the first folding assembly 43, but also to allow the second folding assembly 45 to move forward along the guide rail 47 when pushing the packaging box after the first fold, thus preventing the packaging box after the first fold from shifting vertically during its forward movement.

[0106] In order to enable the packaging box after the second folding to be sent out along the guide rail 47 so that the clamping mechanism 31 can smoothly put the cigarette packs held in the product collection station 23 into the packaging box, and to enable the packaging box to be clamped, transported and stacked by the clamping mechanism 31 after the cigarette packs are put into it, a box pushing mechanism 46 is also installed on the machine base 41. The box pushing mechanism 46 is arranged in front of the second folding component 45 along the axial direction of the guide rail 47. The box pushing mechanism 46 can not only fold and press the folded cover, but also push the packaging box after the second folding along the guide rail 47 so that the folded packaging box moves to the output end of the guide rail 47. This allows the clamping mechanism 31 to complete the insertion of the cigarette packs into the packaging box and the clamping, transporting and stacking of the packaging box containing the cigarette packs at the output end of the guide rail 47.

[0107] In this invention, such as Figure 7 , Figure 8As shown, the cardboard storage compartment 42 includes multiple limiting strips 4200 mounted on the machine base 41. The limiting strips 4200 extend vertically upwards on the machine base 41 and are divided into four groups. These four groups of limiting strips 4200 are arranged in a rectangular pattern on the machine base 41, forming a rectangular chamber, which is the cardboard storage compartment 42. The cardboard storage compartment 42 is open at both ends. When cardboard is placed horizontally inside the cardboard storage compartment 42, the cardboard is restrained by the four groups of limiting strips 4200, ensuring that the cardboard to be folded is neatly stacked inside the cardboard storage compartment 42. To facilitate the stacking of cardboard to be folded inside the cardboard storage compartment 42, the upper ends of the multiple limiting strips 4200 can be folded outwards, making the upper end of the cardboard storage compartment 42 flared.

[0108] Since the guide rail 47 in this invention only supports the initially folded packaging box, and in order to prevent the cardboard in the cardboard storage compartment 42 from falling directly onto the primary folding assembly 43, the primary folding assembly 43 includes two support plates 4300 symmetrically arranged on the base 41. The two support plates 4300 are arranged vertically, and the distance between the two support plates 4300 is adapted to the distance between the two folded edges with ear plates on the cardboard. The inner sides of the two support plates 4300 correspond to the connecting lines of the two folded edges with ear plates on the packaging box. At the same time, the upper ends of the two support plates 4300 each have outward folding portions 4301, and the folding portions 4301 and the support plates 4300 are arc transitions. When the cardboard to be folded is placed in the cardboard storage compartment 42, the two folded edges with ear plates on the bottom layer of cardboard are supported by the folding portions 4301 on the two support plates 4300. Since the cardboard is not folded at this time, the cardboard is strong enough that even if the cardboard is only supported by the folding parts 4301 on the two support plates 4300, the cardboard will not fall directly from the cardboard storage bin 42.

[0109] Because there is a certain distance between the two support plates 4300 in the one-fold assembly 43 and a certain distance between the two guide rails 47, the guide rails 47 and the one-fold assembly 43 do not obstruct the operation of the lifting robot 44 when it extracts cardboard from the cardboard storage bin 42. Simultaneously, when the support plates 4300 are installed, the lower ends of the inner sides of the two support plates 4300 are flush with the outer edges of the two guide rails 47. When the lifting robot 44 extracts the cardboard downwards from the cardboard storage bin 42, the bottom surface of the cardboard is not obstructed and moves downwards with the lifting robot 44. The two folded edges are blocked by the folding part 4301 of the support plate 4300, causing the bottom surface to move downwards. As the lifting robot 44 drives the bottom surface to continue moving downwards, the distance between the lower ends of the two support plates 4300 matches the distance between the two folded edges with ear plates on the cardboard. When the bottom surface enters between the lower parts of the two support plates 4300, the two folded edges with ear plates on the cardboard are completely folded, that is, the two folded edges with ear plates are perpendicular to the bottom surface. As the lifting robot 44 drives the bottom surface to continue moving downwards, when the bottom surface abuts against the guide rail 47, the bottom surface is blocked by the guide rail 47 and cannot continue to move downwards. The cardboard completes the first fold.

[0110] In this invention, the lifting robot 44 includes a linear drive element 4400 mounted on the bottom of the base 41. The extension and retraction direction of the linear drive element 4400 is consistent with the height direction, and the linear drive element 4400 is located below the center of the cardboard storage bin 42. The output end of the linear drive element 4400 is fixed with a mounting frame 4401, and multiple suction cups 4402 for picking up cardboard in the cardboard storage bin 42 are mounted on the mounting frame 4401. Here, the suction cups 4402 are vacuum suction cups, and the number of suction cups 4402 can be arbitrarily selected as needed. When multiple suction cups 4402 pick up cardboard together, they are symmetrically arranged on the bottom surface of the cardboard. When the cardboard in the cardboard storage compartment 42 needs to be pulled downwards, the linear drive element 4400 extends upwards, driving the mounting bracket 4401 and suction cup 4402 to move upwards. When suction cup 4402 presses against the cardboard, it is de-aired, and the cardboard is adsorbed onto suction cup 4402. Then, the linear drive element 4400 retracts downwards, driving the mounting bracket 4401, suction cup 4402, and the adsorbed cardboard downwards, causing the cardboard to fold while moving downwards. When the bottom surface of the cardboard touches the guide rail 47, the cardboard completes its first fold. However, the bottom surface of the cardboard is restricted by the guide rail 47 and cannot continue to move downwards. At this time, air is injected into suction cup 4402, and suction cup 4402 releases its grip on the cardboard. The packaging box that has completed its first fold can then move forward along the guide rail 47.

[0111] In this invention, such as Figures 9 to 11As shown, the secondary folding assembly 45 includes two slide rails installed on both sides of the base 41. The axial direction of the slide rails is consistent with the axial direction of the base 41. One end of the slide rail near the output end of the guide rail 47 extends to the middle of the base 41. A slider is installed on each of the two slide rails. The slider and the slide rail together form an X-axis linear pair 4503. The two X-axis linear pairs 4503 located on the same side of the base 41 are a group. Both groups of X-axis linear pairs 4503 are located outside the two guide rails 47. At the same time, the sliders on the two X-axis linear pairs 4503 located on the same side of the base 41 are jointly mounted on a base plate 4505. Two slide rails extending along the width direction of the base 41 are mounted on the base plate 4505. A slider is mounted on each slide rail. The slider and the slide rail together form a Y-axis linear pair 4506. The two Y-axis linear pairs 4506 on the base plate 4505 are mounted together with a push plate 4508. The push plate 4508 is L-shaped. The horizontal part of the push plate 4508 is fixed to the slider on the Y-axis linear pair 4506 on the same side of the base 41, while the vertical part of the push plate 4508 corresponds to the folded edge after the first fold. When the Y-axis linear pairs 4506 located on both sides of the base 41 extend simultaneously, the two push plates 4508 move towards the central axis of the base 41, reducing the distance between the two push plates 4508. This allows the two push plates 4508 to bring together the two folded edges that have completed the initial fold, and cooperate with the base plate 4505 to move along the axial direction of the base 41. This not only prevents the folded edges from not returning to their original shape when moving along the guide rail 47, but also clamps the packaging box that has completed the initial fold, so that the base plate 4505 can drive the packaging box that has completed the initial fold forward when moving along the axial direction of the base 41. In order to drive the push plate 4508 to move forward and backward along the slide rail on the Y-axis linear pair 4506 on the substrate 4505, a linear drive element 4507 is also installed on the substrate 4505. The extension and retraction direction of the linear drive element 4507 is consistent with the movement direction of the push plate 4508, and the output end of the linear drive element 4507 is fixed to the push plate 4508.

[0112] In order for the two push plates 4508 to abut against the two folded edges that have completed the first fold on the first folding assembly 43, the two support plates 4300 in the first folding assembly 43 are installed with a certain gap between the lower end of the support plate 4300 and the upper surface of the guide rail 47. The vertical part of the push plate 4508 in the height direction of the base 41 corresponds to this gap. When the substrate 4505 moves to the outside of the first folding assembly 43 along the X-axis linear pair 4503, the linear drive element 4507 extends and drives the push plate 4508 to move towards the folded edge that has completed the first fold. The push plate 4508 can abut against the folded edge that has completed the first fold at the first folding assembly 43. When the substrate 4505 moves from the first folding assembly 43 to the output end of the guide rail 47 along the X-axis linear pair 4503, it can drive the packaging box that has completed the first fold forward.

[0113] Meanwhile, linear drive elements 4509 are mounted on the sliders of the two Y-axis linear pairs 4506 located on the same substrate 4505. The output ends of the two linear drive elements 4509 extend to both ends of the guide rail 47, that is, the extension and retraction directions of the two linear drive elements 4509 located on the same side of the base 41 are consistent with the width direction of the push plate 4508. Push plates 4510 are mounted on the two linear drive elements 4509 located on the same side of the base 41, and the two push plates 4510 extend towards the central axis of the base 41. When push plate 1 4508 is driven by linear drive element 5 4507 to abut against the folded edge after the initial fold, the extended end of push plate 2 4510 extends beyond the vertical portion of push plate 1 4508. Since push plate 1 4508 and linear drive element 6 4509 are both mounted on the slider of the Y-axis linear pair 4506, push plate 1 4508, when moving forward, will drive linear drive element 6 4509 and push plate 2 4510 to move together towards the central axis of base 2 41. During this process, push plate 2 4510's... The extension end pushes the ear plates at both ends of the folded edge to fold over. Then, it works in conjunction with the two linear drive elements 4509 located on the same side of the base 2 41 to retract, causing the two push plates 4510 located on the same side of the base 2 41 to move closer. The two push plates 4510 push the ear plates at both ends of the folded edge to continue folding over. When the push plates 4510 abut against the two ends of the folded edge with ear plates, the two push plates 4510 located on the same side of the base 2 41 can no longer move closer. The push plates 4510 push the ear plates at both ends of the folded edge to complete the folding.

[0114] In this invention, the extension and retraction of the linear drive element 4509 can be performed simultaneously with the push plate 4508 pressing against the folded edge, or during the movement of the substrate 4505 along the X-axis linear joint 4503 from the first folding assembly 43 to the output end of the guide rail 47. To prevent the push plate 4508 from slipping against the folded edge when it presses against the folded edge and drives the packaging box that has completed its first fold forward along the guide rail 47, the extension and retraction of the linear drive element 4509 is preferentially performed simultaneously with the push plate 4508 pressing against the folded edge. This ensures that the packaging box that has completed its first fold folds its ear plate at the first folding assembly 43, and that when the packaging box that has completed its first fold moves forward along the guide rail 47, one side of the packaging box can be restricted by the push plate 4508, and the other side of the packaging box can be restricted by the push plate 4510, making the packaging box that has completed its first fold move more smoothly and accurately along the guide rail 47.

[0115] To enable the substrate 4505 to move along the X-axis linear pair 4503 from the output end of the guide rail 47 of the primary folding assembly 43, the secondary folding assembly 45 also includes two sets of synchronous pulleys 4501 rotatably supported by bearing seats. The two sets of synchronous pulleys 4501 are located on both sides of the base 41, and there are two synchronous pulleys 4501 in each set. The two synchronous pulleys 4501 in the same set correspond to the two ends of the slide rail in the X-axis linear pair 4503. At the same time, the two synchronous pulleys 4501 in the same set are located between the two X-axis linear pairs 4503 on the same side of the base 41. The synchronous belt 4502 is wound around the two synchronous pulleys 4501 in the same set. A clamping block 4504 is also fixedly installed on the lower surface of the substrate 4505. The extended end of the clamping block 4504 is clamped on the conveying surface of the synchronous belt 4502, and the clamping surface of the clamping block 4504 has teeth that mesh with the synchronous belt 4502. When one of the synchronous pulleys 4501 in the same group rotates, it drives the synchronous belt 4502 to rotate. While rotating, the synchronous belt 4502 drives the clamping block 4504 to move synchronously. This causes the clamping block 4504 to move the substrate 4505 along the axis of the X-axis linear pair 4503. This causes the push plate 4508 to press against the folded edge that has been initially folded. After the ear plate is folded, the push plate 4510 moves synchronously with the substrate 4505 along the axis of the X-axis linear pair 4503. This pushes the packaging box, after the folded edge and ear plate are folded, forward along the guide rail 47. After the secondary folding assembly 45 completes the secondary folding of the packaging box, it can return to the outside of the primary folding assembly 43.

[0116] To ensure that the synchronous belts 4502 located on both sides of the base 41 rotate synchronously, the axles of two corresponding synchronous pulleys 4501 in the two sets of synchronous pulleys 4501 can be connected by a connecting shaft. That is, the axles of two synchronous pulleys located at the same end of the X-axis linear pair 4503 in the two sets are connected by a connecting shaft. At the same time, a drive motor 4500 is installed on one side of the base 41, and the output end of the drive motor 4500 is connected to the axle of one of the synchronous pulleys 4501.

[0117] Furthermore, to enable the other two folded edges and the covering surface on the cardboard to be folded, the secondary folding assembly 45 also includes two sets of Z-axis linear pairs 4511 mounted on the base 41. Each set contains two Z-axis linear pairs 4511, which are spaced apart along the width of the base 41. The ZY-axis linear pairs 4506 include a vertically upward-extending slide rail on the base 41 and a slider mounted on the slide rail. When the initial folding of the edges is completed... When the packaging box with the folded ear plate moves to a fixed position along the guide rail 47, the two sets of Z-axis linear pairs 4511 correspond to the folded edges with covering surfaces on the packaging box. At the same time, both sets of Z-axis linear pairs 4511 are located between the two guide rails 47, and the sliders of multiple Z-axis linear pairs 4511 in the same set are equipped with a vertical plate 4512. Through the cooperation between the sliders on the Z-axis linear pairs 4511 and the guide rails, the vertical plate 4512 can move up and down in the vertical direction of the base 41.

[0118] Linear drive element 7 4514 and linear drive element 9 4516 are mounted on opposite surfaces of the two upright plates 4512. Linear drive element 9 4516 is located above linear drive element 7 4514. Linear drive element 7 4514 on the two upright plates 4512 is telescopic relative to each other, and linear drive element 9 4516 on the two upright plates 4512 is telescopic relative to each other. Push plate 3 4515 is mounted on the output end of linear drive element 7 4514, and push plate 4 4517 is mounted on the output end of linear drive element 9 4516.

[0119] Since the packaging box, after initially completing the edge folding and ear plate folding, does not fold over the covering surface and the edge connected to the covering surface when it moves to the fixed position along the guide rail 47, when the upright plate 4512 has not moved upward, the linear drive element 7 4514, push plate 3 4515, linear drive element 9 4516, and push plate 4517 are all located below the edge connected to the covering surface. When the upright plate 4512 drives the linear drive element 7 4514, push plate 3 4515, linear drive element 9 4516, and push plate 4517 to move upward, the covering surface and the edge connected to the covering surface are folded upward by the push of the linear drive element 9 4516 and push plate 4517. When the upright plate 4512 drives the linear drive element 7 4514 and push plate 3 4515... When the linear drive element 9 4516 and the push plate 4517 move upward to the fixed position, the push plate 3 4515 corresponds to the folded edge, and the push plate 4517 corresponds to the folded cover surface. Then, the linear drive element 7 4514 extends and pushes the push plate 3 4515 forward toward the center of the packaging box. The push plate 3 4515 pushes the edge connected to the cover surface to fold vertically upward. Since the other two edges and the ear plate are folded at this time, the two ends of the edge connected to the cover surface abut against the ends of the edge that was folded for the first time and fit against the outside of the folded ear plate. Then, the linear drive element 7 4514 extends and pushes the push plate 4517 forward toward the center of the packaging box. The push plate 4517 pushes the cover surface to flip inside the packaging box.

[0120] In this invention, in order to make the push plate 4517 fold as much as possible by 90 degrees when pushing the cover surface to flip inside the packaging box, that is, to make the push plate 4517 as parallel as possible to the bottom surface when pushing the cover surface to flip inside the packaging box, when setting the push plate 4517, after the upright plate 4512 drives the linear drive element 7 4514, push plate 3 4515, linear drive element 9 4516, and push plate 4517 to move upward to a fixed position, the lower edge of the push plate 4517 is slightly higher than the connection line between the cover surface and the folded edge. Since the lower edge of the push plate 4517 contacts the cover surface when pushing the cover surface to flip, the cover surface is kept as horizontal as possible when pushing the cover surface to flip. In this invention, in order to realize the vertical movement of the upright plate 4512, two linear drive elements 4513 are also installed on the base 41. Both linear drive elements 4513 extend and retract in the vertical direction, and the output ends of the two linear drive elements 4513 are respectively connected to the two upright plates 4512, so that the linear drive elements drive the upright plate 4512 to move vertically on the base 41 while extending and retracting.

[0121] Furthermore, to ensure that the box-pushing mechanism 46 can both fold the cover surface to a horizontal state, so that the cover surface fits against the inside of the folded ear plate, thus folding the cardboard to form a packaging box, and also push the formed packaging box to move at the output end of the guide rail 47, such as... Figure 12 , Figure 13 As shown, the push box mechanism 46 includes two sets of X-axis linear pairs 4603 installed on both sides of the base 41. The two sets of X-axis linear pairs 4603 are located behind the outer side of the two sets of X-axis linear pairs 4503, and the structure of the two sets of X-axis linear pairs 4603 is the same as that of the two sets of X-axis linear pairs 4503. That is, there are two X-axis linear pairs 4603 in the same set. The two X-axis linear pairs 4603 in the same set are arranged at intervals along the width direction of the base 41. The X-axis linear pairs 4603 include a slide rail extending along the axis of the base 41 and a slider installed on the slide rail. The end of the slide rail near the input end of the guide rail 47 is located in the middle of the base 41. To ensure that the sliders of the two X-axis linear pairs 4603 in the same group are jointly mounted with mounting brackets 4605, the mounting brackets 4605 are L-shaped. The horizontal parts of the mounting brackets 4605 are jointly mounted on the sliders of the two X-axis linear pairs 4603 in the same group, and the vertical parts of the mounting brackets 4605 extend vertically upward. A set of Z-axis linear pairs 4606 is also mounted on the inner side of the vertical part of the mounting brackets 4605. There are two Z-axis linear pairs 4606 in the same group. The structure of the Z-axis linear pairs 4606 is the same as that of the Z-axis linear pair 4511, that is, the Z-axis linear pairs 4606... 4606 includes a slide rail mounted on the vertical part of the mounting bracket 4605 and a slider mounted on the slide rail; simultaneously, a fixed frame 4607 is mounted on the sliders of the two sets of Z-axis linear pairs 4606, and a linear drive element 4610 is also mounted on the mounting bracket 4605. The extension and retraction direction of the linear drive element 4610 is consistent with the fixing direction of the fixed frame 4607, and the output end of the linear drive element 4610 is connected to the fixed frame 4607, so that the linear drive element 4610 drives the fixed frame 4607 to rise or fall on the mounting bracket 4605 while extending and retracting. In this invention, the fixed frame 4607 can be a rectangular frame, or it can be composed of two U-shaped frames arranged opposite each other, or it can be composed of two L-shaped frames arranged opposite each other, or it can be composed of a J-shaped frame and an L-shaped frame. The structure of the fixed frame 4607 can be adjusted arbitrarily while ensuring that other components can be installed in all four directions of the fixed frame 4607.

[0122] When the fixed frame 4607 is not moving upward on the mounting bracket 4605, the height of the fixed frame 4607 is higher than the height of the covering surface after one fold. Linear drive element 11 4608 that can extend into the inside of the packaging box is installed on the beams corresponding to the two covering surfaces on the fixed frame 4607. Push plate 5 4609 is installed at the output end of the linear drive element 11 4608. Push plate 5 4609 is L-shaped. The horizontal part of push plate 5 4609 is fixedly installed at the output end of drive element 9, and the vertical part of push plate 5 4609 extends vertically downward. By extending and retracting the linear drive element 11 4608 and moving the fixed frame 4607 up and down, and cooperating with the mounting bracket 4605 moving along the axis of the base 2 41, after the packaging box completes the folding of the cover surface through the secondary folding assembly 45, the fixed frame 4607 can be positioned above the outer perimeter of the packaging box, and the push plate 5 4609 is positioned above the cover surface that has completed one fold. At this time, by moving the fixed frame 4607 downward, the push plate 5 4609 pushes the cover surface that has completed one fold to continue folding downward. When the fixed frame 4607 drives the linear drive element 11 4608 and the push plate 5 4609 downward to the fixed position, the linear drive element 11 4608 retracts, and the linear drive element 11 4608 drives the push plate 5 4609 to move outward of the packaging box. While moving, the push plate 5 4609 pushes the cover surface of the secondary fold to fit against the ear plate, thereby completing the folding of the cover surface.

[0123] In this invention, since the pusher plate 4609 needs to push the covering surface after one fold to perform a second fold, and the fixing frame 4607 also needs to drive the pusher plate 4609 and the linear drive element 11 4608 downwards when the pusher plate 4609 pushes the covering surface to perform a second fold, it is necessary to prevent the fixing frame 4607, the linear drive element 11 4608, and the pusher plate 4609 from interacting with the upright plate 4512, the linear drive element 4507, the pusher plate 1 4508, and the linear drive element 6 4509 in the second folding assembly 45 during their up-and-down movement. When push plate 2 (4510), linear drive element 7 (4514), push plate 3 (4515), linear drive element 9 (4516), and push plate 4 (4517) collide, two beams of the fixed frame 4607 are located outside the upright plate 4512, and the other two beams of the fixed frame 4607 can be provided with notches to avoid linear drive element 5 (4507), push plate 1 (4508), linear drive element 6 (4509), and push plate 2 (4510). When push plate 5 (4609) is laid out, push plate 5 (4609) and push plate 4 (4517) are staggered. That is, when push plate 4517 corresponds to the middle of the covering surface, push plate 5 4609 corresponds to one end of the covering surface. Or, in order to make the secondary folding effect of the covering surface better, two linear drive elements 11 4608 are installed on the fixed frame 4607 and on the beams corresponding to the two covering surfaces on the packaging box. The two linear drive elements 11 4608 correspond to the two ends of the covering surface respectively, so that the covering surface at the output end of the two linear drive elements 11 4608 jointly folds the covering surface twice.

[0124] In this invention, since the two covering surfaces are located inside the folded edges after the second fold, and the covering surfaces are in contact with the ear plates at the same end of the other two folded edges, and the vertical parts of the two push plates 4609 are in contact with the covering surfaces after the second fold, the folded packaging box is restricted in the axial direction of the guide rail 47. At this time, the mounting bracket 4605 moves forward in the slide rail direction of the X-axis linear auxiliary 4603, so that the fixed frame 4607, the linear drive element 11 4608, and the push plate 4609 move forward with the mounting bracket 4605, thereby pushing the folded packaging box forward, so that the folded packaging box is pushed to the output end of the guide rail 47.

[0125] Furthermore, to prevent the packaging box, fixed frame 4607, linear drive element 11 4608, and push plate 5 4609 from shifting along the width direction of the base 2 41 while moving forward with the mounting bracket 4605, linear drive element 11 4608 can also be installed on the other two beams of the fixed frame 4607, and push plate 5 4609 can also be installed at the output end of the linear drive element 11 4608. At this time, the multiple linear drive elements 11 4608 on the fixed frame 4607 operate synchronously, so that when the linear drive elements around the fixed frame 4607 retract, the push plate 5 4609 around the fixed frame 4607 abuts against the four sides of the packaging box, thereby restricting the four sides of the packaging box and preventing the packaging box from shifting in the axial direction and width direction of the base 2 41. This makes the packaging box, fixed frame 4607, linear drive element 11 4608, and push plate 5 4609 more stable and precise when moving forward with the mounting bracket 4605.

[0126] In this invention, to prevent the fixed frame 4607 from colliding with the linear drive element 4507, push plate 4508, linear drive element 4509, and push plate 4510 during its up-and-down movement, and to provide clearances for the fixed frame 4607 at the locations corresponding to these elements, in order to install the linear drive element 11 4608 and push plate 4609 for limiting the displacement of the packaging box in the width direction of the base 2 41, the linear drive element 11 4608 corresponding to both sides of the base 2 41 can be directly installed on the slider of the Z-axis linear pair 4606 located on the same side. Alternatively, the height of the beams on the fixed frame 4607 corresponding to both sides of the base 2 41 can be increased, and then the vertical portion of the push plate 4609 corresponding to both sides of the base 2 41 can be extended. That is, provided that the linear drive element 11 4608 and the push plate 5 4609, which are used to limit the displacement of the packaging box in the width direction of the base 2 41, are installed, the installation position of the linear drive element 11 4608 corresponding to both sides of the base 2 41 can be adjusted according to the actual situation. Of course, when the linear drive element 11 4608 corresponding to both sides of the base 2 41 is directly installed on the fixed frame 4607, and the fixed frame 4607 does not collide with the linear drive element 5 4507, the push plate 1 4508, the linear drive element 6 4509, and the push plate 2 4510 during the up and down movement, it is not necessary to adjust the structure of the fixed frame 4607 and the structure of the push plate 5 4609. Meanwhile, to avoid collisions between the push plates 4609 and 4508 corresponding to both sides of the base 2 41, the arrangement of the push plates 4609 on both sides of the base 2 41 can be staggered from that of the push plate 4508. That is, if the push plate 4508 corresponds to the middle of the folded edge of the first folding assembly 43, then the push plates 4609 on both sides of the base 2 41 correspond to the end of the folded edge of the first folding assembly 43. In this invention, since the push plates 4609 on both sides of the base 2 41 do not participate in the folding of the packaging box, only one push plate 4609 is needed.

[0127] To enable the mounting bracket 4605 to reciprocate along the axis of the base 41, the pusher mechanism 46 further includes two sets of synchronous pulleys 4601 rotatably supported by bearing seats. The two sets of synchronous pulleys 4601 are located on both sides of the base 41, and each set contains two synchronous pulleys 4601. The two synchronous pulleys 4601 in the same set correspond to the two ends of the slide rail in the X-axis linear pair 4603. At the same time, the two synchronous pulleys 4601 in the same set are located between the two X-axis linear pairs 4603 on the same side of the base 41. The synchronous belt 4602 is wound around the two synchronous pulleys 4601 in the same set. A clamping block 4604 is also fixedly installed on the lower surface of the vertical part of the mounting bracket 4605. The extended end of the clamping block 4604 is clamped on the conveying surface of the synchronous belt 4602, and the clamping surface of the clamping block 4604 has teeth that mesh with the synchronous belt 4602. When one of the synchronous pulleys 4601 in the same group rotates, it drives the synchronous belt 4602 to rotate. Simultaneously, the synchronous belt 4602 drives the clamping block 4604 to move synchronously, thereby causing the clamping block 4604 to drive the mounting bracket 4605 to move along the axis of the X-axis linear pair 4603. After the push plate 4609 completes the second folding of the covering surface, the push plate 4609, the linear drive element 11 4608, the fixing frame 4607, and the Z-axis linear pair 4606 move synchronously with the mounting bracket 4605 along the axis of the X-axis linear pair 4603, so that the folded packaging box is pushed forward along the guide rail 47. After the packaging box moves to the output end of the guide rail 47, the push mechanism 46 can return to the middle of the guide rail 47.

[0128] To ensure that the synchronous belts 4602 located on both sides of the base 41 rotate synchronously, the axles of two corresponding synchronous pulleys 4601 in the two sets of synchronous pulleys 4601 can be connected by a connecting shaft. That is, the axles of two synchronous pulleys located at the same end of the X-axis linear pair 4603 in the two sets are connected by a connecting shaft. At the same time, a drive motor 4600 is installed on one side of the base 41, and the output end of the drive motor 4600 is connected to the axle of one of the synchronous pulleys 4601.

[0129] To further prevent the formed packaging box from shifting in the width direction of the machine base 41 during its movement along the guide rail 47, baffles 48 are installed on the outer sides of the output ends of both guide rails 47, making the sides of the output ends of the two guide rails 47 L-shaped. This allows the pushing mechanism 46 to push the folded packaging box from the middle of the machine base 41 to its output end. When the packaging box enters between the baffles 48 on the two guide rails 47, the width direction of the packaging box in the machine base 41 can be restricted by the baffles 48 on the two guide rails 47, making the packaging box more stable as it continues to move forward. At the same time, by setting baffles 48 at the output ends of the two guide rails 47, the stability of the packaging box is better when the clamping mechanism 31 places the cigarette pack held from the product collection station 23 into the packaging box after the packaging box enters the output end of the guide rails 47.

[0130] To ensure that the box-pushing mechanism 46 can smoothly enter between the baffles 48 on the two guide rails 47 during the process of pushing the folded packaging box from the middle of the machine base 41 to the output end of the machine base 41, the end of the baffle 48 furthest from the output end of the guide rail 47 is designated as the input end of the baffle 48, and the end of the baffle 48 closest to the output end of the guide rail 47 is designated as the output end of the baffle 48. The input end of the baffle 48 is folded outward, making the inlet end of the channel formed by the two baffles 48 funnel-shaped, so that the packaging box can smoothly enter between the two baffles 48 when moving along the guide rail 47. At the same time, regarding the selection of the length of the baffle 48, the reference position for the installation of the baffle 48 is the position where the packaging box is folded at the middle of the machine base 41 with the folded edge with the covering surface and the covering surface is folded once. The input end of the baffle 48 is located behind this reference position, and the output end of the baffle 48 is flush with the end face of the guide rail 47. Of course, the length of the baffle 48 can be appropriately shortened if the packaging box will not shift in the width direction of the base 41 when the clamping mechanism 31 clamps the cigarette pack held by the product collection station 23 and puts it into the packaging box.

[0131] To further ensure that the packaging box does not shift in the width direction of the base 41 when the cigarette pack held by the clamping mechanism 31 is placed into the packaging box from the product collection station 23, a positioning structure 49 is also installed on the base 41. When the packaging box is pushed to the output end of the guide rail 47 by the box pushing mechanism 46, the positioning structure 49 fixes the packaging box on the guide rail 47, so that the packaging box is on the guide rail 47 and on the base 41; when the cigarette pack is placed into the packaging box and the packing robot 3 needs to clamp, transfer and palletize the packaging box, the positioning structure 49 can release the fixing of the packaging box, so that the packaging box can be released from the guide rail 47 when subjected to external force.

[0132] Furthermore, the positioning structure 49 includes a linear drive element 12 4900 mounted on the bottom of the base 2 41. The linear drive element 12 4900 can extend and retract in the vertical direction. When the box pushing mechanism 46 pushes the folded packaging box to the output end of the guide rail 47, the linear drive element 12 4900 is located below the center of the packaging box. The output end of the linear drive element 12 4900 is fixed with a mounting bracket 2 4901. Multiple suction cups 2 4902 for suctioning the bottom surface of the packaging box are mounted on the mounting bracket 2 4901. Here, the suction cups 2 4902 are vacuum suction cups. The number of suction cups 2 4902 can be selected arbitrarily as needed, and when multiple suction cups 2 4902 work together to suction the packaging box, the multiple suction cups 2 4902 are symmetrically arranged on the bottom surface of the packaging box. When the pushing mechanism 46 pushes the folded packaging box to the output end of the guide rail 47, the linear drive element 12 4900 extends upward, driving the mounting bracket 2 4901 and suction cup 2 4902 to move upward. When suction cup 2 4902 presses against the packaging box, suction cup 2 4902 is de-aired, and the packaging box is adsorbed onto suction cup 2 4902, fixing the position of the packaging box at the output end of the guide rail 47. This allows the clamping mechanism 31 to hold the cigarette pack held from the product collection station 23 in place. When the cigarette pack is placed into the packaging box, the packaging box is displaced; when the clamping mechanism 31 places the cigarette pack held by the product collection station 23 into the packaging box, after the clamping mechanism 31 clamps the packaging box containing the cigarette pack, it inflates the suction cup 4902, the suction cup 4902 releases its grip on the cardboard, the linear drive element 4900 retracts downward, driving the mounting frame 4901 and the suction cup 4902 to move downward, and the clamping mechanism 31 can transfer and stack the packaging box containing the cigarette pack.

[0133] In this invention, in order to clamp and transfer the cigarette packs and the packaging boxes containing the cigarette packs within the product collection station 23, such as... Figure 14 As shown, the clamping mechanism 31 includes a base 310 mounted on the robotic arm 30. The shape and size of the base 310 are adapted to the shape and size of the inside of the packaging box. Since the shape and size of the inside of the packaging box are adapted to the shape and size of the product collection station 23, the clamping mechanism 31 can directly place all the cigarette packs in the product collection station 23 into the packaging box after clamping them. In this invention, the base 310, the inside of the packaging box, and the product collection station 23 are all rectangular. Rotatable clamping plates 314 are installed around the base 310. Multiple clamping plates 314 work together. When the clamping plates 314 are rotated downwards, the lower edge of the clamping plates 314 is lower than the lower surface of the base 310. When the clamping mechanism 31 needs to clamp the cigarette packs in the product collection station 23, the neatly arranged cigarette packs in the product collection station 23 are located below the base 310. Multiple clamping plates 314 flip downwards together, and multiple clamping plates 314 clamp the neatly arranged cigarette packs in the product collection station 23 together. In conjunction with the movement of the robotic arm 30, the clamped cigarette packs are transferred and boxed.

[0134] In this invention, although the neatly arranged cigarette packs in the product collection station 23 are not connected, and the multiple clamping plates 314 only clamp the cigarette packs located around the product collection station 23 when clamping the neatly arranged cigarette packs in the product collection station 23, the cigarette packs located around the product collection station 23 will be squeezed towards the center when each clamping plate 314 clamps the cigarette packs located around the product collection station 23, so that the cigarette packs located in the product collection station 23 will be squeezed together, and the friction between two adjacent cigarette packs will increase. Thus, during the process of multiple clamping plates 314 jointly clamping and transporting the neatly arranged cigarette packs in the product collection station 23, the neatly arranged cigarette packs will not fall apart.

[0135] Furthermore, to clamp the packaging box containing cigarette packs, the clamping mechanism 31 includes a support plate 317 mounted on one of the clamping plates 314. The extension direction of the support plate 317 is perpendicular to the surface of the clamping plate 314, allowing the support plate 317 to extend downwards from the base 310 after the clamping plate 314 is flipped downwards on the base 310. The support plate 317 can also exit below the base plate 4505 from the clamping plate 314. When the cigarette pack held by the clamping mechanism 31 is placed into the packaging box, the support plate 317 extends downwards from the base 310 from the clamping plate 314, inserting itself under the packaging box. The support plate 317 lifts the packaging box, and together with the multiple clamping plates 314 clamping the cigarette packs, the packaging box containing the cigarette packs is clamped. This, combined with the movement of the robotic arm 30, allows for the transfer and stacking of the packaging box containing the cigarette packs.

[0136] To facilitate the installation of the clamping plate 314, side plates 311 are installed on each side of the base 310. The lower edge of the side plate 311 does not extend beyond the lower surface of the base 310. A drive shaft 312, which is rotatably supported by a bearing seat, is also installed on the side plate 311. The length direction of the drive shaft 312 is consistent with the length direction of the clamping plate 314. Multiple connecting arms 313 are also installed on the drive shaft 312. The clamping plate 314 is installed on the extension ends of the multiple connecting arms 313 on the same drive shaft 312. This not only makes the flipping of the clamping plate 314 more stable, but also makes the force on both ends of the clamping plate 314 more balanced when clamping the cigarette pack, making the clamping plate 314 clamp the cigarette pack more secure.

[0137] To ensure the installation of the pallet 317, a mounting bracket 315 is also installed on one of the drive shafts 312. The mounting bracket 315 is L-shaped and a linear drive element thirteen 316 is installed on the mounting bracket 315. The extension and retraction direction of the linear drive element thirteen 316 is consistent with the movement direction of the pallet 317, and the pallet 317 is fixedly installed on the output end of the linear drive element thirteen 316, so that the linear drive element thirteen 316 can drive the pallet 317 to move forward or backward synchronously when it extends or retracts.

[0138] In this invention, the mounting bracket 315 can also be fixed to the back of the rotating shaft 221 and the clamping plate 314 at the same time. In order to keep the packaging box stable on the tray 317 when the tray 317 is lifted, the central axis of the tray 317 is on the same straight line as the central axis of the base plate 4505.

[0139] To drive the flipping of the clamping plate 314, a rotary drive element 318 is installed on each side plate 311, and the output end of the rotary drive element 318 is connected to the transmission shaft 312, so that when the rotary drive element 318 rotates, it can drive the transmission shaft 312 to rotate synchronously, thereby driving the clamping plate 314 to flip through the connecting arm 313. In this invention, the rotary drive element 318 is a rotary cylinder, which not only has sufficient power and a good clamping effect on the cigarette pack, but is also easy to control. Of course, when meeting the clamping requirements of the clamping plate 314 for the cigarette pack, the rotary drive element 318 can also be a stepper motor.

[0140] In this invention, the linear drive elements 210 to 316 are all one of cylinders, hydraulic rods, and electronic telescopic rods, and the specific selection of linear drive elements 210 to 316 can be determined according to the actual situation. In this invention, in order to make the push box plate 211, mounting bracket 4401 and mounting bracket 4901 move more smoothly, two guide rods arranged in opposite directions can be installed on the push box plate 211, mounting bracket 4401 and mounting bracket 4901, and sliding sleeves that slide with the guide rods are installed on the base 24 and base 41.

[0141] When cigarette packs from the product conveyor 1 on the cigarette pack production line need to be boxed, as the cigarette packs are delivered from the product conveyor 1 and stand upright on the worktable 20, the box-pushing motor 101 rotates. During the rotation of the box-pushing motor 101, the box-pushing block 104 is driven by the connecting rod 103, causing the box-pushing block 104 to move forward or backward within the through hole 100. When the box-pushing block 104 moves forward, it pushes the cigarette packs standing upright on the worktable 20 forward, causing them to move in front of the box-pushing plate 211. When the box-pushing block 104 moves backward, because the cigarette packs at the output end of the product conveyor 1 are pushed forward and the output end of the product conveyor 1 is no longer blocked by the box-pushing block 104, the next cigarette pack on the product conveyor 1 automatically enters the output end of the product conveyor 1 and stands upright on the worktable 20. This process is repeated, so that the cigarette packs delivered by the product conveyor 1 are pushed sequentially in front of the box-pushing plate 211.

[0142] When the cigarette packs, which are upright on the side of the workbench 20, are neatly placed in front of the pusher plate 211, the linear drive element 210 extends and drives the pusher plate 211 forward. As the pusher plate 211 moves forward, it pushes the cigarette packs in front of it forward. The neatly arranged cigarette packs in front of the pusher plate 211 enter the receiving groove 225, and the moving plate 224 lifts the cigarette packs that have entered the receiving groove 225. Then, the linear drive element 210 retracts and drives the pusher plate 211 backward, so that the pusher plate 211 is reset. During this process, the linear drive element 228 extends and drives the rotating shaft 221 to rotate 90 degrees toward the product collection station 23 through the bent arm 229. At the same time, the rotating shaft 221 drives the fixed plate 222, the moving plate 224, the linear drive element 226, and the linear auxiliary element 223 to rotate synchronously, so that the fixed plate 222 and the product collection station 23 rotate together. 3. With the movable plate 224 in a vertical position, the cigarette pack is supported by the fixed plate 222 and stands upright on the fixed plate 222. Then, the second linear drive element 226 retracts and drives the movable plate 224 to move towards the extension end of the fixed plate 222. While moving, the movable plate 224 pushes the cigarette pack on the fixed plate 222 into the product collection station 23. After the cigarette pack on the fixed plate 222 enters the product collection station 23, the second linear drive element 226 extends and drives the movable plate 224 to reset. The third linear drive element 228 retracts and drives the rotating shaft 221 to rotate 90 degrees through the bent arm 229. While the rotating shaft 221 rotates, it drives the fixed plate 222, the movable plate 224, the second linear drive element 226, and the second linear drive element 223 to rotate synchronously, so that the movable plate 224 docks with the worktable 20 and the receiving slot 225 corresponds to the pushing mechanism 21. This process is repeated until the vertically arranged cigarette packs are neatly arranged in the product collection station 23 and fill the product collection station 23.

[0143] During the process of cigarette packs being conveyed from the product conveying device 1 into the product collection station 23 on the cigarette pack production line, the cardboard folding device 4 simultaneously folds the cardboard. Specifically, the operator places the cardboard for folding the packaging boxes into the cardboard storage bin 42 in a stacked manner. The linear drive element 4400 extends and drives the mounting frame 4401 and suction cup 4402 to move upwards synchronously. When the suction cup 4402 presses against the cardboard in the cardboard storage bin 42, the suction cup 4402 is de-aired, and the cardboard is adsorbed onto the suction cup 4402. Then, the linear drive element 4400 retracts and drives the mounting frame 4401, suction cup 4402, and the adsorbed cardboard to move downwards. Because the folded edges with ear plates on the cardboard are blocked by the folding part 4301 at the upper end of the support plate 4300, the bottom surface of the cardboard only moves downward when the cardboard moves downward. The two folded edges with ear plates on the cardboard are blocked by the folding part 4301 at the upper end of the support plate 4300 and fold upward. When the bottom surface of the cardboard enters the lower end of the two support plates 4300, the two folded edges with ear plates are completely folded. When the bottom surface of the cardboard abuts against the guide rail 47, air is injected into the suction cup 4402. The suction cup 4402 releases its grip on the cardboard, and the cardboard completes its first fold. The linear drive element 4400 continues to retract and drives the mounting bracket 4401 and the suction cup 4402 to move downward.

[0144] During the initial folding of the cardboard, drive motor 4500 rotates forward, driving one of the pulleys to rotate. This pulley, via synchronous belt 4502 and connecting shaft, drives the other pulleys to rotate synchronously. This causes the conveying surfaces of the two synchronous belts 4502 to simultaneously rotate towards the input end of guide rail 47. As the two synchronous belts 4502 rotate, they engage with two clamping blocks 4504, causing the substrate 4505, Y-axis linear pair 4506, linear drive element 4507, push plate 4508, linear drive element 4509, and push plate 4510 to move synchronously towards the input end of guide rail 47. When push plate 4508 is located on the outer side of the folded edge after one fold,… At this time, drive motor 4500 stops rotating, linear drive element 4507 extends and drives push plate 4508 to press against and complete the folding of the ear plate; then, linear drive element 4509 extends and drives push plate 4510 to move forward, and push plate 4510 pushes the ear plate to fold; drive motor 4500 reverses, the conveying surfaces of the two synchronous belts 4502 simultaneously rotate to the output end of guide rail 47, and drive base plate 4505, Y-axis linear pair 4506, linear drive element 4507, push plate 4508, linear drive element 4509, push plate 4510, and the packaging box after the ear plate is folded to move synchronously to the output end of guide rail 47; when the two folded edges with the covering surface on the packaging box respectively When positioned above the two linear drive elements 4516, the drive motor 4500 stops reversing, and the two linear drive elements 4513 extend synchronously, pushing the two upright plates 4512 upwards respectively. Simultaneously, the upward movement of the upright plates 4512 drives the linear drive elements 4514, 4515, 4516, and 4517 upwards. As the linear drive elements 4514, 4515, 4516, and 4517 move upwards with the upright plates 4512, the folded edge of the surface to be covered is pushed upwards by the push plate 4517 and the linear drive element 4516. When the linear drive element 4513 extends to a fixed position, the push plate 4513... 515 corresponds to the folded edge, and push plate four 4517 corresponds to the folded cover surface; then, the linear drive element seven 4514 extends and pushes push plate three 4515 forward toward the center of the packaging box. Push plate three 4515 pushes the edge connected to the cover surface to fold vertically upward. Since the other two edges and the ear plate are folded at this time, after the edge connected to the cover surface is folded, the two ends of the edge are brought together with the ends of the edge that was folded in the first fold and are attached to the outside of the folded ear plate; then, the linear drive element nine 4516 extends and pushes push plate four 4517 forward toward the center of the packaging box. Push plate four 4517 pushes the cover surface to flip inside the packaging box, so that the cover surface on the cardboard is parallel to the bottom surface on the cardboard, and the cardboard completes the second fold.

[0145] Next, drive motor 4600 rotates forward, driving one of the pulleys to rotate. This pulley rotates, and through synchronous belt 4602 and the connecting shaft, it drives the other pulleys to rotate synchronously. This causes the conveying surfaces of the two synchronous belts 4602 to simultaneously move towards the input end of the guide rail 47. When the two synchronous belts 4602 rotate, they engage with the two clamping blocks 4604 respectively, causing the mounting bracket 4605, Z-axis linear pair 4606, fixing frame 4607, linear drive element 10 4610, linear drive element 11 4608, and push plate 5 4609 to move synchronously towards the input end of the guide rail 47. When the fixing frame 4607 is positioned above the cardboard after the second fold, drive motor 45... 00 stops rotating, linear drive element 11 4608 extends and drives push plate 5 4609 forward, so that push plate 5 4609 is above the bottom surface of the cardboard after the second fold; linear drive element 10 4610 retracts and drives fixed frame 4607, linear drive element 11 4608 and push plate 5 4609 to move downward in sync. As push plate 5 4609 moves downward, it pushes the covering surface to fold downward. When push plate 5 4609 contacts the bottom surface of the cardboard, linear drive element 10 4610 stops retracting, linear drive element 11 4608 retracts and drives push plate 5 4609 backward. As push plate 5 4609 moves backward, it pushes the covering surface to continue folding, so that the covering surface fits against the inside of the folded ear plate. The cardboard is folded to form a packaging box.

[0146] Linear drive element 7 4514 retracts, causing pusher plate 3 4515 to move backward; linear drive element 9 4516 retracts, causing pusher plate 4517 to move backward; two linear drive elements 8 4513 retract synchronously, causing each vertical plate 4512 to move downward; the downward movement of the two vertical plates 4512 simultaneously causes linear drive elements 7 4514, pusher plate 3 4515, linear drive element 9 4516, and pusher plate 4517 to move upward; drive motor 1 4500 rotates forward, and the conveying surfaces of the two synchronous belts 1 4502 simultaneously move upward. The input end of guide rail 47 rotates, driving the substrate 4505, Y-axis linear pair 4506, linear drive element 4507, push plate 4508, linear drive element 4509, and push plate 4510 to move synchronously to the input end of guide rail 47. When push plate 4508 is located outside the folded edge that has completed one fold, drive motor 4500 stops rotating, and linear drive element 4507 extends to press push plate 4508 against the next folded edge that has completed its first fold. At the same time, drive motor 4600 reverses, and the two move synchronously. The conveyor surface of belt 4602 simultaneously rotates at the output end of guide rail 47, driving the mounting bracket 4605, Z-axis linear pair 4606, fixed frame 4607, linear drive element 10 4610, linear drive element 11 4608, push plate 5 4609, and the folded packaging box to move synchronously at the output end of guide rail 47. As the packaging box advances at the output end of guide rail 47, it enters between the two stop bars 48. When the packaging box is above suction cup 4902, linear drive element 12 4900 extends and drives the mounting bracket 4605. 4901 and suction cup 2 4902 move upwards synchronously. When suction cup 2 4902 presses against the packaging box, suction cup 2 4902 is de-aired, and the packaging box is adsorbed onto suction cup 2 4902. Linear drive element 11 4608 extends and drives push plate 5 4609 to move forward, causing push plate 5 4609 to lose its pressure on the covering surface. Linear drive element 10 4610 extends and drives the fixing frame 4607, linear drive element 11 4608, and push plate 5 4609 to move upwards synchronously. As push plate 5 4609 moves upwards, it exits the packaging box.

[0147] Drive motor 4600 rotates forward, and the conveying surfaces of the two synchronous belts 4602 simultaneously rotate towards the input end of guide rail 47, driving the mounting bracket 4605, Z-axis linear pair 4606, fixed frame 4607, linear drive element 10 4610, linear drive element 11 4608, and push plate 5 4609 to move synchronously towards the input end of guide rail 47. When the fixed frame 4607 is above the cardboard that has completed the second fold, drive motor 4600 stops rotating. The linear drive element 10 4610, linear drive element 11 4608, and push plate 5 4609 are then prepared to perform a second folding of the covering surface of the next cardboard that has completed the second fold and to push the formed packaging box. During this process, the robotic arm 30 drives the clamping mechanism 31 to move above the product collection station 23. After contacting the cigarette packs in the product collection station 23 on the lower surface of the base 310, the four rotary drive elements 318 drive the four transmission shafts 312 to rotate. While the four transmission shafts 312 rotate, they drive the four clamping plates 314 to flip downwards through the connecting arm 313. The four clamping plates 314 work together to clamp the cigarette packs that fill the product collection station 23. Then, the robotic arm 30 drives the clamping mechanism 31 holding the cigarette packs to rotate, and inserts the cigarette packs held by the multiple clamping plates 314 on the clamping mechanism 31 into the packaging box located at the output end of the guide rail 47. Then, the linear drive element 31... 6. Extend and drive the tray 317 to insert under the packaging box, so that the packaging box containing the cigarette pack is clamped by the clamping mechanism 31; inflate the suction cup 4902, the suction cup 4902 releases its grip on the packaging box, the linear drive element 12 4900 retracts and drives the mounting bracket 4901 and the suction cup 4902 to move downwards synchronously; finally, the robotic arm 30 drives the clamping mechanism 31 to transfer and stack the packaging box containing the cigarette pack. After the packaging box containing the cigarette pack is stacked, the linear drive element 13 316 retracts and drives the tray 317 to exit under the packaging box, and the four rotary drive elements 318 drive the four transmission shafts 312 to reverse, so that the four clamps 314 release their grip on the cigarette pack inside the packaging box.

[0148] Those skilled in the art should understand that the above embodiments are merely for illustrating the present invention and are not intended to limit the scope of the invention. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A cigarette pack palletizing apparatus characterized by comprising: The packaging box folding device (4) is used for folding and forming the packaging box. The product collecting and arranging device (2) is connected with the output end of the product conveying device (1), and the product collecting and arranging device (2) is provided with a product collecting station (23) and a pushing mechanism (21) for pushing the cigarette box sent out by the product conveying device (1) into the product collecting station (23). The boxing robot (3) comprises a mechanical arm (30) and a clamping mechanism (31), the clamping mechanism (31) is installed at the output end of the mechanical arm (30), the clamping mechanism (31) clamps the cigarette packet collected by the product collecting station (23) and the packaging box of the completed cigarette packet, and cooperates with the mechanical arm (30) to stack the packaging box of the completed cigarette packet. The product collecting and arranging device (2) comprises a base (24), the base (24) is provided with a workbench (20), the product collecting station (23) and the pushing mechanism (21) are installed on the workbench (20), the feeding side of the product collecting station (23) is open, the output end of the pushing mechanism (21) corresponds to the feeding side of the product collecting station (23), and the output end of the product conveying device (1) is located on one side of the pushing mechanism (21); preferably, the output end of the product conveying device (1) is perpendicular to the workbench (20), and the output end of the product conveying device (1) is further provided with a box pushing mechanism (10) for pushing the product to the front of the pushing mechanism (21); preferably, the box pushing mechanism (10) comprises a through hole (100) formed in the conveying surface of the product conveying device (1), the through hole (100) is provided with a box pushing block (104) which can move forward and backward to the front of the pushing mechanism (21), and the output end of the product conveying device (1) is further provided with a driving structure for driving the box pushing block (104); preferably, the product conveying device (1) is further provided with a linear pair (102) which extends in the same direction as the movement direction of the box pushing block (104), the box pushing block (104) is fixedly installed at the output end of the linear pair (102), and the driving structure comprises a box pushing motor (101) installed on the back of the product conveying device (1), the output end of the box pushing motor (101) is eccentrically connected with a connecting rod (103), and the extension end of the connecting rod (103) is connected with the box pushing block (104).

2. The cigarette pack palletizing apparatus according to claim 1, characterized by ​ 3. A pack of tobacco packets stacking apparatus according to claim 1 or 2, wherein, The pushing mechanism (21) includes a linear drive element (210) supported on the workbench (20) by a support, and a pusher plate (211) is also installed at the output end of the linear drive element (210); preferably, the workbench (20) is also provided with an installation port (220), which is located between the pushing mechanism (21) and the feeding side of the product collection station (23), and a flipping mechanism (22) is also installed in the installation port (220); the flipping mechanism (22) has a receiving slot (225) that can accommodate a set of cigarette boxes, and the opening of the receiving slot (225) before the flipping mechanism (22) flips corresponds to the pushing mechanism (21). 2) After flipping, the opening of the receiving groove (225) corresponds to the feeding side of the product collection station (23), and the flipping mechanism (22) also has a pushing structure that pushes a group of cigarette boxes in the receiving groove (225) into the product collection station (23); preferably, the flipping mechanism (22) also includes a rotating shaft (221) rotatably mounted on the base (24), and a fixed plate (222) extending along its diameter direction is mounted on the rotating shaft (221), and the pushing structure includes a moving plate (224) that can reciprocate along its extension direction on the fixed plate (222), and the inner side of the moving plate (224) and the inner side of the fixed plate (222) cooperate to form the receiving groove (225).

4. The cigarette pack palletizing apparatus according to claim 3, characterized by The pushing structure includes two linear couplings (223) mounted on a fixed plate (222) and extending along its extension direction. A movable plate (224) is mounted on the output ends of the two linear couplings (223). A linear drive element (226) is also mounted on the fixed plate (222), and the output end of the linear drive element (226) is connected to the output end of the movable plate (224) or the linear coupling (223). Preferably, two linear drive elements (228) are also hinged on the worktable (20). The output end of the linear drive element (228) is hinged to a bent arm (229), and the extension ends of the two bent arms (229) are respectively connected to the two ends of the rotating shaft (221). The fixed plate (222) is U-shaped, and two linear auxiliary pins (223) are respectively installed on both sides of the fixed plate (222). There are two linear drive elements (226), and the two linear drive elements (226) are respectively installed on both sides of the back of the fixed plate (222). The output end of the linear drive element (226) is connected to the output end of the linear auxiliary pin (223) located on the same side by a connecting plate (227). Preferably, the product collection station (23) includes three limiting plates (230) fixed on the workbench (20). The three limiting plates (230) are arranged in a U-shape, and the height of the limiting plates (230) is less than half the height of the product.

5. The cigarette pack palletizing apparatus of claim 1 wherein, The folding device (4) includes a base (41), on which a cardboard storage bin (42) for placing cardboard is installed, a primary folding assembly (43) located below the cardboard storage bin (42), and a lifting robot (44) for extracting cardboard from the cardboard storage bin (42) and folding it onto the primary folding assembly (43); the base (41) is also equipped with a guide rail (47) for lifting the cardboard during the folding and conveying process, a secondary folding assembly (45) for conveying and folding the packaging box folded by the primary folding assembly (43), and a box pushing mechanism (46) for conveying the packaging box that has completed the secondary folding forward along the guide rail (47).

6. The cigarette pack palletizing apparatus of claim 5 wherein, The cardboard storage compartment (42) includes multiple limiting strips (4200) installed on the base two (41). The multiple limiting strips (4200) are divided into four groups, and the four groups of limiting strips (4200) are arranged in a rectangular pattern. Preferably, the first folding assembly (43) includes two support plates (4300) installed on the base two (41) in a symmetrical arrangement. The upper ends of the two support plates (4300) each have a folding part (4301) for supporting the folded edges of the cardboard. The distance between the lower ends of the two support plates (4300) is adapted to the width of the cardboard after initial folding, and the lower ends of the inner sides of the two support plates (4300) are flush with the outer edges of the two guide rails (47). Preferably, there is a certain distance between the lower ends of the support plates (4300) and the upper surfaces of the guide rails (47). The push plate one (4508) is located in the height direction of the base two (41) between the lower ends of the support plates (4300) and the upper surfaces of the guide rails (47). Preferably, the lifting manipulator (44) includes a vertically extendable linear drive element four (4400) mounted on the base two (41), and the output end of the linear drive element four (4400) is equipped with a mounting frame one (4401), and the mounting frame one (4401) is equipped with a plurality of suction cups one (4402) for picking up cardboard; preferably, the secondary folding assembly (45) includes suction cups one (4402) mounted on both sides of the base two (41) along its axis. An X-axis linear pair 1 (4503) extends to the center. A base plate (4505) is mounted on each of the two X-axis linear pairs 1 (4503). A Y-axis linear pair (4506) is mounted on the base plate (4505). A push plate 1 (4508) is mounted on the Y-axis linear pair (4506) to push the folded edge of the first folding component (43). A linear drive element 5 (4507) to push the push plate 1 (4508) is also mounted on the base 2 (41).

7. The cigarette pack palletizing apparatus of claim 5 wherein, The output end of the Y-axis linear pair (4506) on the substrate (4505) is also equipped with a linear drive element six (4509) that extends and retracts to one side of the substrate (4505). The output ends of the two linear drive elements six (4509) are also equipped with push plates two (4510) that push the ear plates at both ends of the folding edge. Preferably, the secondary folding assembly (45) also includes two sets of synchronous pulleys one (4501) rotatably supported on the base two (41). The two synchronous pulleys one (4501) in the same set are respectively connected to the X-axis. The two ends of the linear pair (4503) correspond to each other, and the two synchronous pulleys (4501) in the same group are wound with a synchronous belt (4502), and a clamping block (4504) clamped on the synchronous belt (4502) is installed on the base plate (4505); preferably, the two groups of synchronous pulleys (4501) are connected in a transmission, and a drive motor (4500) is also installed on the base (41), and the output end of the drive motor (4500) is connected in a transmission to one of the synchronous pulleys (4501).

8. The cigarette pack palletizing apparatus of claim 7 wherein, The secondary folding assembly (45) also includes two sets of Z-axis linear pairs (4511) mounted on the base (41). Both sets of Z-axis linear pairs (4511) are located between two guide rails (47). A vertical plate (4512) is mounted on multiple Z-axis linear pairs (4511) in the same set. A linear drive element (4514) that is relatively telescopic is mounted on the two vertical plates (4512). A push plate (4515) that pushes and folds the other two sides of the cardboard is mounted on the output end of the linear drive element (4514). A linear drive element (8) (4513) that drives the vertical plate (4512) to move up and down is also mounted on the base (41). Preferably, a linear drive element (9) (4516) that is relatively telescopic is also mounted on the top of the two vertical plates (4512). A push plate (4517) that pushes and folds the covering surface on the cardboard is mounted on the output end of the linear drive element (9) (4516).

9. The cigarette pack palletizing apparatus of claim 5 wherein, The box-pushing mechanism (46) includes two X-axis linear pairs (4603) installed on both sides of the base (41) and extending along their axial direction. Each X-axis linear pair (4603) is equipped with a mounting bracket (4605). Each mounting bracket (4605) is equipped with a Z-axis linear pair (4606), and both Z-axis linear pairs (4606) are equipped with a fixed frame (4607). The mounting bracket (4605) is also equipped with a linear drive element (4610) that drives the fixed frame (4607) to move up and down. Linear drive elements (4608) are installed on two beams extending in the same width direction as the base (41) or around the fixed frame (4607). The output end of each linear drive element (4608) is equipped with a push plate (4609) that presses down the folded covering surface. Preferably, the... The box-pushing mechanism (46) also includes two sets of synchronous pulleys (4601) rotatably supported on the base (41). The two synchronous pulleys (4601) in the same set correspond to the two ends of the X-axis linear pair (4603) respectively. The two synchronous pulleys (4601) in the same set are wound with a synchronous belt (4602). The mounting bracket (4605) is equipped with a clamping block (4604) clamped on the synchronous belt (4602). Preferably, the two sets of synchronous pulleys (4601) are connected in a transmission. The base (41) is also equipped with a drive motor (4600). The output end of the drive motor (4600) is connected in a transmission to one of the synchronous pulleys (4601). Preferably, the outer side of the output end of the guide rail (47) is also equipped with a stop bar (48) to limit the packaging box pushed by the box-pushing mechanism (46). The input end of the stop bar (48) is bent outward.

10. The cigarette pack palletizing apparatus of claim 9, wherein The base (41) is also equipped with a positioning structure (49) that can fix the packaging box to the output end of the guide rail (47); preferably, the positioning structure (49) includes a vertically extendable linear drive element twelve (4900) on the base (41), the linear drive element twelve (4900) is located between the two guide rails (47), and the output end of the linear drive element twelve (4900) is equipped with a mounting bracket two (4901), and the mounting bracket two (4901) is equipped with a plurality of suction cups two (4902) for picking up the packaging box; preferably, the clamping mechanism (31) includes a base (310) installed at the output end of the robotic arm (30), the shape of the base (310) is adapted to the inside of the packaging box, and the base (310) is equipped with a flip-up clamping plate (314) on all four sides; one of the clamping plates (314) The base (310) is also equipped with a support plate (317) that can extend into or retract from the base (310); preferably, the base (310) is equipped with side plates (311) on all four sides, the side plates (311) support a rotatable drive shaft (312), the drive shaft (312) is equipped with multiple connecting arms (313), and the clamping plate (314) is installed on the connecting arms (313); preferably, one of the drive shafts (312) is also equipped with a mounting bracket (315), the mounting bracket (315) is equipped with a linear drive element thirteen (316), and the support plate (317) is installed at the output end of the linear drive element thirteen (316); preferably, the side plate (311) is also equipped with a rotary drive element (318) that drives the drive shaft (312) to rotate; preferably, the rotary drive element (318) is a rotary cylinder.

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