Cigarette packing machine box label paper automatic feeding system

Abstract

The utility model relates to the technical field of cigarette production, in particular to an automatic feeding system for cigarette packaging machine box label paper. Comprising a machine vision system, a collaborative robot, an automatic cutting machine and a control system. The machine vision system is used for shooting and identifying an image of the label paper stack, determining the position and the shape of the label paper stack and sending image information to the control system; the control system is used for receiving the image information sent by the machine vision system and the demand information sent by the automatic cutting machine and sending an action instruction to the collaborative robot; the collaborative robot is used for receiving the action instruction, grabbing the box stacking label paper on the label paper stack and placing the box stacking label paper on the automatic cutting machine; and the automatic cutting machine is used for receiving the box folding label paper, removing the outer kraft paper package of the box folding label paper and outputting the label paper. And the automation level of the cigarette packaging machine is improved, manual participation in the process of carrying and feeding the box stacking label paper is reduced, and therefore the labor intensity of operators is relieved.

Description

Technical Field

[0001] The utility model relates to the technical field of cigarette production, in particular to an automatic feeding system for cigarette packaging machine box label paper. Background Art

[0002] At present, in cigarette production, most cigarette packaging machines are not equipped with auxiliary devices for automatic loading of label paper. The label paper used by cigarette packaging machines is generally stacked in 500 sheets. In order to facilitate transportation, a circle of kraft paper is also tied around the outer edge of each stack of label paper. Label paper suppliers generally stack batches of stacked label paper on a pallet according to certain rules. At present, the work of taking the stacked label paper from the pallet to the loading port of the cigarette packaging machine and removing the kraft paper used for bundling is mainly done manually, which is labor-intensive, time-consuming and labor-intensive, affecting the production efficiency of the packaging machine. The loading of cigarette stacked label paper is still done manually, and the outer layer of packaging paper is cut and removed manually. The staff must complete the front-end production and take into account the back-end auxiliary material allocation. This traditional manual loading method requires a lot of manpower and is inefficient, and cannot meet the needs of industrial automated production. Utility Model Content

[0003] The utility model aims to provide an automatic feeding system for trademark paper of a cigarette packaging machine box, so as to solve the problem that the trademark paper cannot be automatically fed continuously and stably in the prior art.

[0004] To achieve the above purpose, the following technical solution is adopted.

[0005] An automatic feeding system for cigarette packaging machine box label paper, comprising: a machine vision system, a collaborative robot, an automatic cutting machine and a control system;

[0006] The machine vision system is used to capture and identify the image of the trademark paper stack, determine the position and shape of the trademark paper stack, and send the image information to the control system;

[0007] A control system, used for receiving the image information sent by the machine vision system and the demand information sent by the automatic cutting machine, and issuing action instructions to the collaborative robot;

[0008] The collaborative robot is used to receive action instructions, grab the stacked box label paper on the label paper stack and place it on the automatic cutting machine;

[0009] The automatic cutting machine is used to receive the stacked box label paper, remove the outer kraft paper packaging of the stacked box label paper, and output the label paper.

[0010] Optionally, the machine vision system includes:

[0011] 3D camera for capturing images of the label stack;

[0012] The depalletizing recognition algorithm software is used to process the images captured by the 3D camera and determine the position and shape of the trademark paper stack.

[0013] Optionally, the collaborative robot includes:

[0014] Robot control box, robotic arm and robot gripper assembly;

[0015] The robot control box is used to receive action instructions, control the movement of the robot arm and the grasping and releasing action of the robot gripper assembly;

[0016] The mechanical arm is connected to the robot gripper assembly, and the mechanical arm is used to drive the robot gripper assembly to move;

[0017] The robot gripper assembly includes a plurality of vacuum suction cups, which are used to grasp and place stacked box label papers according to the control of the robot control box.

[0018] Optionally, the automatic cutting machine comprises: a frame, a cutting assembly, a bag transfer assembly, a paper rolling assembly, a feeding conveying assembly, and a discharging conveying assembly;

[0019] The feeding and conveying assembly is arranged at the input end of the frame, and is used to receive the stacked box label paper placed by the collaborative robot and convey it to the cutting assembly;

[0020] The cutting assembly is arranged on the frame, and is used to receive the stacked box label paper conveyed by the feeding and conveying assembly, and cut the kraft paper of the stacked box label paper;

[0021] The paper roll assembly is arranged on one side of the cutting assembly and is used to extract the kraft paper cut from the stacked box label paper to obtain the label paper;

[0022] The bag transfer assembly is arranged on the frame and is used to transfer the trademark paper from the cutting assembly to the discharging conveying assembly;

[0023] The discharging conveying assembly is arranged downstream of the frame and is used for outputting the trademark paper.

[0024] Optionally, the cutting component includes:

[0025] A pressure drive device for applying pressure to the stacked box label paper to facilitate cutting;

[0026] A cutting execution device, which cooperates with the pressure driving device to execute the cutting action of the stacked box label paper;

[0027] A cutting tool, mounted on the cutting execution device, for actually cutting off the kraft paper of the stacked box label paper;

[0028] a cutting tool drive device for controlling the movement of the cutting tool to perform a cutting or retracting action;

[0029] At least one suction device is used to suck the edge of the stacked box label paper to form a protrusion on the kraft paper for easy cutting.

[0030] Optionally, the control system includes:

[0031] A controller, used to control the motion instructions of the collaborative robot;

[0032] A host computer is electrically connected to the controller and is used for human-machine interface information interaction.

[0033] Optionally, it also includes a buffer platform, which is used to buffer stacked boxes of trademark paper to avoid the risk of material shortage when replacing the tray of the trademark paper stack.

[0034] Optionally, the system also includes a safety laser scanner for monitoring external intrusion and ensuring the safety of humans and machines.

[0035] Optionally, the robot gripper assembly further includes a pressure sensor, a vacuum suction cup bracket, a vacuum suction cup mounting plate, a vacuum filter and a container-type quick-change pipe joint;

[0036] The top of the vacuum suction cup is connected to the vacuum filter, and the vacuum suction cup is connected to the vacuum suction cup mounting plate through the vacuum suction cup bracket. The vacuum suction cup is divided into two groups, which are respectively arranged on both sides of the vacuum suction cup mounting plate. The pressure sensor is arranged on the vacuum suction cup mounting plate to monitor the suction pressure of the vacuum suction cup. The assembled quick-change pipe joint is installed on the vacuum suction cup mounting plate to connect the pipeline system related to the vacuum suction cup.

[0037] Optionally, a spacer board placement position is also included for placing the spacer board.

[0038] Compared with the prior art, the utility model has the following beneficial effects:

[0039] 1. This application realizes the fully automated processing of stacked box trademark paper from identification, transportation to cutting by integrating machine vision systems, collaborative robots, automatic cutting machines and intelligent control systems, which greatly improves the automation level of cigarette packaging machines, reduces manual participation in the process of stacked box trademark paper transportation and loading, and thus reduces the labor intensity of operators.

[0040] 2. The automated loading and cutting process of this application reduces the time delay of manual operation, speeds up the production rhythm, and improves the overall production efficiency.

[0041] 3. The collaborative work of the 3D camera and the destacking recognition algorithm software of this application ensures that the collaborative robot can pick up materials according to the precise position of the stacked box trademark paper, thereby improving the accuracy and reliability of material picking.

[0042] 4. The safety laser scanner equipped in the system of this application enables the collaborative robot to automatically complete the movement process from high-speed operation to low-speed operation, low-speed operation to pause operation and recovery within a limited area through a custom-set working range, thereby maximizing the safety of humans and machines. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The utility model is a schematic diagram of the overall structure of an automatic feeding system for cigarette packaging machine box label paper embodiment of the equipment.

[0044] Figure 2 The utility model is a schematic diagram of the trademark paper stack structure of an automatic feeding system for trademark paper in a cigarette packaging machine box.

[0045] Figure 3 The utility model is a schematic diagram of stacking box trademark paper in an automatic feeding system for cigarette packaging machine box trademark paper embodiment.

[0046] Figure 4 The utility model is a schematic diagram of the structure of a robot gripper assembly of an automatic feeding system for cigarette packaging machine box trademark paper.

[0047] Figure 5 This is a schematic diagram of the grasping state of a collaborative robot in an embodiment of an automatic feeding system for cigarette packaging machine box trademark paper of the utility model.

[0048] Figure 6 This is a schematic diagram of the state of a collaborative robot placing an interlayer board in an embodiment of an automatic feeding system for trademark paper of a cigarette packaging machine according to the utility model.

[0049] Figure 7 The utility model is a system control logic diagram of an automatic feeding system for cigarette packaging machine box label paper embodiment.

[0050] Figure 8 The utility model is a schematic diagram of the structure of an automatic cutting machine of an automatic feeding system for cigarette packaging machine box trademark paper embodiment.

[0051] Fig. 9 This is a structural schematic diagram of the cutting component from the first perspective of an embodiment of an automatic feeding system for trademark paper of a cigarette packaging machine according to the utility model.

[0052] Fig.10 This is a structural schematic diagram from a second viewing angle of a cutting component of an automatic feeding system for trademark paper in a cigarette packaging machine according to the utility model.

[0053] Among them: 1-machine vision system, 2-automatic cutting machine, 21-frame, 22-cutting assembly, 221-cutting pressure cylinder, 222-cutting knife cylinder, 223-cutting knife, 224-cutting knife telescopic cylinder, 225-upper suction cylinder, 226-upper suction cup, 227-top suction cup, 228-blade protection cover, 23-lateral package transfer assembly, 24-paper roll assembly, 25-discharging conveying assembly, 26-vertical package transfer assembly, 27-PLC control system, 28-feeding conveying assembly, 29-sorting Package pushing assembly, 3-collaborative robot, 31-robot gripper assembly, 311-digital pressure sensor, 312-vacuum suction cup bracket, 313-vacuum suction cup mounting plate, 314-vacuum filter, 315-vacuum suction cup, 316-assembled quick-change pipe joint, 4-control system, 41-host computer, 5-trademark paper stack, 51-stacked box trademark paper, 511-trademark paper, 512-kraft paper, 52-interlayer board, 53-tray, 6-cache platform, 7-interlayer board placement position, 8-safety laser scanner. DETAILED DESCRIPTION

[0054] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0055] The following detailed descriptions are all exemplary descriptions, and are intended to provide further detailed descriptions of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meanings as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present invention.

[0056] Example 1

[0057] like Figures 1 to 10 As shown, a cigarette packaging machine box label paper automatic feeding system includes: a machine vision system 1, a collaborative robot 3, an automatic cutting machine 2 and a control system 4;

[0058] A machine vision system 1, used for capturing and identifying an image of the trademark paper stack 5, determining the position and shape of the trademark paper stack 5, and sending image information to a control system 4;

[0059] The control system 4 is used to receive the image information sent by the machine vision system 1 and the demand information sent by the automatic cutting machine 2, and send action instructions to the collaborative robot 3;

[0060] The collaborative robot 3 is used to receive the action instruction, grab the stacked box label paper 51 on the label paper stack 5 and place it on the automatic cutting machine 2;

[0061] The automatic cutting machine 2 is used for receiving the stacked box label paper 51 , removing the outer kraft paper 512 packaging of the stacked box label paper 51 , and outputting the label paper 511 .

[0062] Specifically, the function of the equipment is as follows: the stacked box trademark paper 51 on the tray 53 is delivered to the feeding belt conveyor of the automatic cutting machine 2 through the collaborative robot 3; the belt conveyor delivers the stacked box trademark paper 51 to the cutting component 22 of the automatic cutting machine 2; the cutting component 22 removes the outer kraft paper 512 packaging of the stacked box trademark paper 51; and then transports the trademark paper 511 without the kraft paper 512 packaging to the feeding port of the cigarette box packaging machine via the belt conveyor.

[0063] The system is designed with functions such as automatic destacking by collaborative robots, visual intelligent positioning, automatic cutting machine device, material transportation, and intelligent Internet of Things for pallet 53 materials. It can realize the automatic loading function of stacked box trademark paper 51, greatly improving the automation and intelligence level of cigarette equipment.

[0064] The overall structure of the equipment is divided into two parts, including a collaborative robot automatic cigarette box loading system and an automatic cutting machine system. Among them, the collaborative robot automatic cigarette box loading system is divided into three parts: a collaborative robot automatic cigarette box loading system, a machine vision system 1 and a host computer 41; the automatic cutting machine system is divided into three parts: a feeding belt conveyor, a cutting component 22, and a discharging belt conveyor. The collaborative robot automatic cigarette box loading system performs the material handling process and automatically transports the stacked box label paper 51 from the tray 53 to the loading position of the automatic cutting machine 2.

[0065] The label paper stack 5 includes a stacked label paper 51, an interlayer board 52, and a wooden pallet 53. The stacked label paper 51 is arranged in 5 layers, each layer has 4 rows and 11 columns, 44 stacks, a total of 220 stacks, 525 interlayer boards, and the specification of the wooden pallet 53 is 1200*1000. Figure 2 The incoming materials are arranged neatly so that the collaborative robot 3 can pick them up by itself.

[0066] The stacked label paper 51 includes label paper 511 and kraft paper 512. Each stack is generally made up of 500 sheets of label paper 511. A circle of kraft paper 512 is tied around the label paper 511 for easy transportation. The kraft paper 512 needs to be automatically removed by an automatic cutting machine 2 before entering the label paper silo of the packaging unit.

[0067] As a preferred example, the machine vision system 1 includes:

[0068] A 3D camera for capturing an image of the label paper stack 5;

[0069] Destacking recognition algorithm software is used to process the images captured by the 3D camera and determine the position and shape of the trademark paper stack 5.

[0070] Specifically, the machine vision system 1 is used to identify the material position coordinates and transmit the material position information to the control system 4. The machine vision system 1 includes a 3D camera, an industrial computer and vision software. The 3D camera automatically takes pictures when it is running automatically, and can also start taking pictures by manually clicking the screen. The industrial computer is used for human-machine interface information interaction, including homepage operation buttons, alarm information, parameter settings, I / O detection and other information.

[0071] The machine vision system 1 is equipped with a set of 3D cameras and depalletizing recognition algorithm software to realize intelligent recognition and positioning of objects, and provide accurate visual analysis and guidance for the collaborative robot 3. The specific solution is that the collaborative robot 3 establishes communication with the RVS-SE standard depalletizing recognition algorithm software through the TCP / IP protocol and sends positioning request information. After receiving the request, RVS-SE triggers the 3D camera to shoot the stack. After hand-eye calibration, the 3D camera establishes a corresponding relationship with the coordinate system of the collaborative robot 3, and the objects observed in each photo can be converted to the coordinate system of the collaborative robot 3 through hand-eye conversion. The collaborative robot 3 performs the operations of object segmentation and movement based on the object posture information calculated by RVS-SE.

[0072] Specifically, the machine vision system 1 also includes a vision controller, and the depalletizing recognition algorithm software can be set in the vision controller.

[0073] As a preferred example, Figure 1 and Figure 4 As shown, the collaborative robot 3 includes:

[0074] Robot control box, robot arm and robot gripper assembly 31;

[0075] The robot control box is used to receive action instructions, control the movement of the robot arm and the grasping and releasing action of the robot gripper assembly 31;

[0076] The mechanical arm is connected to the robot gripper assembly 31, and the mechanical arm is used to drive the robot gripper assembly 31 to move;

[0077] The robot gripper assembly 31 includes a plurality of vacuum suction cups 315, which are used to grasp and place the stacked box label paper 51 according to the control of the robot control box.

[0078] Specifically, the robot control box is the control center of the collaborative robot 3, which is responsible for receiving action instructions from the control system 4 and converting them into specific operation signals to control various components of the collaborative robot 3;

[0079] The robot arm is connected to the robot control box, and is composed of multiple joints and connecting rods, has multiple degrees of freedom, and can realize complex spatial motion, driving the robot gripper assembly 31 to reach a predetermined position;

[0080] like Figure 4As shown, the robot gripper assembly 31 is installed at the end of the robot arm, and is used to directly grab and place the stacked box label paper 51, specifically including:

[0081] The vacuum suction cup bracket 312 serves as a supporting structure for the suction cup to ensure stable installation and normal operation of the suction cup;

[0082] A vacuum suction cup mounting plate 313 is used to fix the vacuum suction cup bracket 312 and is usually mounted on the gripping end of the robot arm;

[0083] A plurality of vacuum suction cups 315 are evenly distributed on the vacuum suction cup mounting plate 313, and generate adsorption force through vacuum to achieve the grasping of the stacked box label paper 51;

[0084] A digital pressure sensor 311 is mounted on the vacuum cup mounting plate 313 and is used to monitor the adsorption pressure of the vacuum cup 315 in real time to ensure the stability and safety of grasping;

[0085] A vacuum filter 314 connected to the vacuum suction cup 315 is used to maintain the cleanliness of the inside of the vacuum suction cup 315 to ensure the adsorption performance;

[0086] The assembled quick-change pipe connector 316 is installed on the vacuum suction cup mounting plate 313 and is used to quickly connect or disconnect the pipeline system related to the vacuum suction cup 315 to improve the maintenance and replacement efficiency.

[0087] The robot arm can accurately grasp and place the stacked box label paper 51 through precise motion control. The movement of the robot arm is controlled in real time by the robot control box to ensure the coordination and accuracy of the movement. The design of the robot gripper assembly 31 allows the gripping method to be adjusted according to the size and shape of different stacked box label paper 51 to meet different feeding requirements.

[0088] In addition, the vacuum suction cup 315 of the robot gripper assembly 31 is designed as a wearing part, and a replacement reminder alarm and usage counting function are integrated in the upper computer 41 software. When the adsorption pressure is lower than the preset threshold or the number of uses reaches the set value, the system will automatically remind the user to perform maintenance or replacement to ensure the stable operation of the system and the safety of operation.

[0089] As a preferred example, Figure 8 As shown, the automatic cutting machine 2 includes: a frame 21, a cutting assembly 22, a bag transfer assembly, a paper rolling assembly 24, a feeding conveying assembly 28 and a discharging conveying assembly 25;

[0090] The feeding and conveying assembly 28 is arranged at the input end of the frame 21, and is used to receive the stacked box label paper 51 placed by the collaborative robot 3, and convey it to the cutting assembly 22;

[0091] The cutting assembly 22 is disposed on the frame 21, and is used to receive the stacked box label paper 51 conveyed by the feeding conveying assembly 28, and cut the kraft paper 512 of the stacked box label paper 51;

[0092] The paper roll assembly 24 is arranged at one side of the cutting assembly 22 and is used to extract the kraft paper 512 cut from the stacked box label paper 51 to obtain the label paper 511;

[0093] A bag transfer assembly, disposed on the frame 21, for moving the trademark paper 511 from the cutting assembly 22 to the discharging conveying assembly 25;

[0094] The discharging conveying assembly 25 is disposed downstream of the frame 21 and is used for discharging the trademark paper 511 .

[0095] Specifically, the automatic cutting machine 2 may include a frame 21, a cutting component 22, a lateral package transfer component 23, a paper rolling component 24, a discharge conveying component 25, a vertical package transfer component 26, a PLC control system 27, a feed conveying component 28, and a package sorting and pushing component 29.

[0096] The frame 21 of the automatic cutting machine 2 includes a frame 21 for installing a cutting system, a protective cover, a universal wheel, a three-color lamp, an emergency stop switch, a lighting lamp and other components. The main purpose of the cutting component 22 is to cut the paper kraft paper 512 of the stacked box trademark paper 51. The steps are: 1. The belt pressure plate presses the middle of the paper kraft paper 512 of the stacked box trademark paper 51; 2. The vacuum suction cup 315 sucks the edge of the stacked box trademark paper 51, and sucks both sides of the kraft paper 512 to make the kraft paper 512 of the stacked box trademark paper 51 protrude; 3. The cutting blade cuts off the protruding part of the kraft paper 512 of the stacked box trademark paper 51, and the horizontal package transfer component 23 moves the stacked box trademark paper 51 from the cutting station to the top of the discharging output net belt station. The purpose of the paper rolling component 24 is to pull out the paper kraft paper 512 of the stacked box trademark paper 51. Step 1. The vacuum suction cup 315 sucks the kraft paper 512; 2. The sucked kraft paper 512 is pulled to the bottom of the conveying platform; 3. The telescopic paper pressing roller is extended to press the kraft paper 512 with the paper extraction drive roller. 4. The paper extraction drive roller rotates to extract the kraft paper 512. The discharge conveying component 25 conveys the trademark paper 511 obtained after cutting the kraft paper 512 of the stacked box trademark paper 51 to the trademark paper material bin of the packaging unit. The vertical packaging group moves the trademark paper 511 from the horizontal packaging workstation to the discharge conveying loading station. The PLC control system 4 is an electrical device that controls the automatic operation of the automatic cutting machine 2. The feed conveying component 28 transports the stacked box trademark paper 51 with kraft paper 512 to the cutting system of the automatic cutting machine 2, including several cache positions.

[0097] As a preferred example, Fig. 9 and Fig.10 As shown, the cutting assembly 22 includes:

[0098] A pressure driving device for applying pressure to the stacked box label paper 51 to facilitate cutting;

[0099] A cutting execution device, which cooperates with the pressure driving device to execute the cutting action of the stacked box label paper 51;

[0100] A cutting tool, mounted on the cutting execution device, for actually cutting off the kraft paper 512 of the stacked box label paper 51;

[0101] a cutting tool drive device, which controls the movement of the cutting tool and is used to perform cutting or retracting actions;

[0102] At least one suction device is used to suck the edge of the stacked box label paper 51 so that the kraft paper 512 forms a protrusion for easy cutting.

[0103] Specifically, the pressure driving device can be a cutting pressure cylinder 221, the cutting execution device can be a cutting knife cylinder 222, the cutting tool can be a cutting knife 223, the cutting tool driving device can be a cutting knife telescopic cylinder 224, and the adsorption device can include an upper suction cylinder 225, an upper suction cup 226, and a top surface suction cup 227. Therefore, the cutting component 22 mainly includes a cutting pressure cylinder 221, a cutting knife cylinder 222, a cutting knife 223, a cutting knife telescopic cylinder 224, an upper suction cylinder 225, an upper suction cup 226, a top surface suction cup 227 and a blade protection cover 228.

[0104] The cutting assembly 22 is the main component of the automatic cutting machine 2. When the stacked box label paper 51 wrapped with kraft paper 512 reaches the coil transition platform, the piston rod of the cutting down-pressing cylinder 221 extends, and the piston rod of the upper suction cylinder 225 extends. At this time, the top suction cup 227 and the upper suction cup 226 will suck the edge of the kraft paper 512 together, so that the kraft paper 512 of the stacked box label paper 51 will bulge, and the piston rod of the cutting knife telescopic cylinder 224 will extend, and the cutting knife 223 will cut the kraft paper 512. The cutting knife 223 is installed on a cutting knife telescopic cylinder 224, and there is a blade protection cover 228 on the outside. When the equipment is not in use or under maintenance, the cutting knife 223 will extend into the blade protection cover 228 to protect the safety of personnel. In addition, the cutting knife 223, the upper suction cup 226 and the top suction cup 227 are wearing parts. A wearing parts replacement reminder alarm and usage counting function are added to the control system 4 or the PLC control system 4, including items, reminder thresholds, used counts, etc.

[0105] As a preferred example, the control system 4 includes:

[0106] The controller is used to control the action instructions of the collaborative robot 3; the specific controller is a PLC controller.

[0107] The host computer 41 is electrically connected to the controller and is used for human-machine interface information interaction.

[0108] like Figure 7 As shown, the control process of an embodiment of the utility model includes:

[0109] Start the system: The operator issues a start command through the host computer 41 to activate the entire cigarette packaging machine box trademark paper automatic feeding system.

[0110] Check the status of the joint debugging equipment: The PLC controller (PLC controller) first performs a self-check to ensure that all equipment including the machine vision system 1, the collaborative robot 3, and the automatic cutting machine 2 are in normal working condition.

[0111] Robot reset: The PLC controller sends instructions to the collaborative robot 3 to move it to the preset reset position and prepare to start working.

[0112] Obtaining material position information: The 3D camera in the machine vision system 1 captures an image of the trademark paper stack 5 and processes the image through the destacking recognition algorithm software to determine the position and shape of the trademark paper stack 5 .

[0113] Information conversion and coordinate parameter acquisition: The machine vision system 1 converts the position and shape of the identified trademark paper stack 5 into coordinate parameters, and sends these parameter information to the PLC controller.

[0114] Visual photography and statistical counting: The machine vision system 1 can take additional visual photography when necessary and count the stacked box trademark papers 51 on the trademark paper stack 5.

[0115] Return coordinate data: The machine vision system 1 sends the finalized coordinate data to the PLC controller to provide accurate position information for the next robot action.

[0116] The robot moves to the material position: the PLC controller sends an action instruction to the collaborative robot 3 based on the received coordinate data, so that it moves to the preset position next to the trademark paper pile 5 and prepares to suck the material.

[0117] Sucking materials: After the collaborative robot 3 receives the command, the robot gripper assembly 31 absorbs and grabs the stacked box label paper 51 through the vacuum suction cup 315.

[0118] The robot moves to the material discharge position: after grabbing the stacked box trademark paper 51, the collaborative robot 3 moves to the material discharge position above the feed conveying component 28 of the automatic cutting machine 2 according to the instruction of the PLC controller.

[0119] Unloading: The collaborative robot 3 places the stacked box label paper 51 on the feeding conveying assembly 28, and the conveyor belt feeds the material into the cutting assembly 22 for the next step of processing.

[0120] Cutting and material output: The automatic cutting machine 2 receives the stacked box label paper 51 , the cutting assembly 22 removes the outer layer of kraft paper 512 of the stacked box label paper 51 , and the paper rolling assembly 24 and the material discharging conveying assembly 25 work together to complete the conveying and output of the label paper 511 .

[0121] Notify the robot to reset: After completing the unloading, the PLC controller notifies the collaborative robot 3 to reset again to prepare for the next work cycle.

[0122] Listening and monitoring: During the entire process, the PLC controller continuously listens to the status of the collaborative robot 3 and monitors the working status of the automatic cutting machine 2 to ensure the smoothness and safety of the entire loading process.

[0123] As a preferred example, a buffer platform 6 is further included, and the buffer platform 6 is used to buffer the stacked boxes of trademark paper 51 to avoid the risk of material shortage when replacing the tray 53 of the trademark paper stack 5.

[0124] The PLC controller controls the collaborative robot 3 to place or grab the stacked box label paper 51 on the buffer platform 6 according to the operating conditions, avoiding the risk of material breakage caused by replacing the tray 53.

[0125] As a preferred example, a safety laser scanner 8 is also included to monitor external intrusion and ensure the safety of humans and machines.

[0126] When the security scanner detects external intrusion or a layer of stacked box label paper 51 is grabbed, the collaborative robot 3 returns to the origin, and the machine vision system 1 takes pictures again to obtain the latest coordinates of the stacked box label paper 51 or the interlayer board 52, and the collaborative robot 3 continues to act accordingly as needed.

[0127] As a preferred example, the robot gripper assembly 31 further includes a pressure sensor, a vacuum suction cup bracket 312, a vacuum suction cup mounting plate 313, a vacuum filter 314 and a containerized quick-change pipe joint 316;

[0128] The top of the vacuum suction cup 315 is connected to a vacuum filter 314, and the vacuum suction cup 315 is connected to a vacuum suction cup mounting plate 313 through a vacuum suction cup bracket 312. The vacuum suction cup 315 is divided into two groups, which are respectively arranged on both sides of the vacuum suction cup mounting plate 313. A pressure sensor is arranged on the vacuum suction cup mounting plate 313 to monitor the suction pressure of the vacuum suction cup 315. A container-type quick-change pipe joint 316 is installed on the vacuum suction cup mounting plate 313 to connect a pipeline system related to the vacuum suction cup 315.

[0129] Specifically, the robot gripper assembly 31 may be composed of the following components: a digital pressure sensor 311 , a vacuum suction cup bracket 312 , a vacuum suction cup mounting plate 313 , a vacuum filter 314 , a vacuum suction cup 315 , and a containerized quick-change pipe joint 316 .

[0130] The robot gripper assembly 31 is composed of two groups of suction cups on the left and right, each group of suction cups has three vacuum suction cups 315, and a total of six vacuum suction cups 315. Different groups of suction cups are selected according to the different positions of the stacked box label paper 51 placed on the tray 53. The three columns of stacked box label paper 51 on the left can be sucked by the suction cups on the left, and the eight columns of stacked box label paper 51 on the right can be sucked by the suction cups on the right. After the collaborative robot 3 takes each layer of the stacked box label paper 51, there will be one interlayer board 52 left. When the suction cup sucks the interlayer board 52, two groups of suction cups must be used to suck together.

[0131] As a preferred example, it also includes an interlayer board placement position 7, which is arranged next to the trademark paper stack 5 to facilitate the placement of the interlayer board 52.

[0132] The automatic feeding system for box trademark paper of the cigarette packaging machine is equipped with a highly safe collaborative robot 3, which is used for automatic unstacking and handling and feeding of stacked box trademark paper 51, and is equipped with advanced 3D vision technology and intelligent program control system 4.

[0133] The system has a simple design, small installation footprint, compact structure, and integrates multiple functions into one.

[0134] The automatic feeding system for cigarette packaging machine box label paper can solve the deficiencies of existing equipment functions, improve the automation and intelligence level of cigarette equipment, reduce the labor intensity of operators and the labor costs of enterprises, and at the same time improve the on-site management level of cigarette production enterprises.

[0135] The automatic feeding system for packaging machine box trademark paper can realize the signal interlocking between AGV and the material station, and work in coordination with the automatic calling system of the stacked box trademark paper 51 material station of the cigarette packaging unit. It can initiate the application of tasks such as empty pallet 53 recovery, full pallet 53 outbound and residual material return to the stacked box trademark paper 51 pallet 53 according to the number of stacked box trademark paper 51 remaining in the material station, so as to realize the safe entry and exit of AGV in the material station to perform tasks such as taking pallets 53 and delivering pallets 53, thereby reducing the labor intensity of operators and improving the reliability and timeliness of the supply of stacked box trademark paper 51.

[0136] Example 2

[0137] A cigarette packaging machine box label paper automatic feeding method, based on a cigarette packaging machine box label paper automatic feeding system, comprising:

[0138] Start the system, the machine vision system 1 takes an image of the trademark paper stack 5, determines the position and shape of the trademark paper stack 5, and sends the image information to the control system 4;

[0139] The control system 4 receives the image information sent by the machine vision system 1 and the demand information sent by the automatic cutting machine 2, and issues an action instruction to the collaborative robot 3;

[0140] The collaborative robot 3 receives the action instruction, grabs the stacked box label paper 51 on the label paper stack 5 and places it on the automatic cutting machine 2;

[0141] The automatic cutting machine 2 receives the stacked box label paper 51 , removes the outer kraft paper 512 packaging of the stacked box label paper 51 , and outputs the label paper 511 .

[0142] Specifically, the system is started, the machine vision system 1 is activated, and the 3D camera is used to photograph the trademark paper stack 5 to obtain image information of the trademark paper stack 5;

[0143] Processing the image captured by the 3D camera using the destacking recognition algorithm software to determine the precise position and shape of the trademark paper stack 5;

[0144] The processed image information is sent to the control system 4, and the control system 4 analyzes the image information and the demand information of the automatic cutting machine 2;

[0145] The control system 4 generates an action command and sends it to the robot control box of the collaborative robot 3 through the communication interface;

[0146] After receiving the action command, the robot control box controls the robot arm and the robot gripper assembly 31 to move in coordination to the predetermined position of the trademark paper stack 5;

[0147] Driven by the robot arm, the robot gripper assembly 31 absorbs and grabs the stacked box label paper 51 through the vacuum suction cup 315, and the digital pressure sensor 311 monitors the suction pressure of the suction cup to ensure the stability of the grabbing;

[0148] The robot arm, in accordance with the instructions of the control system 4, accurately places the grabbed stacked box label paper 51 onto the feed conveying assembly 28 of the automatic cutting machine 2;

[0149] The cutting assembly of the automatic cutting machine 2 receives the stacked box label paper 51, and the cutting knife 223 is driven by the cutting knife cylinder 222 to cut off the outer layer of the kraft paper 512 of the stacked box label paper 51;

[0150] The transverse package transfer component 23 transversely transfers the trademark paper 511 from the cutting station to above the discharge conveying station;

[0151] The paper roll assembly 24 extracts and separates the kraft paper 512 of the stacked box label paper 51 through the coordinated action of the retractable paper pressing roller and the paper extraction driving roller;

[0152] The package transfer assembly moves the trademark paper 511 from the paper roll assembly 24 to the discharge conveying assembly 25;

[0153] The discharging conveying assembly 25 conveys the trademark paper 511 to the trademark paper material bin of the packaging unit, completing the entire automatic loading process.

[0154] Specifically, the specific working process of the automatic feeding system of the box label paper of the cigarette packaging machine is as follows: the operator uses a forklift to place the tray 53 storing the stacked box label paper 51 to the specified position of the tray 53, starts the operation, and the 3D camera takes pictures and identifies the label paper stack 5. The control system 4 sends an action instruction to the collaborative robot 3 according to the requirements of the automatic cutting machine 2. The collaborative robot 3 grabs the corresponding stacked box label paper 51 according to the coordinate information calculated by the 3D recognition device and places it on the feeding belt conveyor of the cutting system. The cutting system conveys, cuts, and shapes the stacked box label paper 51 according to the material requirements of the packaging unit, and finally conveys it to the label paper silo of the packaging unit. The control system 4 controls the collaborative robot 3 to place or grab the stacked box label paper 51 on the cache platform 6 according to the operation situation to avoid the risk of material interruption caused by replacing the tray 53. When the security scanner detects external intrusion or a layer of stacked box label paper 51 is grabbed, the collaborative robot 3 returns to the origin, and the 3D recognition device takes pictures again to obtain the latest coordinates of the stacked box label paper 51 or the interlayer board 52. The collaborative robot 3 continues to act accordingly according to the requirements. After the stacked box label papers 51 on the tray 53 are completely grabbed, the control system 4 gives an alarm message, and the operator takes away the empty tray 53 and then places a new tray 53.

[0155] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the embodiments disclosed above are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. An automatic feeding system for cigarette packaging machine box label paper, characterized in that: include: Machine vision system (1), collaborative robot (3), automatic cutting machine (2) and control system (4); The machine vision system (1) is used to capture and identify an image of the trademark paper stack (5), determine the position and shape of the trademark paper stack (5), and send image information to the control system (4); A control system (4) is used to receive the image information sent by the machine vision system (1) and the demand information sent by the automatic cutting machine (2), and issue action instructions to the collaborative robot (3); A collaborative robot (3) is used to receive an action instruction, grab the stacked box trademark paper (51) on the trademark paper pile (5) and place it on the automatic cutting machine (2); The automatic cutting machine (2) is used to receive the stacked box label paper (51), remove the outer kraft paper (512) packaging of the stacked box label paper (51), and output the label paper (511).

2. The system according to claim 1, characterized in that The machine vision system (1) comprises: A 3D camera for capturing an image of the label paper stack (5); The destacking recognition algorithm software is used to process the image captured by the 3D camera and determine the position and shape of the trademark paper stack (5).

3. The system according to claim 1, characterized in that The collaborative robot (3) comprises: Robot control box, robot arm and robot gripper assembly (31); The robot control box is used to receive action instructions and control the movement of the robot arm and the grasping and releasing action of the robot gripper assembly (31); The mechanical arm is connected to the robot gripper assembly (31), and the mechanical arm is used to drive the robot gripper assembly (31) to move; The robot gripper assembly (31) comprises a plurality of vacuum suction cups (315) for grasping and placing stacked box label paper (51) according to the control of the robot control box.

4. The system according to claim 1, characterized in that The automatic cutting machine (2) comprises: a frame (21), a cutting assembly (22), a bag transfer assembly, a paper rolling assembly (24), a feeding conveying assembly (28) and a discharging conveying assembly (25); The feeding and conveying assembly (28) is arranged at the input end of the frame (21), and is used to receive the stacked box label paper (51) placed by the collaborative robot (3) and convey it to the cutting assembly (22); The cutting assembly (22) is arranged on the frame (21) and is used to receive the stacked box label paper (51) conveyed by the feeding and conveying assembly (28) and cut the kraft paper (512) of the stacked box label paper (51); The paper roll assembly (24) is arranged on one side of the cutting assembly (22) and is used to extract the kraft paper (512) cut from the stacked box label paper (51) to obtain the label paper (511); The bag transfer assembly is arranged on the frame (21) and is used to transfer the trademark paper (511) from the cutting assembly (22) to the discharge conveying assembly (25); The discharge conveying assembly (25) is arranged downstream of the frame (21) and is used for outputting the trademark paper (511).

5. The system according to claim 4, characterized in that The cutting assembly (22) comprises: A pressure driving device for applying pressure to the stacked box label paper (51) to facilitate cutting; A cutting execution device, cooperating with the pressure driving device, for executing the cutting action of the stacked box label paper (51); A cutting tool, mounted on the cutting execution device, for actually cutting off the kraft paper (512) of the stacked box label paper (51); a cutting tool drive device for controlling the movement of the cutting tool to perform a cutting or retracting action; At least one suction device is used to suck the edge of the stacked box label paper (51) so that the kraft paper (512) forms a protrusion for easy cutting.

6. The system according to claim 1, characterized in that The control system (4) comprises: A controller, used for controlling the motion instructions of the collaborative robot (3); A host computer (41) is electrically connected to the controller and is used for human-machine interface information interaction.

7. The system according to claim 6, characterized in that It also comprises a buffering platform (6), wherein the buffering platform (6) is used to buffer the stacked boxes of trademark paper (51) to avoid the risk of material shortage when replacing the tray (53) of the trademark paper stack (5).

8. The system according to claim 1, characterized in that The system also includes a safety laser scanner (8) for monitoring external intrusion and ensuring the safety of humans and machines.

9. The system according to claim 3, characterized in that The robot gripper assembly (31) further includes a pressure sensor, a vacuum suction cup bracket (312), a vacuum suction cup mounting plate (313), a vacuum filter (314) and a container-type quick-change pipe joint (316); The top of the vacuum suction cup (315) is connected to the vacuum filter (314), and the vacuum suction cup (315) is connected to the vacuum suction cup mounting plate (313) through the vacuum suction cup bracket (312). The vacuum suction cup (315) is divided into two groups, which are respectively arranged on both sides of the vacuum suction cup mounting plate (313). The pressure sensor is arranged on the vacuum suction cup mounting plate (313) to monitor the suction pressure of the vacuum suction cup (315). The assembled quick-change pipe joint (316) is installed on the vacuum suction cup mounting plate (313) to connect the pipeline system related to the vacuum suction cup (315).

10. The system according to claim 1, characterized in that It also comprises a spacer board placement position (7) for placing the spacer board.

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