Dual-track rotating manipulator cigarette pack mixed packaging device and cigarette pack mixed packaging method

Abstract

A dual-track rotating manipulator cigarette pack mixed packaging device, comprising: a cigarette pack conveying module (1), a rotating transmission module (4), and manipulator modules (5). The cigarette pack conveying module (1) comprises a first track (A) and a second track (B) which are arranged perpendicular to each other on the same horizontal plane; the rotating transmission module (4) is arranged at the position where the second track (B) perpendicularly intersects the first track (A); and two manipulator modules (5) are provided, and the two manipulator modules (5) are respectively arranged at two ends of the rotating transmission module (4). By adopting the idea of modularization, the entire device is divided into several main modules, and the mixed packaging of different cigarette packs is completed by means of the cooperation effect of the several modules, thereby reducing labor costs, and preventing the overall quality of the cigarette packs from being lowered due to the instability of manual operations. In addition, the present invention also relates to a cigarette pack mixed packaging method using the dual-track rotating manipulator cigarette pack mixed packaging device.

Description

A dual-track rotary robotic cigarette pack mixing device and method Technical Field

[0001] This invention belongs to the field of tobacco packaging technology, specifically relating to a dual-track rotary robotic cigarette pack mixing equipment and a cigarette pack mixing method. Background Technology

[0002] With the rapid development of the tobacco industry, the improvement of automation in tobacco production has become a significant driving force for its growth. The packaging process of tobacco products is a crucial link in the entire production chain, and its level of automation directly affects production efficiency, cost control, and product quality stability. Traditional cigarettes are typically packaged in cartons of ten identical small boxes. However, with product diversification, mixing multiple types of small boxes per carton has become an innovative aspect of cigarette production. In the traditional tobacco carton packaging process, the mixing of various types of small boxes relies mainly on manual sorting and packaging, which is inefficient and prone to errors. This not only affects production efficiency but also increases labor costs; furthermore, the instability of manual operation can reduce the overall quality of the cigarette packs.

[0003] This invention is proposed for this purpose. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a dual-track rotary robotic cigarette pack mixing device and a method for mixing cigarette packs into large carton packages. This invention adopts a modular approach, dividing the entire device into several main modules. Through the coordinated action of these modules, the mixing of different cigarette packs is completed.

[0005] The technical solution of the present invention is as follows:

[0006] The first aspect of this invention discloses a dual-track rotary manipulator cigarette pack mixing device, the device comprising: a cigarette pack conveying module 1, a rotary transmission module 4, and a manipulator module 5; wherein, the cigarette pack conveying module 1 comprises: a first track A and a second track B arranged vertically on the same horizontal plane; the rotary transmission module 4 is arranged at the perpendicular intersection of the second track B and the first track A; and there are two manipulator modules 5, which are respectively arranged at both ends of the rotary transmission module 4.

[0007] Preferably, the rotary transmission module 4 includes: a cylindrical fixed platform 41, a polyhedral rotating chassis 43, and a cuboid-shaped manipulator module frame 44; the fixed platform 41 and the rotating chassis 43 above it are connected by a hydraulic rod 42; the rotating chassis 43 and the manipulator module frame 44 above it are connected by a coupling 47 and a rotating shaft 48, and the rotating chassis 43 and the manipulator module frame 44 are symmetrically provided at both ends with a first connecting bracket 45 and a second connecting bracket 46 to fix the rotating chassis 43 and the manipulator module frame 44; the fixed platform 41 is fixed on a stabilizer 3, and the stabilizer 3 is fixed on a base 31; the base 31 is arranged at the perpendicular intersection of the first track 1 and the second track 2; two manipulator modules 5 are respectively arranged at the lower ends of the manipulator module frame 44; a motor 50 is fixedly arranged in the middle of the upper surface of the manipulator module frame 44, and the rotating shaft 48 passes through the manipulator module frame 44 to connect the motor 50.

[0008] Preferably, the lower ends of the robotic arm module frame 44 are respectively provided with rectangular robotic arm movement slots 441, and the two robotic arm modules 5 are respectively arranged in the robotic arm movement slots 441 and can move left and right in their respective robotic arm movement slots 441.

[0009] Preferably, each robotic arm module 5 includes: a left clamping plate 51 and a right clamping plate 52, a clamping plate crossbeam 54, a left column 55, a right column 56, and a fixed crossbeam 57; the left clamping plate 51 and the right clamping plate 52 are arranged opposite each other at the lower ends of the clamping plate crossbeam 54; the clamping plate crossbeam 54 is fixedly connected to the fixed crossbeam 57 above it through the left column 55 and the right column 56; a connecting shaft 58 is provided in the middle of the upper surface of the fixed crossbeam 57; the connecting shaft 58 is arranged at both ends of the rotary transmission module 4.

[0010] Preferably, the lower end of the card plate beam 54 has a rectangular card plate groove 541, and the left card plate 51 and the right card plate 52 are connected in the card plate groove 541 by mechanical components; the left card plate 51 and the right card plate 52 are the same size and shape, and each of their opposite surfaces is provided with a cushioning material 53.

[0011] Preferably, a camera and a sensor are installed between the left card plate 51 and the right card plate 52 in the card slot 541.

[0012] Preferably, a detection device 12 is provided downstream of the first track A.

[0013] Preferably, a sealing ring 49 is arranged on the outer side of the rotating shaft 47 on the upper surface of the rotating chassis 43.

[0014] The second aspect of this invention discloses a method for mixing cigarette packs using the dual-track rotary manipulator cigarette pack mixing equipment, comprising the following steps:

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

[0016] (ii) Start the cigarette pack conveying module so that the first type of cigarette pack 11 and the second type of cigarette pack 22 are conveyed to the set position on the second track B in the set order and quantity;

[0017] (iii) Based on the camera and sensor in the card slot 541, the robotic arm module 5 slides in the card slot 541 for positioning; after positioning, the hydraulic rod 42 drives the rotating module 4 and the robotic arm module 5 to descend and grab the first type of cigarette pack 11 or the second type of cigarette pack 22.

[0018] (iv) When the hydraulic rod 42 rises to a certain height, the rotary transmission module 4 rotates 180° and the hydraulic rod 42 descends again. The robotic arm module 5, which has grabbed the first type of cigarette pack 11 or the second type of cigarette pack 22, descends and places the grabbed first type of cigarette pack 11 and second type of cigarette pack 22 at a set position on the first track 1.

[0019] (v) Repeat steps iii and iv according to the set types and quantities of mixed cigarette packs;

[0020] (vi) After the types and quantities of cigarette packs to be mixed are prepared on the first track A, the first track A moves, and the types and quantities of mixed cigarette packs are detected by the detection device 12 before being packaged.

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

[0022] The beneficial effects of this invention are:

[0023] 1. The dual-track rotary robotic cigarette pack mixing equipment of the present invention includes a cigarette pack conveying module, a rotary transmission module, and a robotic arm module. Its core feature lies in the unique vertical dual-track design of the cigarette pack conveying module. During operation, the equipment can simultaneously process multiple different types of cigarette packs, significantly improving the production line's operating speed and production capacity. Simultaneously, by employing high-precision camera sensors and a control system, the equipment of the present invention achieves precise control of the cigarette pack position, ensuring accuracy during rotation and tumbling, thereby guaranteeing the quality of the final product.

[0024] 2. The dual-track rotary robotic cigarette pack mixing equipment of this invention introduces a system that allows for the arrangement and packaging of two types of cigarette packs transported via two tracks, enabling the "mixing" of multiple different types of cigarette packs. Simultaneously, through the control of an automated system, the arrangement and packaging of different types of cigarette packs are automatically completed. This improves the flexibility and efficiency of the production line and reduces labor costs.

[0025] 3. The equipment of this invention is characterized by intelligence, automation, high efficiency, and precision. It has low equipment modification costs and can save significant labor costs. The produced cigarette products in mixed packs can be adjusted in a timely manner according to market demand, demonstrating strong adaptability. Attached Figure Description

[0026] Figure 1 is a schematic diagram of the structure of the dual-track rotary manipulator cigarette pack mixing equipment of the present invention.

[0027] Figure 2 is a schematic diagram of the mixed packaging form of cigarette packs according to the present invention.

[0028] Figure 3 is a schematic diagram of the rotary transmission module structure of the present invention.

[0029] Figure 4 is a schematic diagram of the robotic arm module structure of the present invention.

[0030] The attached diagram is labeled as follows: 1. Cigarette pack conveying module; A. First track; B. Second track; 11. First type of cigarette pack; 22. Second type of cigarette pack; 12. Positioning detection device; 3. Stabilizer; 31. Base; 4. Rotary transmission module; 41. Fixed platform; 42. Hydraulic rod; 43. Rotating chassis; 44. Robotic arm module frame; 441. Robotic arm movable slot; 45. First connecting bracket; 46. Second connecting bracket; 47. Coupling; 48. Rotating shaft; 49. Sealing ring; 50. Motor; 5. Robotic arm module; 51. Left clamping plate; 52. Right clamping plate; 53. Buffer material; 54. Clamping plate crossbeam; 541. Clamping plate slot; 55. Left column; 56. Right column; 57. Fixed crossbeam; 58. Connecting shaft. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Those skilled in the art will understand that the following embodiments are for illustrative purposes only and should not be considered as limiting the scope of the invention. Where specific techniques or conditions are not specified in the embodiments, they are performed according to the techniques or conditions described in the literature in the field or according to the product manual. Where the manufacturers of the materials or equipment used are not specified, they are all conventional products that can be obtained by purchase.

[0032] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “linked” to another element, it can be directly linked to the other element, or there may be intermediate elements present. Furthermore, the term “linked” as used herein can include wireless links.

[0033] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] Furthermore, the terms “first,” “second,” “third,” etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," "fixing," "adhesion," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0037] As shown in Figure 1, the present invention discloses a dual-track rotary manipulator cigarette pack mixing device. The device includes a cigarette pack conveying module 1, a rotary transmission module 4, and a manipulator module 5. The cigarette pack conveying module 1 includes a first track A and a second track B arranged vertically on the same horizontal plane. The rotary transmission module 4 is located at the perpendicular intersection of the second track B and the first track A. Two manipulator modules 5 are respectively located at opposite ends of the rotary transmission module 4. The first track A and the second track B are controlled by two separate control systems. The track design requires not only a certain width to accommodate the size of the cigarette packs but also sufficient length to ensure smooth conveying and intermittent pauses, allowing the cigarette packs to move smoothly and be accurately arranged under the action of the manipulator. The main structure of the device also includes a positioning detection device 12 to ensure the correct type, quantity, and position of the mixed cigarette packs. The design of the main structure of the device in this invention is key to ensuring that the robotic arm module 5 can accurately and efficiently complete the tasks of rotating and mixing cigarette packs. The main structure of the device in this invention not only needs to meet the automatic conveying, rotation and arrangement of various types of cigarette packs, but also needs to ensure work efficiency and accuracy, and avoid misloading and missing cigarette packs.

[0038] As shown in Figure 3, the rotary transmission module 4 includes a cylindrical fixed platform 41, a polyhedral rotating chassis 43, and a cuboid-shaped robotic arm module frame 44. The fixed platform 41 and the rotating chassis 43 above it are connected by a hydraulic rod 42. A gearbox is installed inside the fixed platform 41. The rotating chassis 43 and the robotic arm module frame 44 above it are connected by a coupling 47 and a rotating shaft 48. The rotating chassis 43 and the robotic arm module frame 44 are also symmetrically provided at both ends with a first connecting bracket 45 and a second connecting bracket 46 to fix the rotating chassis 43 and the robotic arm module frame 44. The rotating chassis 43 and the robotic arm module frame 44 are arranged in parallel and are fixed and connected by the first connecting bracket 45 and the second connecting bracket 46 perpendicular to the two sides of the edge. The fixed platform 41 is fixed to the stabilizer 3, and the stabilizer 3 is fixed to the base 31. The base 31 is located at the perpendicular intersection of the first track 1 and the second track 2. The stabilizer 3 is installed on the base 31 to provide sufficient strength and stability to support the weight of the two robotic arm modules 5 and to ensure the smooth, stable, and high-speed rotation of the two robotic arm modules 5. The base is located at the perpendicular intersection of track A 1 and track B 2. The two robotic arm modules 5 are respectively arranged at the lower ends of the robotic arm module frame 44. A motor 50 is fixedly installed in the middle of the upper surface of the robotic arm module frame 44, and the rotating shaft 48 passes through the robotic arm module frame 44 and connects to the motor 50. Rectangular robotic arm movable slots 441 are respectively opened at the lower ends of the robotic arm module frame 44. The two robotic arm modules 5 are respectively arranged in the robotic arm movable slots 441 and can move left and right in their respective robotic arm movable slots 441. Coupling 47 connects motor 50 and rotating shaft 48 to transmit torque and drive the entire lower rotating chassis 43 and robot module frame 44 to rotate 180°. Motor 50 can be selected according to the required torque and speed, and control circuitry is designed to achieve precise 180° rotation control.

[0039] Each robotic arm module 5, as shown in Figure 4, includes: a left clamping plate 51 and a right clamping plate 52, a clamping plate crossbeam 54, a left column 55, a right column 56, and a fixed crossbeam 57. The left clamping plate 51 and the right clamping plate 52 are arranged opposite each other at the lower ends of the clamping plate crossbeam 54. The clamping plate crossbeam 54 is fixedly connected to the fixed crossbeam 57 above it via the left column 55 and the right column 56. A connecting shaft 58 is provided in the middle of the upper surface of the fixed crossbeam 57. The connecting shaft 58 is arranged at both ends of the rotary transmission module 4. The lower end of the clamping plate crossbeam 54 has a rectangular clamping plate groove 541, and the left clamping plate 51 and the right clamping plate 52 are connected in the clamping plate groove 541 by mechanical components. The left clamping plate 51 and the right clamping plate 52 are the same size and shape, and each of their opposite surfaces is provided with cushioning material 53. The robotic arm module 5 uses a gripping method with left and right clamping plates 51 and 52. The gripping action of the cigarette pack is completed by the horizontal movement of the left and right clamping plates 51 and 52 opening and closing. The design of the left and right clamping plates 51 and 52 requires that each of their opposing surfaces have cushioning material 53, possessing sufficient strength and flexibility to achieve precise gripping force, adapting to the shape and size of the cigarette pack. The clamping beam 54 is a fixed horizontal device, with a rectangular clamping slot 541 at its lower end, connected to the left and right clamping plates 51 and 52 via mechanical components, supporting the gripper to complete horizontal movement according to preset width and parameters. The fixed beam 57 is also a fixed horizontal device, fixedly connected to the lower clamping beam 54 via left and right columns 55 and 56. The left and right columns 55 and 56 are located on both sides of the fixed beam 57 and the clamping beam 54, positioned vertically at the bottom of the robotic arm module frame 44. Its position must be set so that the entire rotating module, in a 180° periodic reciprocating rotation, can correspond to the position of the cigarette packs on the first track A and the second track B, so that the gripper can accurately complete the gripping action. The left column 55 and the right column 56 are equipped with drive transmission devices controlled by the automatic control system, which are connected to the motor 50 and used to control the corresponding actions of the rotating transmission module 4 and the robotic arm module 5.

[0040] A camera and a sensor (not shown in the attached diagram) are installed between the left card plate 51 and the right card plate 52 in the card plate slot 541.

[0041] A detection device 12 is provided downstream of the first track A, as shown in Figure 1.

[0042] A sealing ring 49 is arranged on the outer side of the rotating shaft 47 on the upper surface of the rotating chassis 43. The sealing ring 49 is located on the outer side of the rotating shaft 47 and fixed to the upper surface of the lower rotating chassis 43 to prevent dust and tobacco from entering.

[0043] The control technology of the robotic arm module 5 is a complex system integrating multiple control strategies. It requires high-precision position control and smooth speed control, while also incorporating intelligent technologies to enhance adaptability and intelligence. The control technology of the robotic arm module 5 mainly includes position control, speed control, and force control. 1. Position control: This invention adopts a closed-loop control system. The position information of the left and right clamping plates 51 and 52 of the robotic arm module 5 is acquired in real time through sensors such as encoders or laser rangefinders. The position control algorithm is used to adjust the movement trajectory of the robotic arm to ensure that it can accurately deliver the cigarette pack to the next workstation. 2. Speed ​​control: The speed control of this invention ensures the smoothness and repeatability of the robotic arm module 5 during movement. Combining position control and speed control, it achieves smooth start, run, and stop modes, ensuring the smooth operation of the robotic arm module 5. 3. Force control: By installing tactile sensors, the control system can accurately monitor and adjust the contact force between the left and right clamping plates 51 and 52 of the robotic arm module 5 and the cigarette pack, precisely adjusting the gripping force to adapt to the physical characteristics of the cigarette pack and avoid excessive compression or breakage.

[0044] The robotic arm module 5 is the core component of the dual-track rotary robotic cigarette pack mixing equipment of this invention. Its main function is to automatically grasp, rotate, and place cigarette packs. During the grasping and placement of cigarette packs, it is essential to ensure that the movement trajectories of the left and right pallets 51 and 52 match the position of the target cigarette pack. This requires precise positioning of the robotic arm module 5 to guarantee the accuracy of the grasping. Positioning technologies mainly include visual positioning, sensor positioning, and machine vision positioning. 1. Visual positioning involves capturing images with a camera and then determining the position of the robotic arm through image processing technology. The advantage of this method is high accuracy, but it is significantly affected by factors such as ambient light and shadows. Therefore, a high-performance image processing algorithm is required to eliminate various interference factors. 2. Sensor positioning involves monitoring the position and posture of the robotic arm in real time using sensors installed at key parts of the robotic arm. The advantage of this method is fast response and good real-time performance, but it requires precise calibration and maintenance of various sensors. 3. Machine vision positioning combines the advantages of visual positioning and sensor positioning, achieving precise control of the position and posture of the robotic arm through advanced image processing algorithms and sensor data. The advantages of this method are high accuracy, good real-time performance, and insensitivity to environmental factors. In this invention, a camera and sensors (not shown in the accompanying drawings) are installed between the left card plate 51 and the right card plate 52 in the card slot 541. This invention employs machine vision positioning technology; firstly, an image of the cigarette pack is captured by a high-definition camera, then the position information of the cigarette pack is extracted using an image processing algorithm, combined with sensor data installed in the card slot 541, the motion trajectory of the robotic arm module 5 is calculated, and finally, the motion trajectory of the robotic arm module 5 is adjusted by the control system to achieve precise positioning. In the implementation process, deep learning algorithms are used to optimize the image processing algorithm, improving the positioning accuracy. Simultaneously, optimized control algorithms are also used to improve the movement speed and accuracy of the robotic arm.

[0045] The dual-track rotary manipulator cigarette pack mixing equipment of the present invention is used in a cigarette pack mixing method, comprising the following steps:

[0046] (i) Start motor 50, start and initialize rotary transmission module 4 and robot arm module 5, so that the two robot arm modules 5 are respectively on the upper part of the first track A and the second track B; initialization is to start and initialize rotary transmission module 4 and robot arm module. This process includes, but is not limited to, starting the equipment and establishing a communication connection with the central control system. After the communication connection is established normally, an important step is to send a command to make robot arm module 5 perform the action of returning to the origin, ensuring that the mechanical structure and moving parts of robot arm module 5 are in the correct position and ready state before starting work;

[0047] (ii) Start the cigarette pack conveying module so that the first type of cigarette pack 11 and the second type of cigarette pack 22 are conveyed to the set position of the second track B in the set order and quantity. In this stage, the two types of cigarette packs are conveyed to the set position by the second track B respectively. The two tracks are controlled by an independent control system. The track running speed and the pause period are inconsistent to meet the motion cycle of the rotary transmission module 4 and the mixing ratio and quantity of cigarette packs.

[0048] (iii) Based on the camera and sensors in the card slot 541, the robotic arm module 5 slides in the card slot 541 for positioning; after positioning, the hydraulic rod 42 drives the rotating module 4 and the robotic arm module 5 to descend and grasp the first type of cigarette pack 11 or the second type of cigarette pack 22; this process requires precise data exchange between the positioning system of the robotic arm module 5 and the control system, and relies on the precise control of the control system to complete the grasping action of the first type of cigarette pack 11 or the second type of cigarette pack 22.

[0049] (iv) When the hydraulic rod 42 rises to a certain height, the rotary transmission module 4 rotates 180° and the hydraulic rod 42 descends again. The robotic arm module 5, which has grabbed the first type of cigarette pack 11 or the second type of cigarette pack 22, descends and places the grabbed first type of cigarette pack 11 and second type of cigarette pack 22 at a set position on the first track 1.

[0050] (v) Repeat steps iii and iv according to the set types and quantities of mixed cigarette packs;

[0051] (vi) After the types and quantities of cigarette packs to be mixed are prepared on the first track A (as shown in Figure 2), the first track A moves. After the types and quantities of the mixed cigarette packs are detected by the detection device 12, ten different types of small boxes are packaged into cartons (the packaging of cartons is not within the scope of protection of this invention), thus completing one cigarette pack mixing operation cycle.

[0052] The above steps are controlled by the automatic control system.

[0053] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dual-track rotary robotic cigarette pack mixing device, characterized in that, The device includes: a cigarette pack conveying module (1), a rotary transmission module (4), and a robotic arm module (5); wherein, the cigarette pack conveying module (1) includes: a first track (A) and a second track (B) arranged vertically on the same horizontal plane; the rotary transmission module (4) is arranged at the intersection of the second track (B) and the first track (A) at a perpendicular point; there are two robotic arm modules (5), which are respectively set at both ends of the rotary transmission module (4).

2. The dual-track rotary manipulator cigarette pack mixing equipment according to claim 1, characterized in that, The rotary transmission module (4) includes: a cylindrical fixed platform (41), a polyhedral rotating chassis (43), and a cuboid robotic arm module frame (44); the fixed platform (41) and the rotating chassis (43) above it are connected by a hydraulic rod (42); the rotating chassis (43) and the robotic arm module frame (44) above it are connected by a coupling (47) and a rotating shaft (48); the rotating chassis (43) and the robotic arm module frame (44) are also symmetrically provided with a first connecting bracket (45) and a second connecting bracket (46) at both ends for fixed connection. The rotating chassis (43) and the robot arm module frame (44); the fixed platform (41) is fixed on the stabilizer (3), and the stabilizer (3) is fixed on the base (31); the base (31) is arranged at the perpendicular intersection of the first track (1) and the second track (2); two robot arm modules (5) are respectively arranged at the lower ends of the robot arm module frame (44); a motor (50) is fixedly installed in the middle of the upper surface of the robot arm module frame (44), and the rotating shaft (48) passes through the robot arm module frame (44) and connects to the motor (50).

3. The dual-track rotary manipulator cigarette pack mixing equipment according to claim 2, characterized in that, The lower ends of the robotic arm module frame (44) are respectively provided with rectangular robotic arm movement slots (441). The two robotic arm modules (5) are respectively arranged in the robotic arm movement slots (441) and can move left and right in their respective robotic arm movement slots (441).

4. The dual-track rotary manipulator cigarette pack mixing equipment according to claim 1, characterized in that, Each robotic arm module (5) includes: a left clamping plate (51) and a right clamping plate (52), a clamping plate crossbeam (54), a left column (55), a right column (56), and a fixed crossbeam (57); the left clamping plate (51) and the right clamping plate (52) are arranged opposite to each other at the lower ends of the clamping plate crossbeam (54); the clamping plate crossbeam (54) is fixedly connected to the fixed crossbeam (57) above it through the left column (55) and the right column (56); a connecting shaft (58) is provided in the middle of the upper surface of the fixed crossbeam (57); the connecting shaft (58) is arranged at both ends of the rotary transmission module (4).

5. The dual-track rotary manipulator cigarette pack mixing equipment according to claim 4, characterized in that, The lower end of the card plate crossbeam (54) has a rectangular card plate groove (541). The left card plate (51) and the right card plate (52) are connected in the card plate groove (541) by mechanical parts. The left card plate (51) and the right card plate (52) are the same size and shape, and each of their opposite surfaces is provided with cushioning material (53).

6. The dual-track rotary manipulator cigarette pack mixing equipment according to claim 5, characterized in that, A camera and a sensor are installed between the left card plate (51) and the right card plate (52) of the card plate slot (541).

7. The dual-track rotary manipulator cigarette pack mixing equipment according to claim 1, characterized in that, A detection device (12) is provided downstream of the first track (A).

8. The dual-track rotary manipulator cigarette pack mixing equipment according to claim 3, characterized in that, A sealing ring (49) is arranged on the outside of the rotating shaft (47) on the upper surface of the rotating chassis (43).

9. The dual-track rotary manipulator cigarette pack mixing equipment according to any one of claims 1-8 is used in a cigarette pack mixing method, characterized in that, Includes the following steps: (i) Start the motor (50), start and initialize the rotary transmission module (4) and the robot module (5), so that the two robot modules (5) are respectively on the upper part of the first track (A) and the second track (B); (ii) Start the cigarette pack conveying module so that the first type of cigarette pack (11) and the second type of cigarette pack (22) are conveyed to the positions set on the second track (B) in the set order and quantity; (iii) Based on the camera and sensor in the card slot (541), the robotic arm module (5) slides in the card slot (541) for positioning; after positioning, the hydraulic rod (42) drives the rotating module (4) and the robotic arm module (5) to descend and grab the first type of cigarette pack (11) or the second type of cigarette pack (22); (iv) The hydraulic rod (42) rises to a certain height, the rotary transmission module (4) rotates 180°, the hydraulic rod (42) descends again, the robotic arm module (5) that has grabbed the first type of cigarette pack (11) or the second type of cigarette pack (22) descends, and places the grabbed first type of cigarette pack (11) and second type of cigarette pack (22) on the first track (1) at the set position; (v) Repeat steps (iii) and (iv) according to the set types and quantities of mixed cigarette packs; (vi) After the types and quantities of cigarette packs to be mixed are prepared on the first track (A), the first track (A) moves, and the types and quantities of mixed cigarette packs are detected by the detection device (12) and then packaged.

10. The method for mixing cigarette packs according to claim 9, characterized in that, Each step is controlled by an automatic control system.

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