Mobile composite robot for sorting special-shaped cigarettes

Abstract

The utility model relates to the technical field of tobacco sorting, in particular to a movable composite robot for sorting special-shaped cigarettes. The utility model provides a mobile composite robot for sorting special-shaped cigarettes. The mobile composite robot comprises a mobile chassis trolley, a horizontal rotating mechanism, a profiling robot and a robot vision and motion controller, the profiling robot is installed on the movable chassis trolley, and the horizontal rotating mechanism is installed between the movable chassis trolley and the profiling robot and used for driving the profiling robot to horizontally rotate; the profiling robot comprises a profiling robot chest, a profiling robot neck, a profiling robot head, two mechanical arms and at least one camera module. The movable composite robot for sorting the special-shaped cigarettes can replace manual work to sort the special-shaped cigarettes, automatic sorting of the special-shaped cigarettes is achieved, the labor burden of workers is relieved, and the loss rate of the workers is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of tobacco sorting, in particular to a mobile composite robot used for sorting special-shaped cigarettes. Background Art

[0002] Currently, in the domestic commercial tobacco industry, to better differentiate cigarette cartons, we generally categorize them into standard, slim, short, medium, and special-shaped cigarettes. Standard, slim, short, and medium cigarettes, due to their large order volumes and fixed sizes, can all be sorted using fully automated carton sorting systems. However, since special-shaped cigarette cartons vary in size and specifications, customizing a sorting system is difficult. Therefore, automated sorting of special-shaped cigarettes currently relies largely on manual labor.

[0003] Currently, the sorting of special-shaped cigarettes is labor-intensive and the sorting operating conditions are poor, resulting in a high worker turnover rate. Utility Model Content

[0004] (1) The problem to be solved by the present invention is that the sorting of special-shaped cigarettes is labor-intensive and the sorting environment and working conditions are poor, resulting in a high worker turnover rate.

[0005] (2) Technical solution

[0006] A mobile composite robot for sorting irregular-shaped cigarettes comprises a mobile chassis trolley, a horizontal rotation mechanism, a contour-copying robot, and a robot vision and motion controller; the contour-copying robot is mounted on the mobile chassis trolley, and the horizontal rotation mechanism is mounted between the mobile chassis trolley and the contour-copying robot to drive the contour-copying robot to rotate horizontally;

[0007] The robot comprises a robot chest, a robot neck, a robot head, two robot arms and at least one camera module; wherein the robot chest, the robot neck and the robot head are connected in sequence;

[0008] The two robotic arms are installed on the chest of the contour-matching robot and are used to grab or put down the special-shaped cigarettes on the sorting line according to the instructions of the robot's vision and motion controller. The camera module is installed on the head of the contour-matching robot and is used to take pictures of the special-shaped cigarettes on the sorting line and transmit them to the robot's vision and motion controller.

[0009] According to an embodiment of the present invention, a lifting mechanism is further included. The lifting mechanism is installed between the mobile chassis trolley and the horizontal rotation mechanism, and is used to drive the contour-matching robot to move up and down according to instructions.

[0010] According to one embodiment of the present invention, the neck of the contour robot includes a horizontal angle adjustment mechanism, a neck connecting block and a pitch angle adjustment mechanism connected in sequence; the contour robot head is installed on the pitch angle adjustment mechanism, the pitch angle adjustment mechanism is used to adjust the pitch angle of the contour robot head according to instructions, and the horizontal angle adjustment mechanism is used to adjust the horizontal angle of the neck connecting block according to instructions.

[0011] According to an embodiment of the present invention, the lifting mechanism includes a lifting column, the bottom end of the lifting column is connected to the mobile chassis trolley, the top end of the lifting column is installed with a bearing plate, and the horizontal rotation mechanism is installed on the bearing plate.

[0012] According to one embodiment of the present invention, the chest of the anthropomorphic robot includes a chest shell and an inner support frame arranged vertically inside the chest shell; the horizontal rotation mechanism includes a drive motor and a reducer installed on the supporting plate, the output end of the reducer is connected to the bottom end of the inner support frame, and the output end of the drive motor is connected to the input end of the reducer.

[0013] According to one embodiment of the present invention, the horizontal angle adjustment mechanism includes an adjusting motor, a rotating shaft and a bearing, the rotating shaft is vertically arranged at the bottom end of the neck connecting block, the bearing is installed on the chest of the contour robot and is cooperatively connected with the rotating shaft, the adjusting motor is installed inside the chest of the contour robot, and its output end is connected to the bottom end of the rotating shaft.

[0014] According to one embodiment of the present invention, the pitch angle adjustment mechanism includes a shaftless motor arranged at the top of the neck connecting block, the axis of the shaftless motor is perpendicular to the axis of the rotating shaft, the shape-matching robot head is connected to the shaftless motor, and the shaftless motor is used to drive the shape-matching robot head to rotate around its axis.

[0015] According to one embodiment of the present invention, ear connecting plates are provided at both ends of the head of the contour robot, a groove adapted to the shaftless motor is formed between the two ear connecting plates, and the output end of the shaftless motor is connected to one of the ear connecting plates.

[0016] According to one embodiment of the present invention, the robotic arm is a seven-axis robotic arm.

[0017] According to one embodiment of the present invention, a dexterous hand is installed at the end of the robotic arm.

[0018] The beneficial effects of the present utility model are as follows: the mobile composite robot can move to the sorting conveyor line according to instructions, the camera module photographs the cigarette strips on the sorting conveyor line and sends the photographed information to the robot vision and motion controller, the robot vision and motion controller processes the photographed cigarette strip information according to the received order information, and then controls the robotic arm to grab the special-shaped cigarettes required for the order on the sorting conveyor line, and then the robot vision and motion controller controls the horizontal rotation mechanism to drive the copying robot to rotate horizontally so that the copying robot faces the packaging conveyor line, and finally the robot vision and motion controller controls the robotic arm to place the special-shaped cigarettes required for the grabbed order on the packaging conveyor line.

[0019] This can realize the automated sorting of special-shaped cigarettes, replace manual sorting, reduce the labor burden of workers, reduce worker turnover, and increase the sorting efficiency to a certain extent, so that the sorting efficiency can match the speed of the automated warehousing system to the greatest extent, thereby improving the efficiency of the entire supply chain. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A front view of an embodiment of the present utility model;

[0022] Figure 2 A perspective view of an embodiment of the present invention;

[0023] Figure 3 A structural diagram of the lifting column, chest shell, horizontal rotation mechanism, robotic arm, contour-bearing robot neck, and contour-bearing robot head provided in an embodiment of the present invention;

[0024] Figure 4 An assembly diagram of the contour-bearing robot neck and contour-bearing robot head provided in an embodiment of the present utility model;

[0025] Figure 5 A structural diagram of a contour-bearing robot neck and contour-bearing robot head provided in an embodiment of the present utility model;

[0026] Figure 6 A logic control diagram provided for an embodiment of the present utility model.

[0027] Icons: 1. Mobile chassis trolley; 101. Indicator light; 102. Display screen; 103. Charging port; 104. Switch button; 105. Top cover; 106. Emergency stop button; 2. Lifting column; 201. Loading plate; 3. Contour robot chest; 301. Chest shell; 302. Inner support frame; 4. Contour robot neck; 401. Neck connecting block; 402. Rotating axis; 403. Bearing; 404. Shaftless motor; 5. Contour robot head; 501. Head shell; 502. Ear connecting plate; 503. Scanning window; 6. Robotic arm; 7. Motor box. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] like Figure 1-Figure 5 As shown, an embodiment of the present invention provides a mobile composite robot for sorting special-shaped cigarettes, comprising a mobile chassis trolley 1, a horizontal rotation mechanism, a profiling robot and a robot vision and motion controller; the profiling robot is mounted on the mobile chassis trolley 1, and the horizontal rotation mechanism is mounted between the mobile chassis trolley 1 and the profiling robot, for driving the profiling robot to rotate horizontally; the profiling robot comprises a profiling robot chest 3, a profiling robot neck 4, a profiling robot head 5, two robotic arms 6 and at least one camera module; wherein the profiling robot chest 3, the profiling robot neck 4 and the profiling robot head 5 are connected in sequence; the two robotic arms 6 are mounted on the profiling robot chest 3, for grabbing or putting down special-shaped cigarettes on the sorting line according to the instructions below the robot vision and motion controller, and the camera module is mounted on the profiling robot head 5, for photographing the special-shaped cigarettes on the sorting line and transmitting them to the robot vision and motion controller.

[0030] The mobile composite robot in this embodiment can move to the sorting conveyor line according to instructions. The camera module captures the cigarette strips on the sorting conveyor line and sends the captured information to the robot vision and motion controller. The robot vision and motion controller processes the captured cigarette strip information based on the received order information, and then controls the robotic arm 6 to grab the special-shaped cigarettes required for the order on the sorting conveyor line. The robotic vision and motion controller then controls the horizontal rotation mechanism to drive the contour-forming robot to rotate horizontally so that the contour-forming robot faces the packaging conveyor line. Finally, the robotic vision and motion controller controls the robotic arm 6 to place the captured special-shaped cigarettes required for the order on the packaging conveyor line. This can realize automated sorting of special-shaped cigarettes, replace manual sorting, reduce the labor burden of workers, reduce worker turnover, and increase sorting efficiency to a certain extent, so that the sorting efficiency can match the speed of the automated warehousing system to the greatest extent, thereby improving the efficiency of the entire supply chain.

[0031] As a preferred embodiment, Figure 1 and Figure 2 As shown, the mobile chassis 1 is an AGV. The mobile chassis is equipped with a mobile chassis controller and power supply. The mobile chassis 1 is also equipped with a display screen 102, a charging port 103, a switch button 104, an emergency stop button 106, an indicator light 101, and an obstacle avoidance laser radar. The charging port 103 is used to charge the mobile chassis 1, the switch button 104 controls the circuit, and the emergency stop button 106 controls the emergency stop of the mobile chassis 1. Furthermore, the indicator light 101 is used to display the current operating status of the mobile chassis 1. For example, a red display indicates that the mobile chassis 1 is in a fault state, and a green display indicates that the mobile chassis 1 is in normal operation. The obstacle avoidance laser radar is used to detect the surrounding environment and prevent the mobile chassis 1 from colliding with obstacles. The display screen 102 is used to display the current operating information and parameter lights of the mobile chassis 1. The display screen 102, the emergency stop button 106, the indicator light 101, and the obstacle avoidance laser radar are each signal-connected to the mobile chassis controller.

[0032] It should be noted that there is no specific restriction on the specific model of the AGV car, and most commonly used intelligent AGV cars can be used as the mobile chassis car 1 in this mobile composite robot.

[0033] Preferably, Figure 1 and Figure 2As shown, a lifting mechanism is installed on top of the mobile chassis trolley 1. The lifting mechanism is a lifting column 2. Lifting column 2 is installed between the mobile chassis trolley 1 and the contour robot and is used to drive the contour robot to rise and fall according to commands. Furthermore, a top cover 105 is provided on the top of the mobile chassis trolley 1. Lifting column 2 is vertically installed on the top of the mobile chassis trolley 1, and the bottom of lifting column 2 is covered by top cover 105. Lifting column 2 uses a three-stage lifting column 2 with a maximum travel of 700mm, a maximum thrust of 1500N, a maximum linear speed of 80m / s, and a repeatability accuracy of 1mm. This lifting column 2 is stable and reliable, capable of supporting the robot's movement and operation, while providing sufficient travel and thrust to meet the needs of different working scenarios.

[0034] Figure 3 This is a structural diagram after removing the front part of the chest shell 301. A supporting plate 201 is installed on the top of the lifting column 2. The horizontal rotation mechanism is installed on the supporting plate 201. The horizontal rotation mechanism includes a drive motor, a reducer and a motor box 7. Figure 3 As shown, the chest 3 of the anthropomorphic robot includes an inner support frame 302 and a chest shell 301 arranged outside the inner support frame 302. The bottom end of the inner support frame 302 is located above the reducer, the output end of the reducer is connected to the bottom end of the inner support frame 302, the output end of the drive motor is connected to the input end of the reducer, and the motor box 7 covers the drive motor and the reducer.

[0035] It should be noted that a lifting and rotation controller is installed on the back of the contour-copying robot. The power motor of the lifting column 2 and the drive motor of the horizontal rotation mechanism are respectively connected to the lifting and rotation controller signal. The lifting and rotation controller drives the power motor of the lifting column 2 and the drive motor of the horizontal rotation mechanism according to the instructions below the robot vision and motion controller.

[0036] In order to increase the shooting angle of the camera module and expand its application range, such as Figure 4 and Figure 5 As shown, the neck 4 of the anthropomorphic robot includes a horizontal angle adjustment mechanism, a neck connecting block 401 and a pitch angle adjustment mechanism connected in sequence; wherein, the horizontal angle adjustment mechanism includes an adjustment motor, a rotating shaft 402 and a bearing 403, the rotating shaft 402 is vertically arranged at the bottom end of the neck connecting block 401, the bearing 403 is fixedly installed on the top of the chest 3 of the anthropomorphic robot, the rotating shaft 402 and the inner ring of the bearing 403 are matched and connected, the adjustment motor is installed inside the chest 3 of the anthropomorphic robot, and the output end of the adjustment motor is connected to the bottom end of the rotating shaft 402.

[0037] Furthermore, the pitch angle adjustment mechanism includes a shaftless motor 404, which is fixedly mounted on the top of the neck connection block 401. The shaftless motor 404 is perpendicular to the neck connection block 401, that is, the axis of the shaftless motor 404 is perpendicular to the axis of the rotating shaft 402. The right end of the housing of the shaftless motor 404 has an output terminal, and the left end face of the housing of the shaftless motor 404 is mounted with a rotary bearing. Furthermore, the anthropomorphic robot head 5 includes a head shell 501, the bottom of which is formed with a semi-cylindrical groove that is compatible with the shaftless motor 404. The left and right ends of the head shell 501 of the anthropomorphic robot head 5 are respectively provided with an ear connection disk 502. The ear connection disk 502 is disc-shaped and serves as the ear of the anthropomorphic robot.

[0038] like Figure 5 As shown, the right end of the housing of the shaftless motor 404 has an output end. When installing the contour robot head 5, the groove of the contour robot head 5 is fitted onto the surface of the shaftless motor 404, and then the ear connecting plate 502 on the left side of the contour robot head 5 is connected to the rotating bearing on the left side of the shaftless motor 404, and then the ear connecting plate 502 on the right side of the contour robot head 5 is connected to the output end on the right side of the shaftless motor 404.

[0039] like Figure 4 As shown, a mounting groove is provided on the front of the contour-matching robot head 5, the camera module is installed in the mounting groove, and a sealing plate is sealed at the mounting groove, a glass mounting groove is provided on the sealing plate, and transparent glass is installed in the glass mounting groove to form a scanning window 503.

[0040] In this way, the motor drives the rotating shaft 402 to rotate, thereby driving the neck connection block 401, the shaftless motor 404, the robot head 5, and the camera module mounted on the robot head 5 to rotate together, thereby adjusting the horizontal angle of the robot head 5. The shaftless motor 404 drives the robot head 5 and the camera module mounted on the robot head 5 to rotate together around the axis of the shaftless motor 404, thereby adjusting the pitch angle of the robot head 5.

[0041] More specifically, the horizontal and pitch angle adjustment mechanisms are controlled by an angle adjustment controller. Specifically, the adjustment motor and shaftless motor 404 are each connected to the angle adjustment controller, which is built into the robot's chest 3. The angle adjustment controller is also connected to the robot's vision and motion controller. The robot's vision and motion controllers send commands to the angle adjustment controller, which then controls the adjustment motor or shaftless motor 404 based on the received commands. This allows the camera's viewing angle to be adjusted based on actual needs, allowing for better observation of the target area or object and increasing the field of view.

[0042] As an optional embodiment, the camera module uses a depth camera, specifically the Realsence D435 model, which has a working range of 0.3m-3m, a depth field of view (FOV) of H87°*V58°, an RGB field of view of H69°*V54°, a depth stream output frequency of 30FPS, and a data interface of USB3.0Type-C.

[0043] Preferably, the robotic arm 6 adopts a 7-axis robotic arm to imitate a human arm, making the robotic arm 6 more flexible in movement. A six-dimensional force sensor is installed at the end of the robotic arm 6. Its effective load is 5kg, the repeatability accuracy is ±0.05mm, the working radius is 638.5mm, the power supply voltage is DC20-30V, the six-dimensional force range is 200Nm / 7Nm, the six-dimensional force accuracy is <0.1% FS, the material is aluminum alloy, and the communication method is: WIFI / network port / Bluetooth / USB serial port / RS485.

[0044] It should be noted that the end of the robotic arm 6 can be equipped with a common grasping tool such as a dexterous hand, a pneumatic suction cup, or a mechanical gripper, preferably a dexterous hand. The robotic arm 6 includes a robotic arm controller, and the dexterous hand includes a dexterous hand controller. The dexterous hand controller is signal-connected to the robotic arm controller, which is in turn signal-connected to the robot vision and motion controller.

[0045] It should be noted that the mobile robot uses a 24V / 48V lead-acid battery to power the entire machine, and then the power module installed on the mobile chassis trolley 1 supplies power to each power module (depth camera, drive motor, adjustment motor, power motor, etc.).

[0046] like Figure 6 As shown, the MES / WCS server for the cigarette production line is wirelessly connected to the robot vision and motion controllers via a wireless AP switch. The wireless AP switch primarily connects wireless terminal devices to the wired network and provides Wi-Fi signals. The robot vision and motion controllers are connected to the mobile chassis controller, robotic arm controller, lift and rotation controller, and angle adjustment controller via multiple ports on the Ethernet switch. The Ethernet switch is an Ethernet-based network device that transmits data, providing high-speed, collision-free data transmission and enhancing network security and flexibility.

[0047] In this embodiment, the MES / WCS server sends the order information to the robot vision and motion controller through the wireless AP switch. The camera module photographs the cigarette strips on the sorting conveyor line and sends the photographed information to the robot vision and motion controller. The robot vision and motion controller processes the photographed cigarette strip information according to the received order information. The robot vision and motion controller sends instructions to the robotic arm controller according to the order information. The robotic arm controller controls the robotic arm 6 and the dexterous hand to grab the special-shaped cigarettes required for the order on the sorting line. Then the robot vision and motion controller controls the horizontal rotation mechanism to drive the contour-matching robot to rotate horizontally 180°. Finally, the robot vision and motion controller controls the robotic arm 6 to place the special-shaped cigarettes required for the grabbed order on the packaging conveyor line.

[0048] It can be seen that the mobile composite robot used for sorting special-shaped cigarettes can sort special-shaped cigarettes of corresponding sizes according to order instructions, realizing the automated sorting of special-shaped cigarettes, greatly improving the sorting efficiency, reducing the labor burden of workers, and the sorting efficiency can match the speed of the automated warehousing system, thereby improving the efficiency of the entire supply chain.

[0049] In the description of this utility model, it should be noted that the terms "upper" and "lower" and other terms indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A mobile composite robot for sorting special-shaped cigarettes, characterized in that: The invention comprises a mobile chassis trolley (1), a horizontal rotation mechanism, a contour-copying robot, and a robot vision and motion controller; the contour-copying robot is mounted on the mobile chassis trolley (1), and the horizontal rotation mechanism is mounted between the mobile chassis trolley (1) and the contour-copying robot, and is used to drive the contour-copying robot to rotate horizontally; The prosthetic robot comprises a prosthetic robot chest (3), a prosthetic robot neck (4), a prosthetic robot head (5), two robotic arms (6) and at least one camera module; wherein the prosthetic robot chest (3), the prosthetic robot neck (4) and the prosthetic robot head (5) are connected in sequence; The two robotic arms (6) are mounted on the chest (3) of the contour-profiling robot and are used to grab or put down the irregular-shaped cigarettes on the sorting line according to the instructions from the robot's vision and motion controller. The camera module is mounted on the head (5) of the contour-profiling robot and is used to photograph the irregular-shaped cigarettes on the sorting line and transmit the photographs to the robot's vision and motion controller.

2. The mobile composite robot for sorting special-shaped cigarettes according to claim 1, characterized in that: It also includes a lifting mechanism, which is installed between the mobile chassis trolley (1) and the horizontal rotation mechanism and is used to drive the contour-matching robot to move up and down according to instructions.

3. The mobile composite robot for sorting special-shaped cigarettes according to claim 2, characterized in that: The anthropomorphic robot neck (4) comprises a horizontal angle adjustment mechanism, a neck connection block (401) and a pitch angle adjustment mechanism which are connected in sequence; the anthropomorphic robot head (5) is mounted on the pitch angle adjustment mechanism, the pitch angle adjustment mechanism is used to adjust the pitch angle of the anthropomorphic robot head (5) according to instructions, and the horizontal angle adjustment mechanism is used to adjust the horizontal angle of the neck connection block (401) according to instructions.

4. The mobile composite robot for sorting special-shaped cigarettes according to claim 2, characterized in that: The lifting mechanism comprises a lifting column (2), the bottom end of the lifting column (2) is connected to the mobile chassis trolley (1), the top end of the lifting column (2) is installed with a bearing plate (201), and the horizontal rotation mechanism is installed on the bearing plate (201).

5. The mobile composite robot for sorting special-shaped cigarettes according to claim 4, characterized in that: The anthropomorphic robot chest (3) comprises a chest shell (301) and an inner support frame (302) arranged vertically inside the chest shell (301); the horizontal rotation mechanism comprises a drive motor and a reducer mounted on the carrier plate (201), the output end of the reducer being connected to the bottom end of the inner support frame (302), and the output end of the drive motor being connected to the input end of the reducer.

6. The mobile composite robot for sorting special-shaped cigarettes according to claim 3, characterized in that: The horizontal angle adjustment mechanism comprises an adjustment motor, a rotating shaft (402) and a bearing (403); the rotating shaft (402) is vertically arranged at the bottom end of the neck connection block (401); the bearing (403) is mounted on the chest (3) of the anthropomorphic robot and is cooperatively connected to the rotating shaft (402); the adjustment motor is mounted inside the chest (3) of the anthropomorphic robot, and its output end is connected to the bottom end of the rotating shaft (402).

7. The mobile composite robot for sorting special-shaped cigarettes according to claim 6, characterized in that: The pitch angle adjustment mechanism comprises a shaftless motor (404) arranged on the top of the neck connection block (401), the axis of the shaftless motor (404) and the axis of the rotating shaft (402) being perpendicular to each other, the anthropomorphic robot head (5) being connected to the shaftless motor (404), and the shaftless motor (404) being used to drive the anthropomorphic robot head (5) to rotate around its axis.

8. The mobile composite robot for sorting special-shaped cigarettes according to claim 7, characterized in that: Ear connection plates (502) are provided at both ends of the shape-matching robot head (5), a groove adapted to the shaftless motor (404) is formed between the two ear connection plates (502), and an output end of the shaftless motor (404) is connected to one of the ear connection plates (502).

9. The mobile composite robot for sorting special-shaped cigarettes according to claim 1, characterized in that: The robotic arm (6) is a seven-axis robotic arm.

10. The mobile composite robot for sorting special-shaped cigarettes according to claim 1, characterized in that: A dexterous hand is installed at the end of the mechanical arm (6).

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