Cigarette delivery device

Abstract

The utility model relates to piece cigarette warehouse delivery technical field, especially piece cigarette warehouse delivery device, including the temporary storage of cigarette stack warehouse, cigarette stack delivery piece, AGV dolly, cigarette stack buffer store, cigarette stack unstacking placement, cigarette stack unstacking / taking and placing robot, piece cigarette conveying line and piece cigarette loading / stacking conveyor, through the temporary storage of cigarette stack warehouse, cigarette stack delivery piece, AGV dolly, cigarette stack buffer store, cigarette stack unstacking placement, cigarette stack unstacking / taking and placing robot, piece cigarette conveying line and piece cigarette loading / stacking conveyor composition is used for conveying piece cigarette warehouse delivery conveying line, can in the process of conveying piece cigarette in the temporary storage of cigarette stack warehouse to the truck, piece cigarette warehouse delivery device, not only can make flexible regulation and control according to piece cigarette actual transportation demand, need not to dismantle piece cigarette conveying line and reassemble again, to solve the existing piece cigarette warehouse delivery line that erects between piece cigarette warehouse and piece cigarette loading platform because whole conveying line is connected in proper order in series and is made up, this makes the existing conveying line appear the problem that cannot make flexible regulation and control according to actual transportation demand.

Description

Technical Field

[0001] This utility model relates to the field of cigarette pack outbound conveying technology, and in particular to a cigarette pack outbound conveying device. Background Technology

[0002] In the process of transporting stacks of cigarettes temporarily stored in the cigarette storage warehouse to the truck, the process generally involves first using the cigarette lifting and loading machines between each storage rack in the cigarette storage warehouse to transport the high-level cigarette stacks located on the storage racks to the low-level cigarette stack conveyor line. Then, the low-level conveyor line transports the cigarette stacks to the robotic arm destacking station for destacking into individual cigarettes. The cigarettes then continue to be transported by the low-level cigarette stack conveyor line to the cigarette loading platform. Finally, the cigarettes are transported to the truck via the loading conveyor line connected to the cigarette loading platform. Finally, the handling workers who are already in the truck place the imported cigarettes into the truck in sequence, thus completing the process of automatically inputting cigarettes from the cigarette storage warehouse into the truck.

[0003] The above method of setting up a temporary cigarette transport line between the cigarette warehouse (a warehouse for temporarily storing cigarette stacks) and the truck can realize the automatic transport of cigarettes from the cigarette warehouse to the truck. However, in actual use, there are still the following defects: Since the cigarette transport line between the cigarette warehouse (a warehouse for temporarily storing cigarette stacks) and the truck is rigidly connected (the cigarette transport line is rigidly connected: it consists of multiple transport lines connected end to end), if the actual transport requirements of the cigarettes change, the cigarette transport line between the cigarette warehouse (a warehouse for temporarily storing cigarette stacks) and the truck needs to be temporarily dismantled and rebuilt. This not only affects the efficiency of cigarette transport and loading, but also cannot flexibly adjust the actual transport requirements of the cigarettes.

[0004] Therefore, it is necessary to improve and redesign the cigarette pack outbound conveyor system to solve the problem that the existing cigarette pack outbound conveyor line, which is set up between the cigarette pack warehouse and the cigarette pack loading platform, is composed of sequential series connections (i.e., the entire conveyor line is rigidly connected), which makes it impossible to flexibly adjust the existing conveyor line according to actual transportation needs. Summary of the Invention

[0005] The purpose of this utility model is to propose a cigarette pack outbound conveying device to solve the problem that the existing cigarette pack outbound conveying line, which is set up between the cigarette pack warehouse and the cigarette pack loading platform, is composed of sequential series connections (i.e., the entire conveying line is rigidly connected), which makes it impossible to flexibly adjust according to actual transportation needs.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] This application proposes, in its first aspect, a cigarette pack outbound conveying device, including...

[0008] The temporary storage warehouse for tobacco stacks includes temporary storage racks for tobacco stacks and tobacco stack retrieval robots. Multiple temporary storage racks for tobacco stacks are connected in sequence, and tobacco stack retrieval robots are configured in the areas between the temporary storage racks. Each temporary storage rack for tobacco stacks has multiple temporary storage compartments for tobacco stacks connected in sequence. Each temporary storage compartment for tobacco stacks has a roller conveyor II at its bottom. The roller conveyor II works in conjunction with the tobacco stack retrieval robots. The tobacco stack retrieval robots are configured to output the tobacco stacks temporarily stored in the temporary storage compartments for tobacco stacks that are output through the roller conveyor II to the temporary storage racks for tobacco stacks.

[0009] The stack conveyor system consists of two parts: a stack conveyor 1 and a stack conveyor 2. The discharge end of stack conveyor 1 is connected to the inlet end of stack conveyor 2. The conveying direction of stack conveyor 1 is perpendicular to that of stack conveyor 2. Stack conveyor 1 is closer to the stack storage rack. Stack conveyor 1 and stack conveyor 2 work together to convey the stacks input by the stack picking and placing robot.

[0010] The AGV trolley is configured to extract the tobacco stacks from the discharge end of the second tobacco stack conveyor in the tobacco stack conveyor and transport the extracted tobacco stacks.

[0011] The tobacco stack buffer warehouse has multiple tobacco stack buffer racks, which are configured to buffer some of the tobacco stacks transported by AGV vehicles.

[0012] The stacking and placement position has multiple stacking racks. The stacking racks in the stacking and placement position are used to place stacks of tobacco picked up by another part of the AGV trolley from the stacking buffer rack or from the discharge end of the stacking conveyor in the stacking conveyor.

[0013] A tobacco stack destacking / retrieving robot is used to destacking tobacco stacks placed on the tobacco stack racks and retrieving tobacco items after destacking.

[0014] The cigarette conveyor line includes a cigarette conveyor line 1 and a cigarette conveyor line 2. The feeding end of cigarette conveyor line 1 is connected to the unloading end of the cigarette stack destacking / picking robot, and the feeding end of cigarette conveyor line 2 is connected to the discharge end of cigarette conveyor line 1. Cigarette conveyor line 1 is used to input the cigarettes after they have been destacking by the cigarette stack destacking / picking robot into cigarette conveyor line 2. The cigarettes input into cigarette conveyor line 2 are then conveyed through cigarette conveyor line 2.

[0015] The cigarette loading / stacking conveyor includes a telescopic mobile conveyor and a cigarette unloading and stacking robot; the feed end of the telescopic mobile conveyor is connected to the discharge end of the cigarette conveying line, and the discharge end of the telescopic mobile conveyor is connected to the cigarette unloading and stacking robot.

[0016] Preferably, the tobacco stack handling robot includes a conveyor track, a conveyor frame, first traveling wheels, a support column, a first linear slide module, a tobacco stack placement rack, and a roller conveyor. The conveyor track is fixedly laid on the ground in the area between the tobacco stack temporary storage racks. The conveyor frame is located above the conveyor track. The two ends of the conveyor frame are rotatably connected to the first traveling wheels, which slide in cooperation with the conveyor track. A motor connected to the first traveling wheel is also provided on the side wall of one of the conveyor frames. The connecting plates connected to the outer walls of both ends of the conveyor frame are rotatably connected to the second traveling wheels, which slide in cooperation with the grooves on the side walls of the conveyor track. The top of the conveyor frame is connected to the bottom of the support column. One side wall of the support column is connected to the outer wall of the first linear slide module. The moving end of the first linear slide module is connected to the tobacco stack placement rack. A roller conveyor is provided on the top of the tobacco stack placement rack. The roller conveyor and a second roller conveyor are used in conjunction. The second roller conveyor is located in the tobacco stack temporary storage interval.

[0017] Preferably, the roller conveyor one is also used in conjunction with the stack conveyor one. The roller conveyor one, the stack conveyor one and the stack conveyor two are all roller conveyors. The discharge end of the stack conveyor two has a clearance space one for the ACV trolley to enter. The ACV trolley is used in conjunction with the stack conveyor two, the stack buffer storage has multiple stack buffer racks, and the stack unpacking and placement position has multiple stack racks.

[0018] Preferably, multiple stack buffer racks are arranged in rows to form multiple stack buffer groups. Adjacent stack buffer racks in each stack buffer group are interconnected, and a passageway for AGV trolleys is defined between adjacent stack buffer groups. Each stack buffer rack in each stack buffer group has a stack retrieval passageway for AGV trolleys to enter. There are at least five rows in the stack buffer group, and at least eight stack buffer racks in each stack buffer group. Each stack buffer rack is connected to a partition plate, which divides each stack buffer rack into a stack temporary storage area 1 and a stack temporary storage area 2.

[0019] Preferably, each smokestack buffer rack has a supporting frame, and the supporting frames of two adjacent smokestack buffer racks are connected by connecting struts. At least two connecting struts are provided between the supporting frames of two adjacent smokestack buffer racks. Each smokestack buffer rack has protective wings, which are inclined along the placement surface of each smokestack buffer rack. The two protective wings define a placement area for smokestacks. A partition plate is connected between the two protective wings, and the partition plate divides the placement area for smokestacks into smokestack temporary storage area one and smokestack temporary storage area two.

[0020] Preferably, at least three of the tobacco stack placement racks are arranged around the tobacco stack destacking / pickup robot, each tobacco stack placement rack has a second tobacco stack placement passageway at its feeding end for the AGV trolley to enter, and each tobacco stack placement rack has a limit baffle connected to its discharging end.

[0021] Preferably, the tobacco stack unpacking / placing robot includes a support base, a robotic arm, a connecting base, and suction cups; the support base is surrounded by three tobacco stack placement racks, the top of the support base is connected to the fixed end of the robotic arm, the execution end of the robotic arm is connected to the side wall of the connecting base, and multiple suction cups are connected to one side wall of the connecting base, the number of suction cups being matched with the number of tobacco pieces stacked in each layer of the tobacco stack.

[0022] Preferably, the cigarette conveying line one has an L-shaped structure and has a first conveying section and a second conveying section connected in sequence. The feeding end of the first conveying section is connected to the suction cup discharging end. The cigarette appearance identification rejection parts are set on the second conveying section. A roller conveyor is also provided at the connection between the discharge end of the second conveying section and the feeding end of the second cigarette conveying line. The conveying direction of the roller conveyor is consistent with the conveying direction of the second cigarette conveying line. The conveying direction of the roller conveyor is arranged perpendicular to the conveying direction of the second conveying section.

[0023] Preferably, the cigarette appearance recognition and rejection device includes a supporting rectangular frame, a cigarette appearance recognition camera, a second linear slide module, and a cigarette rejection pusher. The supporting rectangular frame is mounted on the second conveying section, and the conveying surface of the second conveying section passes directly below the supporting rectangular frame. A cigarette appearance recognition camera is connected to the inner wall of the supporting rectangular frame. The cigarette appearance recognition camera is electrically connected to a motor in the second linear slide module via a controller. The second linear slide module is located downstream of the cigarette appearance recognition camera. The fixed end of the second linear slide module is connected to a stringer connected to the inner wall of the supporting rectangular frame. The movable end of the second linear slide module is connected to the cigarette rejection pusher. The cigarette rejection pusher is located above the conveying surface of the second conveying section and corresponds to a rejection port opened on the second conveying section. The rejection port is connected to the feed end of the cigarette rejection conveyor line.

[0024] Preferably, the cigarette loading / stacking conveyor also includes a support base frame, a cigarette telescopic conveyor lifting angle drive component, and a cigarette transition conveyor; the support base frame is located below the cigarette telescopic conveyor, and two support columns connected to the first end of the support base frame are rotatably connected to the outer wall of the fixed conveyor frame in the cigarette telescopic conveyor, respectively; the connecting end of the cigarette telescopic conveyor lifting angle drive component is connected to the connecting seat connected to the second end of the support base frame, respectively; the driving end of the cigarette telescopic conveyor lifting angle drive component is connected to the outer wall of the fixed conveyor frame in the cigarette telescopic conveyor at the second end of the support base frame; the first end of the cigarette transition conveyor is rotatably connected to the telescopic end of the cigarette telescopic conveyor in the cigarette telescopic conveyor, and the second end of the cigarette transition conveyor is rotatably connected to the cigarette unloading and stacking robot.

[0025] Preferably, the cigarette unloading and stacking robot includes a third cigarette conveyor line, a connecting trolley, an automatic cigarette lifter, and an automatic cigarette unloading stacker; the second end of the cigarette transition conveyor is rotatably connected to the inlet end of the third cigarette conveyor line, the third cigarette conveyor line is set on the top of the connecting trolley, and the automatic cigarette lifter is connected to the outer wall of the connecting trolley away from the cigarette transition conveyor; the outlet end of the third cigarette conveyor line is connected to the inlet end of the automatic cigarette lifter, and the moving end of the automatic cigarette lifter is connected to the automatic cigarette unloading stacker.

[0026] Preferably, the automatic cigarette lifting device includes a third linear slide module, a first moving plate, and a fourth linear slide module; the outer walls of the two third linear slide modules are respectively connected to the outer wall of the trolley away from the cigarette transfer conveyor, and the moving end of each third linear slide module is respectively connected to one side wall of the first moving plate, and two fourth linear slide modules are respectively connected to the other side wall of the first moving plate.

[0027] Preferably, the automatic cigarette unloading stacker includes a second moving plate, a fifth linear slide module, a cigarette stack placement rack, a sixth linear slide module, a cigarette moving plate, and a cigarette stack conveyor. One side wall of the second moving plate is connected to the moving ends of two fourth linear slide modules, and the other side wall of the second moving plate is connected to the outer side wall of each fifth linear slide module. The moving end of each fifth linear slide module is connected to the side wall of the cigarette stack placement rack. The bottom of the groove of the cigarette stack placement rack is connected to the bottom of the sixth linear slide module. The moving end of the sixth linear slide module is connected to the bottom of the cigarette moving plate. A cigarette stack conveyor, which is a roller conveyor, is provided on the top of the cigarette moving plate.

[0028] Preferably, the automatic cigarette unloading stacker also includes a cigarette attitude flipping component, which includes a gantry, a first servo motor, a first cylinder, a cigarette suction cup, a second servo motor, a second cylinder, and a clamping plate. The gantry is erected and connected to the cigarette stack placement frame. The cigarette moving plate and the cigarette stack conveyor both pass through the gantry. The bottom of the gantry is connected to the fixed end of the first servo motor. The output end of the first servo motor is connected to the fixed end of the first cylinder through a first connecting seat. The driving end of the first cylinder is connected to the cigarette suction cup seat. The bottom of the cigarette suction cup seat is connected to the cigarette suction cup. Below the cigarette suction cup are two clamping plates. The clamping surfaces of the two clamping plates are covered with clamping pads. One side wall of each clamping plate is connected to the driving end of each second cylinder. The fixed end of each second cylinder is connected to the output shaft of the second servo motor through a second connecting seat. The fixed end of each second servo motor is connected to the two inner side walls of the gantry.

[0029] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0030] 1. This utility model comprises a cigarette stack temporary storage warehouse, a cigarette stack conveyor, an AGV trolley, a cigarette stack buffer warehouse, a cigarette stack unpacking and placement position, a cigarette stack unpacking / picking and placing robot, a cigarette pack conveyor line, and a cigarette pack loading / stacking conveyor for transporting cigarette packs out of the warehouse. During the process of transporting cigarette packs from the cigarette stack temporary storage warehouse to the truck, this cigarette pack outbound conveyor device can not only be flexibly adjusted according to the actual transportation needs of the cigarette packs, but also does not require dismantling and reassembling the cigarette pack conveyor line. This solves the problem that existing cigarette pack outbound conveyor lines, which are erected between the cigarette pack warehouse and the cigarette pack loading platform, are composed of sequential series connections (i.e., the entire conveyor line is rigidly connected), which makes it impossible to flexibly adjust according to actual transportation needs.

[0031] 2. This utility model arranges a tobacco stack buffer warehouse between the tobacco stack temporary storage warehouse and the tobacco stack unpacking / retrieving robot. Based on the efficiency of the tobacco stack unpacking / retrieving robot in unpacking tobacco pieces, it controls a portion of the ACV trolleys to transport the retrieved tobacco stacks to the tobacco stack buffer placement rack and place them on the tobacco stack buffer placement rack for temporary storage; another portion of the ACV trolleys transport the retrieved tobacco stacks to the tobacco stack placement rack and place them on the tobacco stack placement rack to await unpacking; and yet another portion of the ACV trolleys travel to the tobacco stack buffer placement rack to retrieve the tobacco stacks pre-stacked on the tobacco stack buffer placement rack and transport the retrieved tobacco stacks to the tobacco stack placement rack and place them on the tobacco stack placement rack to await unpacking. This matches the rhythm of the tobacco stack unpacking / retrieving robot in unpacking and retrieving tobacco pieces, further alleviating the burden on the tobacco stack unpacking / retrieving robot in unpacking and retrieving tobacco pieces, and indirectly ensuring that the tobacco piece outbound conveying device can operate efficiently and stably.

[0032] 3. This utility model, by arranging at least three tobacco stack placement racks around the tobacco stack unpacking / retrieving robot, enables the three tobacco stack placement racks to match the robot's rhythm during the unpacking and retrieval of tobacco stacks on the placement racks, thereby indirectly improving the speed of the tobacco stack unpacking / retrieving robot in unpacking and retrieving tobacco stacks on the placement racks. Attached Figure Description

[0033] Figure 1 This is a top view of the structure of this utility model.

[0034] Figure 2 This is an axonometric view of the integrated smoke stack temporary storage warehouse and smoke stack conveyor in the structure of this utility model.

[0035] Figure 3 This utility model Figure 2 A magnified view of part A in the middle.

[0036] Figure 4 This is an axonometric view of the structure of this utility model.

[0037] Figure 5 This is a first-position axonometric view of the smoke stack picking and placing robot in the structure of this utility model.

[0038] Figure 6 This utility model Figure 5 A magnified view of part B in the middle.

[0039] Figure 7 This is a second-position axial view of the smoke stack picking and placing robot in the figure of this utility model.

[0040] Figure 8 This utility model Figure 7 Enlarged view of part C in the middle

[0041] Figure 9 This is a second-position axial view of the smoke stack picking and placing robot in the structure of this utility model.

[0042] Figure 10 This is a top view schematic diagram of the integrated structure of the present utility model, which includes a temporary storage warehouse for tobacco stacks, a tobacco stack conveyor, a tobacco stack buffer warehouse, a tobacco stack unpacking and placement position, a tobacco stack placement rack, a tobacco stack unpacking / retrieving robot, a tobacco stack conveying line, and a tobacco stack conveying line.

[0043] Figure 11 This is a side view of the smoke stack conveyor in the structure of this utility model.

[0044] Figure 12 This is an isometric view of the smoke stack buffer in the structure of this utility model.

[0045] Figure 13 This is a schematic diagram of the integration of two smoke stack buffer placement racks in the structure of this utility model.

[0046] Figure 14 This is an isometric view of the integrated tobacco stack unpacking and placement position, tobacco stack placement rack, and tobacco stack unpacking / removal robot in the structure of this utility model.

[0047] Figure 15 This is a side view of the smoke stack placement frame in the structure of this utility model.

[0048] Figure 16 This is an isometric view of the tobacco stack unpacking / removal robot in the structure of this utility model.

[0049] Figure 17 This is an isometric view of the integrated structure of the cigarette stack unpacking and placement position, the cigarette stack placement rack, the cigarette stack unpacking / removal robot, the cigarette conveying line one, and the cigarette conveying line two in this utility model.

[0050] Figure 18 This is an isometric schematic diagram of the integrated cigarette conveying line and cigarette appearance identification and rejection component in the structure of this utility model.

[0051] Figure 19 This is a side view of the cigarette loading / stacking conveyor in the structure of this utility model.

[0052] Figure 20 This is a first-position axonometric view of the smoke stack picking and placing robot in the structure of this utility model.

[0053] Figure 21 This is a second-position axial view of the smoke stack picking and placing robot in the structure of this utility model.

[0054] Figure 22 This is a schematic diagram of the axial side of the component that flips the smoke posture in the structure of this utility model.

[0055] In the diagram, 1- Temporary storage warehouse for tobacco stacks, 2- Temporary storage rack for tobacco stacks, 3- Tobacco stack retrieval robot, 4- Temporary storage interval for tobacco stacks, 5- Roller conveyor II, 7- Tobacco stack conveyor, 8- Tobacco stack conveyor I, 9- Tobacco stack conveyor II, 10- AGV trolley, 11- Tobacco stack buffer warehouse, 12- Tobacco stack buffer rack, 13- Tobacco stack unpacking and placement position, 14- Tobacco stack placement rack, 15- Tobacco stack unpacking / retrieval robot, 16- Tobacco stack conveyor line, 17- Tobacco stack conveyor line I, 18- Tobacco stack conveyor line II, 19- Tobacco stack loading / stacking conveyor, 20- Telescopic mobile conveyor, 21- Tobacco stacking and unloading robot, 23-Conveying track, 24-Conveying frame, 25-First traveling wheel, 26-Supporting column, 27-First linear slide module, 28-Tobacco stack placement plate, 29-Roller conveyor one, 30-Groove, 31-Second traveling wheel, 311-Tobacco stack buffer placement group, 32-Passageway, 33-Tobacco stack retrieval passageway one, 34-Divider plate, 35-Tobacco stack temporary storage area one, 36-Tobacco stack temporary storage area two, 37-Supporting frame, 38-Connecting stringer, 39-Protective wing, 40-Placement surface, 41-Placement area, 42-Tobacco stack Placement of passageway two, 43-limiting baffle, 44-support base, 45-robotic arm, 46-suction cup base, 47-suction cup, 48-first conveyor section, 49-second conveyor section, 50-cigarette appearance recognition and rejection component, 51-roller conveyor, 52-supporting rectangular frame, 53-cigarette appearance recognition camera, 56-second linear slide module, 57-cigarette rejection push plate, 58-rejection port, 59-cigarette rejection conveyor line, 60-supporting base frame, 61-cigarette telescopic conveyor lifting angle drive component, 62-cigarette transition conveyor, 63-fixed conveyor frame. 64-Connector, 66-Automatic cigarette lifter, 67-Automatic cigarette unloading stacker, 68-Third linear slide module, 69-First moving plate, 70-Fourth linear slide module, 71-Second moving plate, 72-Fifth linear slide module, 73-Cigarette stack placement platform, 74-Sixth linear slide module, 75-Cigarette moving plate, 76-Cigarette stack conveyor, 77-Cigarette posture flipping component, 78-First cylinder, 79-Cigarette suction cup, 80-Second servo motor, 81-Second cylinder, 82-Clamping plate, 83-Support column, 84-Cigarette conveying line three, 85-First cylinder, 86-Cigarette suction cup, 87-Leaving space one. Detailed Implementation

[0056] like Figure 1-22 As shown, to make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0057] Example

[0058] The existing method of setting up a cigarette conveyor line between the cigarette warehouse (a warehouse for temporarily storing cigarette stacks) and the truck can automatically transport cigarettes from the warehouse to the truck. However, it has the following drawbacks in actual use: Since the cigarette conveyor line between the warehouse and the truck is rigidly connected (the cigarette conveyor line is a rigid connection: multiple conveyor lines are connected end to end), if the actual cigarette transport requirements change, the cigarette conveyor line between the warehouse and the truck needs to be temporarily dismantled and rebuilt. This not only affects the efficiency of cigarette transport and loading, but also prevents flexible adjustment based on the actual transport requirements.

[0059] Therefore, this application proposes a cigarette pack outbound conveying device to solve the problem that the existing cigarette pack outbound conveying line, which is erected between the cigarette pack warehouse and the cigarette pack loading platform, is composed of sequential series connections (i.e., the entire conveying line is rigidly connected), which makes it impossible to flexibly adjust according to actual transportation needs.

[0060] Specifically, in the first aspect, this application proposes a cigarette pack outbound conveying device; please refer to [link to relevant documentation]. Figure 1 , Figure 2 , Figure 3 and Figure 4A cigarette pack outbound conveying device includes a cigarette stack temporary storage warehouse 1, a cigarette stack conveyor 7, an AGV trolley 10, a cigarette stack buffer warehouse 11, a cigarette stack destacking and placement position 13, a cigarette stack destacking / picking and placing robot 15, a cigarette pack conveying line 16, and a cigarette pack loading / stacking conveyor 19. The cigarette stack temporary storage warehouse 1 includes cigarette stack temporary storage racks 2 and cigarette stack picking and placing robots 3. Multiple cigarette stack temporary storage racks 2 are connected sequentially, and cigarette stack picking and placing robots 3 are respectively arranged in the areas between the cigarette stack temporary storage racks. Each cigarette stack temporary storage rack 2 has multiple connected cigarette stack temporary storage intervals 4. A roller conveyor 2 5 is arranged at the bottom of the cigarette stack temporary storage interval 4. The roller conveyor 2 5 works in conjunction with the cigarette stack picking and placing robots 3. The cigarette stack picking and placing robots 3 are configured to place cigarette packs in the cigarette stack temporary storage interval 4. Furthermore, the tobacco stacks output from the roller conveyor 25 are placed on the temporary storage rack 2; each tobacco stack conveyor 7 corresponds to each temporary storage rack 2. The tobacco stack conveyor 7 includes a tobacco stack conveyor 8 and a tobacco stack conveyor 9; the discharge end of the tobacco stack conveyor 8 is connected to the feed end of the tobacco stack conveyor 9, and the conveying direction of the tobacco stack conveyor 8 is perpendicular to the conveying direction of the tobacco stack conveyor 9. The tobacco stack conveyor 8 is closer to the temporary storage rack 2. The tobacco stack conveyor 8 and the tobacco stack conveyor 9 in the tobacco stack conveyor 7 work together to convey the tobacco stacks input by the tobacco stack picking and placing robot 3; the AGV trolley 10 is configured to pick up the tobacco stacks delivered to the discharge end of the tobacco stack conveyor 9 in the tobacco stack conveyor 7 and transport the transported tobacco stacks. The tobacco stack buffer 11 has multiple tobacco stack buffer racks 12, which are configured to buffer some of the tobacco stacks transported by AGV trolleys 10; the tobacco stack unpacking and placement position 13 has multiple tobacco stack placement racks 14, which are used to place some of the tobacco stacks extracted by AGV trolleys 10 from the tobacco stack buffer racks 14 or from the discharge end of the tobacco stack conveyor 9 in the tobacco stack conveyor 7; the multiple tobacco stack placement racks 14 surround the tobacco stack unpacking / picking robot 15, which is used to unpack the tobacco stacks placed on the tobacco stack placement racks 14 and pick up and place the unpacked tobacco stacks; the tobacco stack conveying line 16 includes The cigarette conveyor line 17 and the cigarette conveyor line 2 are configured as follows: the feeding end of the cigarette conveyor line 17 is connected to the unloading end of the cigarette stack destacking / picking robot 15, and the feeding end of the cigarette conveyor line 218 is connected to the discharge end of the cigarette conveyor line 17. The cigarette conveyor line 17 in the cigarette conveyor line 16 is used to input the cigarettes after they have been destacking by the cigarette stack destacking / picking robot 15 into the cigarette conveyor line 218. The cigarettes input into the cigarette conveyor line 218 are then conveyed again through the cigarette conveyor line 218. The cigarette loading / stacking conveyor 19 includes a telescopic mobile conveyor 20 and a cigarette unloading and stacking robot 21. The feeding end of the telescopic mobile conveyor 20 is connected to the discharge end of the cigarette conveyor line 218, and the discharge end of the telescopic mobile conveyor 20 is connected to the cigarette unloading and stacking robot 21.

[0061] In practical applications, during the process of transporting cigarettes from the temporary storage warehouse to the truck, the cigarette stack picking and placing robot 3 can be controlled to move along the area between the temporary storage racks 2 to the position where the cigarette stack needs to be picked up from the temporary storage interval 4 within the temporary storage rack 2. Then, the roller conveyor 2 5 within the temporary storage interval 4 is controlled to input the cigarette stack on the roller conveyor 2 5 into the cigarette stack picking and placing robot 3 for temporary storage. When the cigarette stack is input into the cigarette stack picking and placing robot 3, the cigarette stack picking and placing robot 3 carrying the cigarette stack is first controlled to move along the area between the temporary storage racks 2 and drive out of the temporary storage racks 2 to the feeding end of the cigarette stack conveyor 1 8. The tobacco stack handling robot 3 stops at the discharge end connection position, and then controls the tobacco stack handling robot 3 to input the pre-placed tobacco stack into the tobacco stack conveyor 8. Once the tobacco stack is input into the tobacco stack conveyor 8, the first and second tobacco stack conveyors 8 and 9 are controlled to transport the input tobacco stack to the discharge end of the second tobacco stack conveyor 9 and then stop. Then, the AGV trolley 10 is controlled to travel to the discharge end of the second tobacco stack conveyor 9 and retrieve the tobacco stack that was pre-transported there. After the AGV trolley 10 retrieves the tobacco stack from the discharge end of the second tobacco stack conveyor 9, based on the efficiency of the tobacco stack dismantling / handling robot 15, another robot is controlled... Some AGVs 10 transport the removed tobacco stacks to the tobacco stack buffer rack 12 and place them on the rack for temporary storage. Other AGVs 10 transport the removed tobacco stacks to the tobacco stack placement rack 14 and place them on the rack to await unpacking. Still other AGVs 10 travel to the tobacco stack buffer rack 12, retrieve the tobacco stacks pre-piled on it, and transport them to the tobacco stack placement rack 14 to await unpacking. Once the tobacco stacks are transported to the rack 14, the tobacco stack unpacking / pickup robot 15 is controlled to place them on the rack. The cigarettes in each layer of the cigarette stack on the cigarette stack placement rack 14 are sucked up and placed at the feeding end of the cigarette conveyor line 17. Then, the cigarette conveyor line 17, roller conveyor 51 and cigarette conveyor line 28 are controlled to transport the input cigarettes to the telescopic mobile conveyor 20. After the cigarettes are transported to the telescopic mobile conveyor 20, the telescopic mobile conveyor 20 will transport the cigarettes to the cigarette unloading and stacking robot 21 that has been placed in the carriage. Then, the cigarettes transported to the cigarette unloading and stacking robot 21 will be stacked in the carriage in sequence. This process is repeated until the carriage is full of cigarettes.The system comprises a temporary storage warehouse 1, a stack conveyor 7, an AGV trolley 10, a stack buffer warehouse 11, a stack unpacking and placement position 13, a stack unpacking / picking robot 15, a cigarette pack conveyor line 16, and a cigarette pack loading / stacking conveyor 19, forming a conveyor line for transporting cigarette packs out of the warehouse. This conveyor system allows for flexible adjustment based on actual transportation needs during the process of transporting cigarette packs from the temporary storage warehouse to the truck. It eliminates the need to dismantle and reassemble the cigarette pack conveyor line, thus solving the problem that existing cigarette pack outward conveyor lines, which are connected in series (i.e., the entire conveyor line is rigidly connected), cannot be flexibly adjusted according to actual transportation needs.

[0062] It should be noted that multiple temporary storage racks 2 are connected in sequence, that is, the tops of adjacent temporary storage racks 2 are connected by trusses, and the area defined below the top of adjacent temporary storage racks 2 is the area that accommodates the temporary storage robot 3.

[0063] Please see Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 The tobacco stack retrieval robot 3, used to retrieve tobacco stacks temporarily stored in the tobacco stack temporary storage warehouse 1, includes a conveyor track 23, a conveyor frame 24, first traveling wheels 25, a support column 26, a first linear slide module 27, a tobacco stack placement plate 28, and a roller conveyor 29. The conveyor track 23 is fixedly laid on the ground in the area between the tobacco stack temporary storage racks 2. The conveyor frame 24 is located above the conveyor track 23. The two ends of the conveyor frame 24 are rotatably connected to the first traveling wheels 25, which slide in cooperation with the conveyor track 23. One side wall of the conveyor frame 24 is also provided with a roller conveyor 25 that slides in cooperation with the first traveling wheels 26. The motor connected to 5 is connected to the connecting plate at both ends of the conveyor frame 24. The second traveling wheel 31 is rotatably connected to the connecting plate and slides with the groove 30 on the side wall of the conveyor track 23. The top of the conveyor frame 24 is connected to the bottom of the support column 26. One side wall of the support column 26 is connected to the outer side wall of the first linear slide module 27. The moving end of the first linear slide module 27 is connected to the tobacco stack placement plate 28. The top of the tobacco stack placement plate 28 is provided with a roller conveyor 29. The roller conveyor 29 is used in conjunction with the roller conveyor 5. The roller conveyor 5 is located in the tobacco stack temporary storage interval 4.

[0064] In practical application, when the stack picking robot 3 retrieves stacks temporarily stored in the stack storage 1, it first drives the motor connected to the first traveling wheel 25 to move along the conveyor track 23 within the area between the stack storage racks 2 to the position in the stack storage 1 where the stack to be retrieved is located. Then, it drives the first linear slide module 27 to move the stack placement plate 28 connected to the moving end of the first linear slide module 27 and the stack on the roller conveyor 29 to the stack storage interval 4 corresponding to the stack to be retrieved. The roller conveyor 29 and the roller conveyor in the stack storage interval 4 corresponding to the stack to be retrieved are then moved together. The two devices 5 are at the same height and connected to each other. Then, the roller conveyor 25 in the temporary storage interval 4 is driven to move. The roller conveyor 25 transports the temporarily stored tobacco to the roller conveyor 29. At this time, the first linear slide module 27 is driven to move the tobacco stack placement plate 28 connected to the moving end of the first linear slide module 27 and the roller conveyor 29 down to near the ground. Then, the motor connected to the first walking wheel 25 is driven to move, so that the tobacco stack picking and placing robot 3 drives out of the temporary storage warehouse 1 along the conveyor track 23 in the area between the temporary storage racks 2, so as to complete the process of picking out the temporarily stored tobacco stacks in the temporary storage warehouse 1.

[0065] It should be noted that a motor connected to the first traveling wheel 25 is also provided on the side wall of one of the conveyor frames 24. That is, the motor is connected to the end side wall of one of the conveyor frames 24, the motor output shaft is rotatably connected to the side wall of one of the conveyor frames 24, the motor output shaft is connected to one end of the shaft of the first traveling wheel 25, and the shaft of the first traveling wheel 25 is rotatably connected to the conveyor frame 24.

[0066] It should be noted that the connecting plates connected to the outer walls at both ends of the conveyor frame 24 are respectively rotatably connected to the second traveling wheels 31 that slide in cooperation with the grooves 30 on the side walls of the conveyor track 23. That is, two connecting plates are respectively connected to the outer walls at both ends of the conveyor frame 24. The two connecting plates are located on both sides of the first traveling wheel 25. The bottom of the two connecting plates is respectively rotatably connected to the rotating shaft. The rotating shaft is connected to the second traveling wheel 31. The second traveling wheel 31 slides in cooperation with the grooves 30 on the side walls of the conveyor track 23. More precisely, the second traveling wheel 31 rolls in cooperation with the grooves 30 on the side walls of the conveyor track 23. The second traveling wheel 31 is located below the first traveling wheel 25.

[0067] Please see Figure 10 and Figure 11The roller conveyor 29 used to remove the tobacco stacks is also used in conjunction with the tobacco stack conveyor 8. The roller conveyor 29, the tobacco stack conveyor 8 and the tobacco stack conveyor 9 are all roller conveyors. The discharge end of the tobacco stack conveyor 9 has a clearance space 87 for the AGV trolley 10 to enter. The AGV trolley 10 is used in conjunction with the multiple tobacco stack buffer racks 12 of the tobacco stack buffer warehouse 11 and the multiple tobacco stack racks 14 of the tobacco stack destacking and placement position 13.

[0068] In practical application, when roller conveyor 29 conveys the tobacco to the tobacco stack conveyor 8, the tobacco stack conveyor 8 will continue to convey the tobacco stack input by roller conveyor 29 to the tobacco stack conveyor 29. After being conveyed to the discharge end of the tobacco stack conveyor 29, the limit sensor at that point will detect it. The limit sensor will control the motor in the tobacco stack conveyor 8 to stop through the controller 4, indirectly causing the tobacco stack that needs to be dismantled to stop at the discharge end of the tobacco stack conveyor 29. Then, the ACV trolley 10 enters the discharge end of the tobacco stack conveyor 29 through the clearance space 87 provided at the discharge end of the tobacco stack conveyor 29 and picks up the tobacco stack at the discharge end of the tobacco stack conveyor 29.

[0069] It should be noted that, in order to ensure that the stacks of tobacco transported by the stack handling robot 3 to the stack conveyor 8 can be smoothly transported to the stack conveyor 9 connected to the stack conveyor 8, an auxiliary pusher for stacks is provided on the side wall of the stack conveyor 8 near the stack temporary storage rack 2. The auxiliary pusher for stacks includes a cylinder and a pusher plate. The fixed end of the cylinder is connected to the side wall of the stack conveyor 8 near the stack temporary storage rack 2, and the driving end of the cylinder is connected to the pusher plate. The pusher plate faces the conveying area of ​​the stack conveyor 8 and is parallel to the stack conveyor 9. That is, when the stack handling robot 3 transports the stacks of tobacco to the stack conveyor 8, the cylinder will drive the pusher plate to push the stacks of tobacco in the stack conveyor 8 into the stack conveyor 9.

[0070] Please see Figure 12 and Figure 13Multiple stack buffer racks 12 for buffering stacks are arranged in rows to form multiple stack buffer groups 311. Adjacent stack buffer racks 12 in each stack buffer group 311 are connected to each other, and a passageway 32 for AGV trolley 10 to pass through is defined between adjacent stack buffer groups 311. Each stack buffer rack 12 in each stack buffer group 311 has a stack retrieval passageway 33 for AGV trolley 10 to enter. The stack buffer groups 311 have at least five rows, and each stack buffer group 311 has at least eight stack buffer racks 12. Each stack buffer rack 12 is connected to a partition plate 34, which divides each stack buffer rack 12 into a stack temporary storage area 35 and a stack temporary storage area 36. Specifically, each smokestack buffer rack 12 used for buffering smokestacks has a support frame 37. The support frames 37 of two adjacent smokestack buffer racks 12 are connected by connecting stringers 38. At least two connecting stringers 38 are provided between the support frames 37 of two adjacent smokestack buffer racks 12. Each smokestack buffer rack 12 has protective wings 39. The protective wings 39 are inclined along the placement surface 40 of each smokestack buffer rack 12. The two protective wings 39 define a placement area 41 for placing smokestacks. A partition plate 34 is connected between the two protective wings 39. The partition plate 34 divides the placement area for placing smokestacks into a smokestack temporary placement area 1 35 and a smokestack temporary placement area 2 36.

[0071] In practical applications, when the stacks are conveyed from the stack conveyor 29, the conveyed stacks can be placed in the stack buffer area 15 and stack buffer area 26 in the stack buffer placement rack 12 to relieve the pressure on the stack dismantling / removal robot 15.

[0072] Please see Figure 14 and Figure 15 To match the destacking / removal cycle of the tobacco stack destacking / removal robot 15, at least three tobacco stack placement racks 14 are arranged around the tobacco stack destacking / removal robot 15. Each tobacco stack placement rack 14 has a tobacco stack placement passageway 42 at its feeding end for the AGV trolley 10 to enter, and each tobacco stack placement rack 42 has a limit baffle 43 connected to its discharging end.

[0073] In practical applications, during the process of the tobacco stack destacking / retrieving robot 15 destacking the tobacco stacks on the tobacco stack placement rack 12, since at least three tobacco stack placement racks 14 are arranged around the tobacco stack destacking / retrieving robot 15, the tobacco stack destacking / retrieving robot 15 needs to destacking the tobacco stacks on three tobacco stack placement racks 14 to meet the efficiency and cycle time of the tobacco stack destacking / retrieving robot 15; at the same time, each tobacco stack placement rack 14 has a tobacco stack placement passageway 42 at the feeding end for the AGV trolley 10 to enter, so that the AGV trolley can enter the feeding end of the tobacco stack placement rack 14 and place the tobacco stack on the tobacco stack placement rack 14; in addition, by connecting a limit baffle 43 to the discharge end of each tobacco stack placement rack 42, the situation of the tobacco stack sliding out from the other end of the tobacco stack placement rack 14 is prevented.

[0074] Please see Figure 14 and Figure 16 A stacking / retrieving robot 15 for stacking and retrieving cigarette packs includes a support base 44, a robotic arm 45, a suction cup base 46, and suction cups 47. The support base 44 is surrounded by three stacking racks 12. The top of the support base 44 is connected to the fixed end of the robotic arm 45, and the execution end of the robotic arm 45 is connected to the side wall of the suction cup base 46. Multiple suction cups 47 are connected to one side wall of the suction cup base 46. The number of suction cups 47 matches the number of cigarette packs stacked in each layer of the stack. The multiple suction cups 47 are flush with each other in the same plane.

[0075] In practical applications, when the tobacco stack destacking / removal robot 15 destackings tobacco stacks, it can drive the robotic arm 45 to move the suction cups on the suction cup seat 46 to the tobacco stack to be destacking, and make the multiple suction cups on the suction cup seat 46 adsorb the corresponding tobacco items in the tobacco stack. After all the tobacco items in the tobacco stack have been adsorbed, the robotic arm 45 is controlled to move the suction cups with multiple tobacco items to the feeding end of the tobacco item conveying line 17, and then the multiple tobacco item suction cups are controlled to put down the adsorbed tobacco items in sequence to improve the efficiency of the tobacco stack destacking / removal robot 15 in destacking tobacco stacks.

[0076] It should be noted that the suction cups of multiple cigarettes are electrically connected to the solenoid valves on each air pipe through controller three, and each air pipe is connected to the air outlet of an air pump or air compressor; the function of controller three is to realize the closing and opening of the solenoid valves on each air pipe.

[0077] Please see Figure 17The cigarette conveyor line 17, used to transport cigarettes after being picked up and placed by the cigarette stack unpacking / picking and placing robot 15, has an L-shaped structure. The cigarette conveyor line 17 has a first conveying section 48 and a second conveying section 49 connected in sequence. The feeding end of the first conveying section 48 is connected to the discharging end of the suction cup 47. The cigarette appearance identification rejection part 50 is set on the second conveying section 49. A roller conveyor 51 is also set at the discharge end of the second conveying section 49 and the feeding end of the second cigarette conveyor line 18. The conveying direction of the roller conveyor 51 is consistent with the conveying direction of the second cigarette conveyor line 18, and the conveying direction of the roller conveyor 51 is perpendicular to the conveying direction of the second conveying section 49.

[0078] In practical application, after the cigarette stack unpacking / picking and placing robot 15 picks up and places a pack of cigarettes on cigarette conveyor line 17, cigarette conveyor line 17 will transport the input pack of cigarettes to cigarette appearance recognition and rejection unit 50. If cigarette appearance recognition and rejection unit 50 identifies a problematic pack of cigarettes, it will remove the identified problematic pack of cigarettes from cigarette conveyor line 17. If cigarette appearance recognition and rejection unit 50 does not identify a problematic pack of cigarettes, the unidentified pack of cigarettes will continue to be transported from cigarette conveyor line 17 to roller conveyor 51, and then the pack of cigarettes will be input into cigarette conveyor line 2 18 via roller conveyor 51. Finally, cigarette conveyor line 2 18 will transport the pack of cigarettes to cigarette loading / stacking conveyor 19, so that the pack of cigarettes can be unloaded into the carriage for stacking later using cigarette loading / stacking conveyor 19.

[0079] Please see Figure 18 and Figure 19 The cigarette appearance recognition and rejection unit 50, used for identifying the appearance, QR code, and barcode of cigarettes, includes a supporting rectangular frame 52, cigarette appearance recognition cameras 53, a second linear slide module 56, and a cigarette rejection pusher 57. The supporting rectangular frame 52 is mounted on a second conveying section 49, and the conveying surface of the second conveying section 49 passes directly below the supporting rectangular frame 52. Cigarette appearance recognition cameras 53 are connected to the inner wall of the supporting rectangular frame 52, and the cigarette appearance recognition cameras 53 are connected to the second linear slide module 49 via controllers 56 and 57 respectively. The motor in the linear slide module 56 is electrically connected. The second linear slide module 56 is located downstream of the cigarette appearance recognition camera 53. The fixed end of the second linear slide module 56 is connected to the stringers connected to the inner wall of the supporting rectangular frame 52. The movable end of the second linear slide module 56 is connected to the cigarette rejection push plate 57. The cigarette rejection push plate 57 is located above the conveying surface of the second conveying section 49. The cigarette rejection push plate 57 corresponds to the rejection port 58 opened on the second conveying section 49. The rejection port 58 is connected to the feeding end of the cigarette rejection conveyor line 59.

[0080] In practical application, when a carton of cigarettes is conveyed to the cigarette appearance recognition camera 53 via cigarette conveyor line 17, the camera takes a picture of the passing cigarettes. The picture is then transmitted to the controller for identification of the appearance, QR code, and barcode on the cigarettes. If a problematic cigarette is identified, the controller controls the second linear slide module 56 to drive the cigarette rejection pusher 57, rejecting the problematic cigarette from cigarette conveyor line 17 into the rejection conveyor line 59. The rejection conveyor line 59 then transports the problematic cigarette to the manual quality inspection area for re-inspection and repackaging to prevent problematic cigarettes from entering the market and indirectly improve the cigarette factory's reputation. If no problematic cigarette is identified, the controller will not control the second linear slide module 56 to drive the rejection pusher 57, and the unidentified cigarette will continue to be conveyed by cigarette conveyor line 17.

[0081] It should be noted that the cigarette appearance recognition camera 53 is an industrial intelligent camera. Industrial intelligent cameras are existing technology, and no improvements or designs have been made to them, so their structure will not be described in detail. The controller 2 can be an industrial computer. The controller 2 has image recognition software that can identify whether the appearance of the cigarette is dented, whether the barcode / QR code on the cigarette is clear, and whether the barcode / QR code on the cigarette is damaged. That is, the image taken by the industrial intelligent camera will be transmitted to the image recognition software in the industrial computer. If the image recognition software identifies that the appearance of the cigarette is dented, or the barcode / QR code on the cigarette is unclear or damaged, the industrial computer will control the second linear slide module 56 to drive the cigarette rejection pusher 57 to remove the cigarette from the second conveyor section 49.

[0082] It should be noted that the cigarette appearance recognition camera 53 and the second linear slide module 56 are existing technologies, and no improvements or designs have been made to them. Therefore, their structures will not be described in detail.

[0083] Please see Figure 20 and Figure 21To adjust the vertical height difference between the telescopic mobile conveyor 20 and the carriage, the cigarette loading / stacking conveyor 19 also includes a support base frame 60, a cigarette telescopic conveyor lifting angle drive component 61, and a cigarette transition conveyor 62. The support base frame 60 is located below the telescopic mobile conveyor 20. The two support columns 83 connected to the first end of the support base frame 60 are rotatably connected to the outer wall of the fixed conveyor frame 63 in the telescopic mobile conveyor 20. The connecting end of the cigarette telescopic conveyor lifting angle drive component 61 is connected to the connecting component 64 connected to the second end of the support base frame 60. The driving end of the cigarette telescopic conveyor lifting angle drive component 61 is connected to the outer wall of the fixed conveyor frame 63 in the telescopic mobile conveyor 20 at the second end of the support base frame 60. The first end of the cigarette transition conveyor 62 is rotatably connected to the telescopic end of the telescopic mobile conveyor 20. The second end of the cigarette transition conveyor 62 is rotatably connected to the cigarette unloading and stacking robot 21.

[0084] In practical applications, when it is necessary to adjust the height difference between the telescopic mobile conveyor 20 and the carriage, the lifting angle drive component 61 of the telescopic conveyor can be driven to rotate based on the height difference between the telescopic mobile conveyor 20 and the carriage, thereby raising the height of the telescopic mobile conveyor 20 and indirectly matching the height of the raised telescopic mobile conveyor 20 with the height of the cigarette cart to be stacked, so as to adjust the conveying height of the telescopic mobile conveyor 20.

[0085] It should be noted that, in order to prevent the cigarette packs on the telescopic mobile conveyor 20 from sliding down the conveying surface after the height of the telescopic mobile conveyor 20 is adjusted, raised limiting strips are connected to the conveyor belt on the conveying surface of the telescopic mobile conveyor 20. The raised limiting strips are arranged at intervals along the conveyor belt, and the area for placing the cigarette packs is defined between two adjacent raised limiting strips. The width of this area is greater than the width of the cigarette packs.

[0086] It should be noted that the reason why the first end of the cigarette transfer conveyor 62 is rotatably connected to the telescopic end of the telescopic mobile conveyor 20, and the second end of the cigarette transfer conveyor 62 is rotatably connected to the cigarette unloading and stacking robot 21, is to prevent interference between the cigarette unloading and stacking robot 21 and the telescopic mobile conveyor 20 when the cigarette telescopic conveyor lifting angle drive 61 drives the telescopic mobile conveyor 20 to lift the angle.

[0087] It should be noted that the cigarette transition conveyor 62 can be a belt conveyor; the cigarette telescopic conveyor lifting angle drive 61 is a cylinder; the telescopic mobile conveyor 20 is a belt telescopic conveyor. The belt conveyor is existing technology, and no improvements or designs have been made to it, so its structure will not be described in detail.

[0088] Please see Figure 21 and Figure 22 A cigarette unloading and stacking robot 21, used for conveying and stacking cigarettes, includes a cigarette conveyor line 3 84, a connecting trolley 65, an automatic cigarette lifter 66, and an automatic cigarette unloading stacker 67. The second end of the cigarette transition conveyor 62 is rotatably connected to the feed end of the cigarette conveyor line 3 84. The cigarette conveyor line 3 84 is located on the top of the connecting trolley 65. The automatic cigarette lifter 66 is connected to the outer wall of the connecting trolley 65 away from the cigarette transition conveyor 62. The discharge end of the cigarette conveyor line 3 84 is connected to the feed end of the automatic cigarette lifter 66. The moving end of the automatic cigarette lifter 66 is connected to the automatic cigarette unloading stacker 67.

[0089] In practical application, after the cigarette pack is conveyed by the telescopic mobile conveyor 20 to the cigarette pack transition conveyor 62, the cigarette pack transition conveyor 62 first conveys the input cigarette pack to the cigarette pack conveyor line 3 84, and then the cigarette pack on the cigarette pack conveyor line 3 84 is conveyed to the cigarette pack automatic lifter 66. The cigarette pack automatic lifter 66 then descends to a height slightly lower than the discharge end of the cigarette pack conveyor line 3 84. After the cigarette pack automatic lifter 66 descends to a height slightly lower than the discharge end of the cigarette pack conveyor line 3 84, the cigarette pack enters the cigarette pack automatic unloading stacker 67 through the cigarette pack automatic lifter 66. Finally, the cigarette pack automatic unloading stacker 67 stacks the input cigarette pack in the carriage.

[0090] It should be noted that the connecting trolley 65 is existing technology, and no improvements or designs have been made to it, so its structure will not be described in detail; among them, the cigarette conveyor line 84 can be a belt conveyor.

[0091] Please see Figure 21 and Figure 22 It is used to guide the cigarettes on the cigarette conveyor line 384 into the automatic cigarette unloader 67.

[0092] The automatic cigarette lifting device 66 includes a third linear slide module 68, a first moving plate 69, and a fourth linear slide module 70. The outer walls of the two third linear slide modules 68 are respectively connected to the outer walls of the trolley 65 away from the cigarette transfer conveyor 62. The moving end of each third linear slide module 68 is respectively connected to one side wall of the first moving plate 69, and two fourth linear slide modules 70 are respectively connected to the other side wall of the first moving plate 69.

[0093] In practical application, when a pack of cigarettes is conveyed to the feeding end of the automatic cigarette lifter 66 and is about to enter the automatic cigarette unloading stacker 67, the fourth linear slide module 70 can be driven to descend vertically first, so that the automatic cigarette unloading stacker 67 connected to the moving end of the fourth linear slide module 70 descends to slightly below the discharge end of the cigarette conveyor line 3 84. Then, the third linear slide module 68 is driven to move the first moving plate 69, the fourth linear slide module 70 connected to the moving end of the first moving plate 69, and the automatic cigarette unloading stacker 67 connected to the moving end of the fourth linear slide module 70 to align with the cigarette conveyor line 3 84. At this time, the cigarettes conveyed by the cigarette conveyor line 3 84 enter the automatic cigarette unloading stacker 67, waiting for the automatic cigarette unloading stacker 67 to unload the cigarettes into the carriage.

[0094] It should be noted that the third linear slide module 68 and the fourth linear slide module 70 are existing technologies, and no improvements or designs have been made to them. Therefore, their structures will not be described in detail.

[0095] Please see Figure 22 An automatic cigarette unloading stacker 67 for conveying and stacking cigarettes in a carriage includes a second moving plate 71, a fifth linear slide module 72, a cigarette stack placement platform 73, a sixth linear slide module 74, a cigarette moving plate 75, and a cigarette stack conveyor 76. One side wall of the second moving plate 71 is connected to the moving ends of two fourth linear slide modules 70 respectively, and the other side wall of the second moving plate 71 is connected to the outer side wall of each fifth linear slide module 72 respectively. The moving end of each fifth linear slide module 72 is connected to the side wall of the cigarette stack placement platform 73. The bottom of the groove of the cigarette stack placement platform 73 is connected to the bottom of the sixth linear slide module 74. The moving end of the sixth linear slide module 74 is connected to the bottom of the cigarette moving plate 75. A cigarette stack conveyor 76 is provided on the top of the cigarette moving plate 75. The cigarette stack conveyor 76 is a roller conveyor.

[0096] In practical application, when the cigarette packs to be stacked enter the cigarette pack conveyor 76 on the cigarette pack moving plate 75 inside the cigarette pack automatic unloading stacker 67, the fifth linear slide module 72 is driven to adjust the cigarette pack placement platform 73, the sixth linear slide module 74, the cigarette pack moving plate 75 and the cigarette pack conveyor 76 vertically to the corresponding positions according to the posture of the cigarette packs to be stacked in the carriage. Then, the sixth linear slide module 74 is driven to move the cigarette pack moving plate 75 toward the discharge end of the cigarette pack placement rack 73. When the cigarette pack moving plate 75 moves to the discharge end of the cigarette pack placement platform 73, the cigarette packs that have been placed on the cigarette pack conveyor 76 are driven to transport the cigarette packs to the stacking position in the carriage.

[0097] It should be noted that the sixth linear slide module 74 and the fifth linear slide module 72 are existing technologies, and no improvements or designs have been made to them. Therefore, their structures will not be described in detail.

[0098] Please see Figure 22 The automatic cigarette unloading stacker 67, used to adjust the placement posture of cigarette packs, includes a cigarette pack posture flipping component 77. The cigarette pack posture flipping component 77 includes a gantry 78, a first servo motor 79, a first cylinder 85, a cigarette pack suction cup 86, a second servo motor 80, a second cylinder 81, and a clamping plate 82. The gantry 78 is mounted and connected to the cigarette pack placement frame 12. The cigarette pack moving plate 75 and the cigarette pack conveyor 76 both pass through the gantry 78. The bottom of the inner part of the gantry 78 is connected to the fixed end of the first servo motor 79. The output end of the first servo motor 79 is connected via a first connection... The seat is connected to the fixed end of the first cylinder 85, the driving end of the first cylinder 85 is connected to the smoke suction cup seat, the bottom of the smoke suction cup seat is connected to the smoke suction cup 86, and below the smoke suction cup 86 are two clamping plates 82. The clamping surfaces of the two clamping plates 82 are covered with clamping pads. One side wall of each clamping plate 82 is connected to the driving end of each second cylinder 81. The fixed end of each second cylinder 81 is connected to the output shaft of the second servo motor 80 through the second connecting seat. The fixed end of each second servo motor 80 is connected to the two inner side walls of the gantry 78.

[0099] In practical applications, when it is necessary to adjust the stacking posture of cigarette packs to be stacked, firstly, according to the required stacking posture, the first cylinder 85 is driven to move the cigarette pack suction cup 86 to contact and adhere to the outer wall of the cigarette pack box on the cigarette pack moving plate 75. After the cigarette pack box is adhered, the first cylinder 85 is driven to lift the cigarette pack adhered to the cigarette pack suction cup 86 a certain distance and then stop. Then, the first servo motor 79 is driven to rotate the cigarette pack adhered to the cigarette pack suction cup 86 to the first position and stop. If the first position is the required stacking posture of the cigarette packs, the first cylinder is driven to lift the cigarette pack adhered to the cigarette pack suction cup 86. The cigarette pack is placed on the cigarette pack moving plate 75. If the first position is not the required posture for stacking cigarette packs, the second cylinder 81 is controlled to drive the clamping plate 82 to clamp the cigarette packs adsorbed on the cigarette pack suction cup 86. After the cigarette packs adsorbed on the cigarette pack suction cup 86 are clamped by the clamping plate 82, the cigarette pack suction cup 86 is first driven to stop adsorbing the cigarette packs. Then the second servo motor 80 is driven to flip the cigarette packs clamped between the clamping plates 82 to the second position and then stop. Then the cigarette packs flipped to the second position are placed on the cigarette pack moving plate 75 to meet the different placement postures of the cigarette packs in the carriage.

[0100] Although the present invention has been described herein with reference to several illustrative embodiments, it should be understood that many other modifications and implementations can be devised by those skilled in the art, which will fall within the scope and spirit of the principles disclosed herein. More specifically, various variations and modifications can be made to the components and / or layout of the subject matter combination within the scope of the disclosure, drawings, and claims. Besides variations and modifications to the components and / or layout, other uses will be apparent to those skilled in the art.

Claims

1. A cigarette pack outbound conveying device, characterized in that: include The temporary storage warehouse (1) includes a temporary storage rack (2) and a temporary storage robot (3). Multiple temporary storage racks (2) are connected in sequence. The temporary storage robots (3) are respectively configured in the area between the temporary storage racks (2). Each temporary storage rack (2) has multiple temporary storage intervals (4) connected in sequence. Each temporary storage interval (4) is equipped with a roller conveyor (5) at the bottom. The roller conveyor (5) works in conjunction with the temporary storage robot (3). The temporary storage robot (3) is configured to output the temporary storage rack (2) of the temporary storage of the tobacco stacks temporarily stored in the temporary storage interval (4) and output the temporary storage rack (2) through the roller conveyor (5). The stack conveyor (7) is arranged in a one-to-one correspondence with each stack temporary storage rack (2). The stack conveyor (7) includes stack conveyor one (8) and stack conveyor two (9). The discharge end of stack conveyor one (8) is connected to the feed end of stack conveyor two (9). The conveying direction of stack conveyor one (8) is perpendicular to the conveying direction of stack conveyor two (9). Stack conveyor one (8) is close to the stack temporary storage rack (2). Stack conveyor one (8) and stack conveyor two (9) in the stack conveyor (7) work together to convey the stacks input by the stack picking and placing robot (3). AGV trolley (10) is configured to extract the tobacco stacks that are fed to the discharge end of the second tobacco stack conveyor (9) in the tobacco stack conveyor (7) and to transport the extracted tobacco stacks. The tobacco stack buffer (11) has multiple tobacco stack buffer racks (12), and the tobacco stack buffer racks (12) in the tobacco stack buffer (11) are configured to buffer some of the tobacco stacks transported by the AGV trolley (10); The stacking and unpacking position (13) has multiple stacking racks (14). The stacking racks (14) in the stacking and unpacking position (13) are used to place stacks of tobacco extracted by a portion of the AGV trolleys (10) from the stacking buffer racks (12) or from the discharge end of the stacking conveyor (9) in the stacking conveyor (7). A stacking / removal robot (15) is used to unpack the stacks of tobacco placed on the stacking racks (14) and remove the unpacked tobacco. The cigarette conveying line (16) includes a cigarette conveying line one (17) and a cigarette conveying line two (18). The feeding end of the cigarette conveying line one (17) is connected to the discharging end of the cigarette stack destacking / picking robot (15). The feeding end of the cigarette conveying line two (18) is connected to the discharging end of the cigarette conveying line one (17). The cigarette conveying line one (17) in the cigarette conveying line (16) is used to input the cigarettes after they are destacking by the cigarette stack destacking / picking robot (15) into the cigarette conveying line two (18). The cigarettes input into the cigarette conveying line two (18) are then conveyed through the cigarette conveying line two (18). The cigarette loading / stacking conveyor (19) includes a telescopic mobile conveyor (20) and a cigarette unloading and stacking robot (21); the inlet end of the telescopic mobile conveyor (20) is connected to the outlet end of the second cigarette conveying line (18), and the outlet end of the telescopic mobile conveyor (20) is connected to the cigarette unloading and stacking robot (21).

2. The cigarette pack outbound conveying device according to claim 1, characterized in that: The tobacco stack handling robot (3) includes a conveyor track (23), a conveyor frame (24), first traveling wheels (25), a support column (26), a first linear slide module (27), a tobacco stack placement plate (28), and a roller conveyor (29). The conveyor track (23) is fixedly laid on the ground in the area between the tobacco stack temporary storage racks (2). The conveyor frame (24) is located above the conveyor track (23). The two ends of the conveyor frame (24) are rotatably connected to the first traveling wheels (25) that slide with the conveyor track (23). A motor connected to the first traveling wheel (25) is also provided on the side wall of one of the conveyor frames (24). The connecting plates at both ends of the conveyor frame (24) are rotatably connected to the second traveling wheels (31) that slide in the groove (30) on the side wall of the conveyor track (23). The top of the conveyor frame (24) is connected to the bottom of the support column (26). One side wall of the support column (26) is connected to the outer wall of the first linear slide module (27). The moving end of the first linear slide module (27) is connected to the tobacco stack placement plate (28). The top of the tobacco stack placement plate (28) is provided with a roller conveyor (29). The roller conveyor (29) and the roller conveyor (5) are used together. The roller conveyor (5) is located in the tobacco stack temporary storage interval (4).

3. The cigarette pack outbound conveying device according to claim 2, characterized in that: The roller conveyor 1 (29) is also used in conjunction with the stack conveyor 1 (8). The roller conveyor 1 (29), the stack conveyor 1 (8) and the stack conveyor 2 (9) are all roller conveyors. The discharge end of the stack conveyor 2 (9) has a clearance space 1 (87) for the AGV trolley (10) to enter. The AGV trolley (10) is used in conjunction with the stack conveyor 2 (9), the stack buffer warehouse (11) has multiple stack buffer racks (12) and the stack unpacking and placement position (13) has multiple stack racks (14).

4. The cigarette pack outbound conveying device according to claim 3, characterized in that: Multiple stack buffer racks (12) are arranged in rows to form multiple stack buffer groups (311). In each stack buffer group (311), two adjacent stack buffer racks (12) are connected to each other. A passageway (32) for AGV trolley (10) to pass through is defined between two adjacent stack buffer groups (311). Each stack buffer rack (12) in each stack buffer group (311) has a stack retrieval passageway (33) for AGV trolley (10) to enter. The stack buffer group (311) has at least five rows. Each stack buffer group (311) has at least eight stack buffer racks (12). Each stack buffer rack (12) is connected to a partition plate (34). The partition plate (34) divides each stack buffer rack (12) into a stack temporary storage area one (35) and a stack temporary storage area two (36).

5. The cigarette pack outbound conveying device according to claim 4, characterized in that: Each stack buffer rack (12) has a support frame (37). The support frames (37) of two adjacent stack buffer racks (12) are connected by connecting struts (38). At least two connecting struts (38) are provided between the support frames (37) of two adjacent stack buffer racks (12). Each stack buffer rack (12) has protective wings (39). The protective wings (39) are inclined along the placement surface (40) of each stack buffer rack (12). The two protective wings (39) define the entire placement area (41) for stacking. A partition plate (34) is connected between the two protective wings (39). The partition plate (34) divides the entire placement area for stacking into a stack temporary placement area one (35) and a stack temporary placement area two (36).

6. The cigarette pack outbound conveying device according to claim 1, characterized in that: At least three of the stack placement racks (14) are arranged around the stack unpacking / picking robot (15). Each stack placement rack (14) has a stack placement passageway (42) at its feeding end for the AGV trolley (10) to enter. Each stack placement rack (14) is connected to a limit baffle (43) at its discharging end.

7. The cigarette pack outbound conveying device according to claim 6, characterized in that: The stacking / removal robot (15) includes a support base (44), a robotic arm (45), a suction cup base (46), and suction cups (47). The support base (44) is surrounded by three stacking racks (14). The top of the support base (44) is connected to the fixed end of the robotic arm (45), and the execution end of the robotic arm (45) is connected to the side wall of the suction cup base (46). Multiple suction cups (47) are connected to one side wall of the suction cup base (46).

8. The cigarette pack outbound conveying device according to claim 1, characterized in that: The cigarette conveying line one (17) has an L-shaped structure. The cigarette conveying line one (17) has a first conveying section (48) and a second conveying section (49) connected in sequence. The feeding end of the first conveying section (48) is connected to the discharging end of the suction cup (47). The cigarette appearance identification rejection part (50) is set on the second conveying section (49). A roller conveyor (51) is also set at the connection between the discharge end of the second conveying section (49) and the feeding end of the cigarette conveying line two (18). The conveying direction of the roller conveyor (51) is consistent with the conveying direction of the cigarette conveying line two (18). The conveying direction of the roller conveyor (51) is perpendicular to the conveying direction of the second conveying section (49).

9. The cigarette pack outbound conveying device according to claim 8, characterized in that: The cigarette appearance recognition and rejection device (50) includes a supporting rectangular frame (52), a cigarette appearance recognition camera (53), a second linear slide module (56), and a cigarette rejection pusher (57). The supporting rectangular frame (52) is mounted on the second conveying section (49), and the conveying surface of the second conveying section (49) passes directly below the supporting rectangular frame (52). The cigarette appearance recognition camera (53) is connected to the inner wall of the supporting rectangular frame (52). The cigarette appearance recognition camera (53) is connected to the second linear slide module (56) via a controller. Electromechanical connection, the second linear slide module (56) is located downstream of the cigarette appearance recognition camera (53), the fixed end of the second linear slide module (56) is connected to the stringer connected to the inner wall of the supporting rectangular frame (52), the movable end of the second linear slide module (56) is connected to the cigarette rejection push plate (57), the cigarette rejection push plate is located above the conveying surface of the second conveying section (49), the cigarette rejection push plate (57) corresponds to the rejection port (58) opened on the second conveying section (49), and the rejection port (58) is connected to the feeding end of the cigarette rejection conveying line (59).

10. The cigarette pack outbound conveying device according to claim 1, characterized in that: The cigarette loading / stacking conveyor (19) further includes a support base frame (60), a cigarette telescopic conveyor lifting angle drive (61), and a cigarette transition conveyor (62); the support base frame (60) is located below the telescopic mobile conveyor (20), and the two support columns (83) connected at the first end of the support base frame (60) are rotatably connected to the outer side wall of the fixed conveyor frame (63) in the telescopic mobile conveyor (20), and the connecting end of the cigarette telescopic conveyor lifting angle drive (61) is connected to the support base frame (60). 0) The connecting parts (64) connected to the second end are respectively connected, the driving end of the lifting angle drive part (61) of the cigarette telescopic conveyor is connected to the outer wall of the fixed conveyor frame (63) in the telescopic mobile conveyor (20) at the second end of the support base frame (60), the first end of the cigarette transition conveyor (62) is rotatably connected to the telescopic end of the telescopic mobile conveyor (20) in the telescopic mobile conveyor (20), and the second end of the cigarette transition conveyor (62) is rotatably connected to the cigarette unloading and stacking robot (21); The cigarette unloading and stacking robot (21) includes a cigarette conveyor line three (84), a connecting trolley (65), an automatic cigarette lifter (66), and an automatic cigarette unloading stacker (67); the second end of the cigarette transition conveyor (62) is rotatably connected to the feeding end of the cigarette conveyor line three (84), the cigarette conveyor line three (84) is set on the top of the connecting trolley (65), and the automatic cigarette lifter (66) is connected to the outer wall of the connecting trolley (65) away from the cigarette transition conveyor (62). The discharge end of the cigarette conveyor line three (84) is connected to the feeding end of the automatic cigarette lifter (66), and the moving end of the automatic cigarette lifter (66) is connected to the automatic cigarette unloading stacker (67). The automatic cigarette lifter (66) includes a third linear slide module (68), a first moving plate (69), and a fourth linear slide module (70); the outer walls of the two third linear slide modules (68) are respectively connected to the outer wall of the connecting trolley (65) away from the cigarette transfer conveyor (62), and the moving end of each third linear slide module (68) is respectively connected to one side wall of the first moving plate (69), and two fourth linear slide modules (70) are respectively connected to the other side wall of the first moving plate (69). The automatic cigarette unloading stacker (67) includes a second moving plate (71), a fifth linear slide module (72), a cigarette stack placement platform (73), a sixth linear slide module (74), a cigarette moving plate (75), and a cigarette stack conveyor (76). One side wall of the second moving plate (71) is connected to the moving ends of two fourth linear slide modules (70), and the other side wall of the second moving plate (71) is connected to the outer side wall of each fifth linear slide module (72). The moving end of each fifth linear slide module (72) is connected to the side wall of the cigarette stack placement platform (73). The bottom of the groove of the cigarette stack placement platform (73) is connected to the bottom of the sixth linear slide module (74). The moving end of the sixth linear slide module (74) is connected to the bottom of the cigarette moving plate (75). A cigarette stack conveyor (76) is provided on the top of the cigarette moving plate (75). The cigarette stack conveyor (76) is a roller conveyor. The automatic cigarette unloading stacker (67) further includes a cigarette attitude flipping component (77), which includes a gantry (78), a first servo motor (79), a first cylinder (85), a cigarette suction cup (86), a second servo motor (80), a second cylinder (81), and a clamping plate (82). The gantry (78) is erected and connected to the cigarette stack placement platform (73). The cigarette moving plate (75) and the cigarette stack conveyor (76) both pass through the gantry (78). The bottom of the gantry (78) is connected to the fixed end of the first servo motor (79). The output end of the first servo motor (79) is connected through a first connection. The seat is connected to the fixed end of the first cylinder (85), the driving end of the first cylinder (85) is connected to the smoke suction cup seat, the bottom of the smoke suction cup seat is connected to the smoke suction cup (86), and below the smoke suction cup (86) are two clamping plates (82). The clamping surfaces of the two clamping plates (82) are covered with clamping pads. One side wall of each clamping plate (82) is connected to the driving end of each second cylinder (81). The fixed end of each second cylinder (81) is connected to the output shaft of the second servo motor (80) through the second connecting seat. The fixed end of each second servo motor (80) is connected to the two inner side walls of the gantry (78).

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