CN119079214B

CN119079214B - Automatic cartoning system for special-shaped boxes and control method thereof

Info

Publication number: CN119079214B
Application number: CN202411207026.3A
Authority: CN
Inventors: 姚佳; 郑茂; 徐祥; 杨成波; 周鑫; 邱仕强; 白帆; 白鸿俊; 韩金江; 夏希陶
Original assignee: Hongta Tobacco Group Co Ltd
Current assignee: Hongta Tobacco Group Co Ltd
Priority date: 2024-08-30
Filing date: 2024-08-30
Publication date: 2025-09-05
Anticipated expiration: 2044-08-30
Also published as: CN119079214A

Abstract

The invention relates to the technical field of tobacco equipment, and discloses an automatic boxing system for special-shaped cartons and a control method thereof. The special-shaped carton automatic boxing system comprises a carton conveying platform, a carton feeding device, a carton conveying and feeding robot, a carton platform, a carton conveying and arranging robot, a carton feeding and finished product outputting device and a carton conveying and filling robot, wherein the carton conveying platform is provided with a carton stacking die box capable of adapting to at least two types of cartons, the carton platform is provided with a stacking station and a boxing station, the carton conveying and arranging robot is used for conveying the cartons to the stacking station, and the carton conveying and filling robot is used for conveying the cartons and carrying out carton opening, lining paper and pull tab processing, carton filling and carton closing actions on the cartons. The invention completes the full-automatic boxing process of the special-shaped strip box, improves the operation efficiency, ensures the boxing quality, can realize boxing of different types of cigarette packages at the same time, improves the applicability and expansibility of the production line, and reduces the production cost.

Description

Automatic boxing system for special-shaped strip boxes and control method thereof

Technical Field

The invention relates to the technical field of tobacco equipment, in particular to an automatic boxing system for special-shaped cartons and a control method thereof.

Background

Along with the increasing personalized demands of cigarette products, the types of special-shaped cigarette products are more and more, and the market puts higher and higher demands on the special-shaped cigarette products. Besides the traditional cigarette carton packaging, the flip type, split type and other different packaging modes, the thin and medium cigarettes and other different size specifications, the carton packaging modes of different arrangement modes such as 1 x 10, 1-4-4-1 and the like are different, the carton packaging cannot be produced by using the existing standardized equipment, most special-shaped cigarette product cartons are mainly filled in a manual packaging mode, the labor cost is high, the production efficiency is low, the quality is uneven, and the market demand cannot be met.

Moreover, the existing carton filling production line of special-shaped cigarette products can only be used for carton filling of one special-shaped cigarette product, and has poor applicability, and the production cost of the special-shaped cigarette product is high due to low total production quantity of the special-shaped cigarette product.

Disclosure of Invention

Based on the above, the invention aims to provide an automatic boxing system for special-shaped cartons and a control method thereof, so as to solve the technical problems that the existing special-shaped cigarette products rely on manual filling, and have low production efficiency and high filling cost.

To achieve the purpose, the invention adopts the following technical scheme:

An automated cartoning system for a profile case, comprising:

The tobacco bale conveying platform is provided with a tobacco bale stacking die box which can be matched with at least two types of tobacco bales;

The tobacco bale supply device is arranged at the feed end of the tobacco bale conveying platform and is used for providing tobacco bales;

The tobacco bale conveying and feeding robot is arranged at the feeding end of the tobacco bale conveying platform and is used for conveying tobacco bales on the tobacco bale feeding device into the tobacco bale stacking die box;

the cigarette packaging box platform is arranged at the side of the cigarette packaging box conveying platform, and a stacking station and a boxing station are arranged on the cigarette packaging box platform;

The tobacco package carrying and arranging robot is arranged on the same side as the tobacco package platform and is used for carrying tobacco packages from the tobacco package stacking die boxes to the stacking stations;

The carton feeding and finished product outputting device is arranged at the side of the cigarette packet conveying platform and is used for providing empty cartons and conveying the cartons filled with the cigarette packets away;

and the carton conveying and loading robot is arranged on the same side as the carton feeding and finished product outputting device and is used for conveying empty cartons from the carton feeding and finished product outputting device to the boxing station, and carrying out carton opening, lining paper and pull tab processing, carton loading and carton closing actions and conveying the cartons filled with the cigarettes back to the carton feeding and finished product outputting device.

In some possible embodiments, the tobacco bale palletizing die box comprises a base and side blocking strips, wherein a plurality of side blocking strips are arranged on the base in a surrounding mode to form an enclosing space for placing tobacco bales, the fixed position of each side Fang Dangtiao on the base is adjustable, and the stacking of tobacco bales in different forms is adapted by adjusting the position of each side blocking strip.

In some possible embodiments, the tobacco bale feeding device comprises a first conveying belt, a second conveying belt and a lifting mechanism, wherein the second conveying belt is arranged above the first conveying belt at intervals, the first conveying belt and the second conveying belt are arranged in parallel, and the lifting mechanism is arranged on the side of one end part of the first conveying belt and one side of one end part of the second conveying belt and is used for conveying empty tobacco frames on the first conveying belt to the second conveying belt.

In some possible embodiments, the lifting mechanism comprises two third conveying belts which are symmetrically distributed, a gap between the two third conveying belts is matched with the length of the cigarette frame, supporting plates are arranged on the third conveying belts, the two third conveying belts synchronously rotate reversely, and the empty cigarette frame is transported downwards by being lapped on the two supporting plates.

In some possible embodiments, there is a difference in the set heights of the pallets on the two third conveyor belts.

In some possible embodiments, the tobacco bale handling feeding robot comprises a first mechanical arm and a tobacco bale grabbing suction tool mounted on the first mechanical arm, the tobacco bale grabbing suction tool comprises a pickup main body, the pickup main body comprises a horizontal connector and a vertical connector which are vertically connected, a pickup position for adsorbing the tobacco bale is formed between the horizontal connector and the vertical connector, a first adsorption hole is formed in the side face of the vertical connector, a second adsorption hole is formed in the bottom face of the horizontal connector, the first adsorption hole and the second adsorption hole are communicated through an air flow channel in the pickup main body, and the air flow channel is connected with external negative pressure equipment.

In some possible embodiments, the pick-up body is T-shaped, the vertical connector is vertically connected to the middle of the horizontal connector, and the vertical connector and the horizontal connectors on both sides form two pick-up positions.

In some possible embodiments, the tobacco bale handling and feeding robot further comprises a suction tool seat, the tobacco bale grabbing suction tool is connected with the first mechanical arm through the suction tool seat, a first sliding rod is arranged on the suction tool seat, at least two tobacco bale grabbing suction tools which are arranged at intervals are slidably mounted on the first sliding rod, a bidirectional driving piece and a second sliding rod which are fixedly mounted on the suction tool seat are arranged above the first sliding rod, two connecting blocks which are respectively arranged on two sides of the bidirectional driving piece are slidably mounted on the second sliding rod, two output ends of the bidirectional driving piece are respectively connected with the two connecting blocks and used for driving the two connecting blocks to be close to or far away from each other, the lower ends of the two connecting blocks are respectively fixedly connected with the tops of the tobacco bale grabbing suction tools which are arranged on the two sides, and the adjacent tobacco bale grabbing suction tools are in transmission connection through a hinge quadrilateral structure.

In some possible embodiments, the stacking station is rectangular, two adjacent sides of the stacking station are fixedly provided with first baffles, the other two adjacent sides are respectively and movably provided with second baffles corresponding to the first baffles, the second baffles are connected with a first driving piece, and the first driving piece is used for driving the second baffles to be close to or far away from the first baffles;

the boxing station is arranged close to the stacking station, the boxing station is movably provided with clamping baffles, the clamping baffles are opposite to one of the first baffles, and a strip box is contained between the clamping baffles and the first baffles;

One end of the boxing station is provided with a pull tongue sucker, the other end of the boxing station is provided with a lining paper sucker, one side of the boxing station, which is far away from the stacking station, is provided with a positioning elastic sheet, and after the boxing station is opened, the box cover of the box can be hooked by the positioning elastic sheet.

In some possible embodiments, the positioning spring plate comprises an elastic supporting portion, a transition portion and a hooking portion, wherein the elastic supporting portion and the hooking portion are respectively located on two sides of the transition portion.

In some possible embodiments, the tobacco bale handling and arranging robot comprises a second mechanical arm and a tobacco bale shifting mechanical arm arranged at the tail end of the second mechanical arm, wherein the tobacco bale shifting mechanical arm comprises a base, a first sucker, a second sucker and a third driving piece, the base is arranged at the tail end of the second mechanical arm, the first sucker is fixed at the bottom of the base, the second sucker is arranged on the base in a vertically movable mode and is arranged on one side of the first sucker side by side, the third driving piece is fixed on the base, and the output end of the third driving piece is fixedly connected with the second sucker and used for driving the second sucker to move up and down.

In some possible embodiments, the magazine feed and product take-off device comprises a fourth conveyor and a fifth conveyor arranged parallel to each other, the fourth conveyor and the fifth conveyor rotating in opposite directions.

In some possible embodiments, the carton carrying and filling robot comprises a third mechanical arm and a carton carrying opening and closing mechanical arm arranged at the tail end of the third mechanical arm, wherein the carton carrying opening and closing mechanical arm comprises a main sucker, an auxiliary sucker arranged at one side of the main sucker and a point sucker arranged at the top of the main sucker, the main sucker is used for adsorbing the top surface of a carton, the auxiliary sucker is used for adsorbing the side surface of the carton, the included angle between the adsorption surface of the main sucker and the adsorption surface of the auxiliary sucker is equal to the included angle between the top surface and the side surface of the carton, the adsorption end of the point sucker protrudes outwards from one side of the main sucker, and the point sucker is used for adsorbing lining paper and a pull tongue in the carton.

The invention also provides a control method of the automatic boxing system for the special-shaped strip boxes, which comprises the following steps:

Detecting whether an empty tobacco bale stacking die box is in place or not, if so, grabbing a tobacco bale from a tobacco bale supply device by a tobacco bale conveying and loading robot, conveying the tobacco bale into the tobacco bale stacking die box, conveying the tobacco bale stacking die box filled with the tobacco bale to a designated position through a tobacco bale conveying platform, and returning to continuously detect whether the next empty tobacco bale stacking die box is in place or not;

Detecting whether the tobacco bale stacking die box filled with the tobacco bale is in place or not, if so, sequentially picking up the tobacco bale from the tobacco bale stacking die box by a tobacco bale conveying and arranging robot, conveying the tobacco bale along the tobacco bale, placing the tobacco bale in a stacking station, returning the empty tobacco bale stacking die box through the tobacco bale conveying platform after the tobacco bale in the tobacco bale stacking die box is taken out, and arranging the tobacco bale on the stacking station;

detecting whether an empty carton in the carton feeding and finished product outputting device is in place, if so, picking up the empty carton from the carton feeding and finished product outputting device by the carton conveying and filling robot, conveying the empty carton to a boxing station, opening a box cover of the carton by the carton conveying and filling robot, respectively pulling out lining paper and a pull tab from the carton, filling a cigarette package of the stacking station into the carton, respectively pulling back the lining paper and the pull tab to the carton, closing a box cover of the carton, and conveying the carton filled with the cigarette package to the carton feeding and finished product outputting device.

The invention has the beneficial effects that:

The tobacco bale feeding device continuously provides tobacco bales, the tobacco bale feeding robot is used for feeding the tobacco bales on the tobacco bale feeding device into the tobacco bale stacking die boxes, the tobacco bale conveying platform is used for conveying the tobacco bale stacking die boxes to positions close to the tobacco bale platform, the feeding process of the tobacco bales is achieved, the tobacco bales are then conveyed from the tobacco bale stacking die boxes to the stacking station and are stacked in order through the tobacco bale conveying and arranging robot, empty cartons in the carton feeding and finished product outputting device are conveyed to the boxing station through the carton conveying and filling robot, the box cover of the carton is opened, the lining paper and the pull tab are pulled out, the tobacco bales are put into the carton, the lining paper and the pull tab are put back into the carton, the box cover of the carton is closed, the carton of the tobacco bale is conveyed to the carton feeding and finished product outputting device through the carton feeding and finished product outputting device, the full-filling of the carton of the tobacco bales is achieved, the full-automatic special-shaped carton is guaranteed, the production efficiency of the full-shaped carton is improved, and the production cost is guaranteed, and the production efficiency of the full-shaped carton is guaranteed.

The tobacco package stacking die box is applicable to at least two types of tobacco packages, and a plurality of tobacco package stacking die boxes can be simultaneously transmitted on the tobacco package conveying platform, so that the tobacco package stacking die box can simultaneously complete the transmission of at least two types of tobacco packages, and a plurality of tobacco package platforms can be arranged on the side of the tobacco package conveying platform according to requirements so as to complete the boxing operation of different types of tobacco packages. The invention realizes the carton filling operation of different types of special-shaped cigarette products, improves the flexibility and applicability of the production line, further reduces the production cost of the special-shaped cigarette products, and simultaneously, can add corresponding modules at the side of the cigarette package conveying platform according to the needs, further expands and realizes other functions, and improves the expansibility of the production line.

Drawings

FIG. 1 is a schematic view of a prior art profile case;

Fig. 2 is a schematic structural view of an automatic boxing system for special-shaped cartons, which is provided by an embodiment of the present invention;

fig. 3 is a schematic structural view of a first tobacco packet palletizing die box according to an embodiment of the present invention;

fig. 4 is a schematic bottom view of a first packet palletizing die box according to an embodiment of the present invention;

Fig. 5 is a schematic structural view of a second tobacco packet palletizing die box according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a tobacco packet conveying platform and a tobacco packet code scanner according to an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a tobacco bale feeding device according to an embodiment of the present invention;

Fig. 8 is a schematic structural view of a lifting mechanism according to an embodiment of the present invention;

fig. 9 is a schematic diagram II of a tobacco bale feeding device according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a tobacco bale handling and feeding robot provided by an embodiment of the present invention;

fig. 11 is a schematic structural view of a tobacco bale grabbing suction tool according to an embodiment of the present invention;

Fig. 12 is a schematic structural view of a tobacco bale gripping suction tool and a suction tool holder according to an embodiment of the present invention;

Fig. 13 is an assembly schematic diagram of a hinge quadrilateral structure and a tobacco bale grabbing suction tool according to an embodiment of the present invention;

fig. 14 is a schematic structural view of a platform for a tobacco carton according to an embodiment of the present invention;

Fig. 15 is a state diagram of use of the tobacco carton platform provided by an embodiment of the present invention;

FIG. 16 is an enlarged view of a portion of FIG. 15 at A;

FIG. 17 is a schematic structural diagram of a positioning spring according to an embodiment of the present invention;

fig. 18 is a schematic structural view of a robot for handling and arranging tobacco packages according to an embodiment of the present invention;

fig. 19 is a schematic structural view of a tobacco bale displacement manipulator according to an embodiment of the present invention;

FIG. 20 is a schematic view of a cartridge feeding and product output apparatus according to an embodiment of the present invention;

FIG. 21 is a schematic view of a cartridge handling and loading robot according to an embodiment of the present invention;

fig. 22 is a schematic structural diagram of a mechanical arm for carrying and opening and closing a carton according to an embodiment of the present invention;

fig. 23 is a schematic structural diagram II of a mechanical arm for carrying and opening and closing a carton according to an embodiment of the present invention;

FIG. 24 is a schematic view of a flow of the cartridge from uncap to closed and output provided by an embodiment of the present invention;

FIG. 25 is a schematic diagram illustrating an assembly of a quick connector, a robot arm, and a suction tool (or a robot arm) according to an embodiment of the present invention;

FIG. 26 is a cross-sectional view of a quick connector provided by an embodiment of the present invention;

FIG. 27 is an exploded view of a quick connector provided in accordance with an embodiment of the present invention;

fig. 28 is a flowchart of a control method of the automatic boxing system for special-shaped cans according to the embodiment of the invention.

In the figure:

1. Tobacco package conveying platform, 11, tobacco package stacking die box, 111, base, 1111, magnet block, 1112, connecting hole, 1113, boss, 112, side Fang Dangtiao, 1121, waist-shaped hole, 12, tobacco package code scanner;

2. a pack supply device; 21, a first conveying belt, 22, a second conveying belt, 23, a lifting mechanism, 231, a third conveying belt, 232, a supporting plate, 233 and a second protection plate;

3. The tobacco bale handling and feeding robot comprises a tobacco bale handling and feeding robot body 31, a first mechanical arm 32, a tobacco bale grabbing suction tool 321, a picking main body 3211, a vertical connector, a horizontal connector 3212, a horizontal connector 3213, a second protruding part 3214, a first protruding part 33, a suction tool seat 331, a first sliding rod 332, a bidirectional driving piece 333, a second sliding rod 334, a connecting block 335 and a hinge quadrilateral structure;

4. The cigarette package comprises a cigarette package platform, 41, a stacking station, 411, a first baffle, 412, a second baffle, 413, a first driving piece, 42, a boxing station, 421, a clamping baffle, 422, a second driving piece, 423, a pull tab sucker, 424, a lining paper sucker, 425, a positioning spring piece, 4251, an elastic supporting part, 4252, a transition part, 4253, a hooking part, 426, a carton code scanner, 427, a rotary cylinder, 428 and a tabletting;

5. The tobacco bale handling arrangement robot; 51, a second mechanical arm, 52, a tobacco bale shifting mechanical arm, 521, a first sucker, 522, a second sucker, 523, a third driving piece, 524 and a base;

6. A cartridge supply and finished product output device 61, a fourth conveyor belt 62, a fifth conveyor belt 63, and a cartridge frame;

7. The device comprises a barrel conveying robot, a third mechanical arm, a 72 barrel conveying opening and closing mechanical arm, a 721, a main sucker, a 722, an auxiliary sucker, a 723, a point sucker, a 724, a first connecting piece, a 7241, a vertical section, a 7242, a horizontal section, a 725 and a second connecting piece;

8. The device comprises a quick connector, 81, a mechanical arm side connecting seat, 811, a detection cavity, 812, a detection block, 813, a detection probe, 82, a suction tool side connecting seat, 821, a stepped hole, 822, a shaft shoulder, 83, a driving seat, 831, a driving cavity, 832, a sliding block, 8321, a driving part, 833, a first control hole, 834, a second control hole, 84, a guide sleeve, 841, a mounting hole and 842, and locking balls;

100. tobacco package, 200, tobacco frame, 300, carton, 310, box body, 320, box cover, 330, lining paper, 340 and pull tab.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may, for example, be fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless explicitly specified and limited otherwise, a first feature "above" or "below" a second feature may include both the first feature and the second feature being in direct contact, and may also include both the first feature and the second feature not being in direct contact but being in contact with each other by another feature therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present invention, the terms "upper," "lower," "left," "right," and the like are used for convenience of description and simplicity of operation based on the orientation or positional relationship shown in the drawings, and do not denote or imply that the apparatus or element in question must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

As shown in fig. 1, a prior art cartridge 300 is provided, and the cartridge 300 is a profile cartridge, which includes a cartridge body 310, a cartridge cover 320 that is rotatably connected to the upper portion of the cartridge body 310, and a liner 330 (e.g. parchment) and a pull tab 340 that are disposed in the cartridge body 310. In the boxing operation of the carton 300, the liner 330 and the pull tab 340 need to be pulled outwards to avoid the liner 330 and the pull tab 340 from affecting boxing of the cigarette packet 100, and then the cigarette packet 100 is filled into the box body 310. However, the boxing equipment in the prior art cannot pull out the lining paper 330 and the pull tab 340, needs to perform boxing operation on the special-shaped strip box in a manual boxing mode, has high labor cost and low boxing efficiency, and has different boxing quality, so that market demands cannot be met, and the existing special-shaped cigarette product strip box filling production line can only be suitable for strip box filling operation of a special-shaped cigarette product, has poor applicability, and has higher production cost due to lower total production quantity of the special-shaped cigarette product.

In order to solve the above-mentioned technical problems, as shown in fig. 2 to 27, the present embodiment provides an automatic boxing system for special-shaped cartons, which comprises a carton conveying platform 1, a carton feeding device 2, a carton conveying and feeding robot 3, a carton platform 4, a carton conveying and arranging robot 5, a carton feeding and finished product outputting device 6 and a carton conveying and filling robot 7.

A plurality of tobacco bale stacking die boxes 11 are arranged on the tobacco bale conveying platform 1, and each tobacco bale stacking die box 11 can be adapted to at least two types of tobacco bales 100. In use, different tobacco packages 100 are placed in different tobacco package palletizing cartons 11, and the corresponding tobacco packages 100 are conveyed to the appropriate positions by the tobacco package conveying platform 1. In this embodiment, the tobacco bale conveying platform 1 adopts a planar magnetic suspension conveying platform, so that flexible conveying of the tobacco bale 100 can be realized, and the requirements of various production lines can be met. Specifically, the planar magnetic suspension conveying platform comprises a stator and a rotor, and when in use, different tobacco bale stacking die boxes 11 are mounted on the rotor of the planar magnetic suspension conveying platform, so that different tobacco bales 100 can be transported simultaneously, path planning and flexible distribution of the tobacco bales can be realized in a programming mode according to process requirements, the limitation of a traditional conveying line is broken, and the problems of complex system structure, inconvenient maintenance and friction limitation positioning precision during multi-dimensional conveying are solved.

The tobacco bale feeding device 2 is arranged at the feeding end of the tobacco bale conveying platform 1 and is used for continuously providing tobacco bales 100. Optionally, two cigarette packet supplying devices 2 are provided, which are respectively located at two sides of the feeding end of the cigarette packet conveying platform 1, and cigarette packets 100 with different types are placed on the two cigarette packet supplying devices 2. The tobacco bale handling and feeding robot 3 is also arranged at the feeding end of the tobacco bale conveying platform 1 and is positioned between the two tobacco bale feeding devices 2, and is used for conveying the tobacco bale 100 on the tobacco bale feeding devices 2 into the tobacco bale stacking die box 11. The layout form enables the tobacco bale conveying and feeding robot 3 to convey at least two different tobacco bales 100 into the corresponding tobacco bale stacking die boxes 11, and is beneficial to reducing the production cost of a production line.

The cigarette pack platform 4 is arranged on the side of the cigarette pack conveying platform 1, and a stacking station 41 and a boxing station 42 are arranged on the cigarette pack platform 4. The tobacco bale handling and arranging robot 5 is arranged on the same side as the tobacco bale platform 4 and is used for handling the tobacco bale 100 from the tobacco bale stacking die box 11 to the stacking station 41. During operation, the tobacco bale stacking die boxes 11 with the tobacco bales 100 are conveyed to corresponding positions through the tobacco bale conveying platform 1, then the tobacco bale conveying and arranging robot 5 acts to convey the tobacco bales 100 from the tobacco bale stacking die boxes 11 to the stacking station 41, so that the tobacco bales are stacked neatly, and subsequent boxing operation is facilitated.

The cartridge supply and output device 6 is provided at a side of the pack transfer platform 1 for continuously supplying empty cartridges 300 and carrying the cartridges 300 with the packs 100 away. The carton transporting and loading robot 7 is provided on the same side as the carton feeding and final product outputting device 6, and is configured to transport the empty carton 300 from the carton feeding and final product outputting device 6 to the boxing station 42, and perform the processes of opening the carton 300, inserting the paper 330 and the tab 340, loading and closing the carton 300, and moving the carton 300 filled with the tobacco bale 100 back to the carton feeding and final product outputting device 6.

According to the automatic boxing system for the special-shaped strip boxes, the tobacco packages 100 are continuously provided by the tobacco package supply device 2, the tobacco packages 100 on the tobacco package supply device 2 are conveyed into the tobacco package stacking die boxes 11 by the tobacco package conveying robot 3, and the tobacco package stacking die boxes 11 are conveyed to a position close to the tobacco package platform 4 by the tobacco package conveying platform 1, so that the feeding process of the tobacco packages 100 is realized; the tobacco package 100 is conveyed from the tobacco package stacking die box 11 to the stacking station 41 through the tobacco package conveying and arranging robot 5 and is stacked neatly, the empty cartons 300 in the carton feeding and finished product outputting device 6 are conveyed to the boxing station 42 through the carton conveying and filling robot 7, the box covers 320 of the cartons 300 are opened, the lining papers 330 and the pull tabs 340 are pulled out, the tobacco packages 100 are filled into the cartons 300 from the stacking station 41, the lining papers 330 and the pull tabs 340 are put back into the cartons 300, the box covers 320 of the cartons 300 are closed, the cartons 300 filled with the tobacco packages 100 are conveyed to the carton feeding and finished product outputting device 6 through the carton conveying and filling robot 7, and finally the cartons 300 filled with the tobacco packages 100 are output through the carton feeding and finished product outputting device 6, so that the full-automatic boxing process of special-shaped cartons is finished, the work efficiency of special-shaped cartons is effectively improved, the boxing quality is guaranteed, and the production cost is reduced.

Moreover, the tobacco package stacking die box 11 can be suitable for at least two types of tobacco packages 100, and a plurality of tobacco package stacking die boxes 11 can be simultaneously transmitted on the tobacco package conveying platform 1, so that the invention can simultaneously complete the transmission of at least two types of tobacco packages 100, and a plurality of matched tobacco package platform 4, a carton feeding and finished product outputting device 6 and a carton conveying and filling robot 7 can be arranged on the side of the tobacco package conveying platform 1 according to requirements so as to complete the boxing operation of different types of tobacco packages 100. The invention realizes the carton filling operation of different types of special-shaped cigarette products, improves the flexibility and applicability of the production line, further reduces the production cost of the special-shaped cigarette products, and simultaneously, can add corresponding modules at the side of the cigarette package conveying platform 1 according to the needs, further expands and realizes other functions, and improves the expansibility of the production line.

Optionally, in some embodiments, as shown in fig. 3-4, the tobacco packet stacking die 11 includes a base 111 and sides Fang Dangtiao, a plurality of side bars 112 are circumferentially disposed on the base 111 to form an enclosed space for placing the tobacco packets 100, and the fixing positions of the side bars 112 on the base 111 are adjustable, so that stacking of the tobacco packets 100 in different forms can be adapted by adjusting the positions of the side bars 112. Specifically, four side barrier strips 112 are arranged on the base 111 in a surrounding manner, so that a square cigarette packet placement position is formed on the base 111, the side barrier strips 112 are L-shaped, each connecting portion is parallel to the plane of the base 111 and is fixedly connected with the base 111, and two limiting portions are respectively arranged at two ends of the connecting portion and vertically extend upwards from one side of the connecting portion and are used for limiting the cigarette packet 100. When the packet 100 is conveyed, the lateral barrier rib 112 provided in the circumferential direction of the base 111 can restrict the movement of the packet 100. Further, the connecting portion of the lateral barrier rib 112 is provided with a waist-shaped hole 1121, and the connecting screw is screwed with the base 111 after passing through the waist-shaped hole 1121, so that the lateral barrier rib 112 is firmly connected with the base 111, and when in use, the position of the lateral barrier rib 112 can be adjusted to be suitable for stacking of different types of cigarette packets 100. According to the embodiment, the lateral barrier strips 112 of the different tobacco bale stacking die boxes 11 are moved to different positions, so that the different tobacco bales 100 can be placed in the different tobacco bale stacking die boxes 11, the purpose that the tobacco bale stacking die boxes 11 with one structure can adapt to at least two types of tobacco bales 100 is achieved, and the applicability of a production line is improved.

Optionally, in some embodiments, the middle part of the bottom surface of the base 111 is provided with a magnet block 1111, so that the base 111 is magnetic, so that when the base 111 is mounted on the tobacco bale conveying platform 1, the magnet block 1111 is magnetically connected with the mover of the planar magnetic levitation conveying platform, so that the positioning of the base 111 is easy, and the installation of the tobacco bale stacking die box 11 is more convenient. Further, the bottom surface of the base 111 is further provided with a connecting hole 1112, the mover of the planar magnetic levitation conveying platform is correspondingly provided with a threaded hole, and when the tobacco bale stacking die box 11 is installed, bolts penetrate through the connecting hole 1112 to be in threaded connection with the mover, so that the installation stability and reliability are guaranteed.

Optionally, in some embodiments, the four corners of the base 111 are provided with the bosses 1113, and four sliding grooves are formed on the base 111 by the mutual matching of the four bosses 1113, and the connecting portions of the lateral barrier strips 112 are slidably connected with the sliding grooves, so that the positions of the lateral barrier strips Fang Dangtiao are defined, the lateral barrier strips 112 are effectively prevented from deflecting when the lateral barrier strips 112 are adjusted, and the difficulty in adjusting the positions of the lateral barrier strips 112 is reduced. Further, the boss 1113 is provided with a scale, and the lateral barrier 112 is aligned with the scale, so that the operator can conveniently adjust the position of the lateral barrier 112.

Alternatively, in some embodiments, as shown in fig. 5, the lateral barrier strips 112 may also be elongated with an L-shaped cross section, the bottom ends of the lateral barrier strips 112 are fixedly connected to the base 111, and the four lateral barrier strips 112 are combined into a group to jointly position one type of the tobacco packet 100. Two sets of mutually sleeved sides Fang Dangtiao and 112 can be arranged on the same base 111, one set of side baffle strips 112 form a first accommodating space for accommodating the first type of cigarette packet 100, the other set of side baffle strips 112 form a second accommodating space for accommodating the second type of cigarette packet 100, the first accommodating space and the second accommodating space are arranged in a crisscross manner, and the first accommodating space and the second accommodating space are alternatively used, so that the purpose that the same type of cigarette packet stacking die box 11 can be adapted to two specifications of cigarette packets 100 is achieved.

It should be noted that, multiple layers of tobacco packages 100 can be stacked in the tobacco package stacking die box 11, and the number of each layer of tobacco packages 100 and the placement direction of the tobacco packages 100 can be designed according to specific requirements. Illustratively, as shown in fig. 3 and 5, 5 layers of tobacco packets 100 are stacked in the tobacco packet stacking die 11 of the present embodiment, and each layer has two tobacco packets 100 arranged in opposite directions.

Optionally, in some embodiments, as shown in fig. 6, two sides of the tobacco bale conveying platform 1 are provided with a tobacco bale code scanner 12 for reading information on the tobacco bale 100, the tobacco bale code scanner 12 is arranged close to the tobacco bale feeding device 2, and in the process that the tobacco bale conveying platform 1 conveys the tobacco bale 100, the information of the tobacco bale 100 is read through the tobacco bale code scanner 12 and uploaded to a background server, so that the carton 300 of each piece of tobacco corresponds to the information of the tobacco bale 100, and the tracing of a later staff on each carton 300 and the tobacco bale 100 inside the carton is facilitated.

Alternatively, in some embodiments, as shown in fig. 7-9, the tobacco bale feeding device 2 includes a first conveyor belt 21, a second conveyor belt 22, and a lifting mechanism 23, where the second conveyor belt 22 is spaced above the first conveyor belt 21, and the first conveyor belt 21 and the second conveyor belt 22 are parallel to each other, and the lifting mechanism 23 is disposed at a side of one end of the first conveyor belt 21 and one end of the second conveyor belt 22, for conveying the empty tobacco frames 200 on the first conveyor belt 21 onto the second conveyor belt 22.

Specifically, the end of the first conveyor belt 21 near the elevating mechanism 23 extends to a position flush with the elevating mechanism 23, and the end of the second conveyor belt 22 near the elevating mechanism 23 extends into the elevating mechanism 23. When the cigarette pack handling and feeding robot 3 continuously takes the cigarette packs 100 from the cigarette frames 200 positioned on the lifting mechanism 23, after the cigarette packs 100 in the cigarette frames 200 are completely taken, the lifting mechanism 23 acts to convey the empty cigarette frames 200 to the second conveying belt 22, then the first conveying belt 21 acts to convey the rear cigarette frames 200 to the lifting mechanism 23 forwards, so that the cigarette pack handling and feeding robot 3 can continuously take the cigarette packs 100. By repeating the above-described operations, a continuous feeding operation of the tobacco bale 100 is formed.

Optionally, in some embodiments, the lifting mechanism 23 includes two third conveying belts 231 symmetrically distributed, a gap between the two third conveying belts 231 is matched with the length of the cigarette frame 200, a supporting plate 232 is arranged on the third conveying belt 231, the two third conveying belts 231 synchronously rotate reversely, and the empty cigarette frame 200 is conveyed downwards by being carried on the two supporting plates 232, so that the empty cigarette frame 200 on the first conveying belt 21 is conveyed to the second conveying belt 22. Further, the two third conveyor belts 231 are driven by a stepping motor or a servo motor, so that synchronous rotation of the two third conveyor belts is effectively ensured. One end of the second conveyor belt 22, which is close to the lifting mechanism 23, extends below the pallet 232, so that the empty cigarette frame 200 can directly fall onto the second conveyor belt 22 when being transported downwards.

Optionally, in some embodiments, the height difference exists between the setting heights of the supporting plates 232 on the two third conveying belts 231, so that the tobacco frame 200 filled with the tobacco packages 100 inclines to one side, and meanwhile, the tobacco package conveying and feeding robot 3 sequentially takes the tobacco packages 100 along the inclination direction, so that the remaining tobacco packages 100 have a tendency to incline to one side, and the problem that the remaining tobacco packages 100 collapse in the tobacco frame 200 after the partial tobacco packages 100 are taken is effectively avoided, which is beneficial to the stability of the tobacco package conveying and feeding robot 3 to take the tobacco packages 100.

Optionally, in some embodiments, a first protection plate is disposed on a side of the pallet 232 away from the first conveyor belt 21, where the first protection plate can limit a distance that the cigarette frame 200 moves forward when the first conveyor belt 21 conveys the cigarette frame 200 to the lifting mechanism 23, so as to effectively prevent the cigarette frame 200 from sliding off the lifting mechanism 23.

Optionally, in some embodiments, as shown in fig. 9, a second protection plate 233 is disposed on the frame of the third conveyor belt 231, and the second protection plate 233 is abutted against a side of the third conveyor belt 231 far away from the first conveyor belt 21, and the distance that the smoke frame 200 moves forward is limited by the second protection plate 233, so that the purpose of preventing the smoke frame 200 from sliding off from the lifting mechanism 23 can be achieved.

Optionally, in some specific embodiments, as shown in fig. 10 and 11, the tobacco bale handling feeding robot 3 includes a first mechanical arm 31 and a tobacco bale grabbing suction tool 32 mounted on the first mechanical arm 31, the tobacco bale grabbing suction tool 32 includes a pickup main body 321, the pickup main body 321 includes a horizontal connector 3212 and a vertical connector 3211 which are vertically connected, a pickup position for adsorbing the tobacco bale 100 is formed between the horizontal connector 3212 and the vertical connector 3211, a first adsorption hole is formed on a side surface of the vertical connector 3211, a second adsorption hole is formed on a bottom surface of the horizontal connector 3212, and the first adsorption hole and the second adsorption hole are communicated through an air flow channel in the pickup main body 321, and the air flow channel is connected with an external negative pressure device. During operation, negative pressure is generated at the first adsorption hole and the second adsorption hole through external pressure supply equipment, when the cigarette packet 100 is adsorbed, the horizontal connector 3212 absorbs the top surface of the cigarette packet 100, and the vertical connector 3211 absorbs the side surface of the cigarette packet 100, so that the adsorption stability of the cigarette packet 100 is improved.

Optionally, in some embodiments, the pick-up main body 321 is substantially T-shaped, the vertical connector 3211 is vertically connected to the middle of the bottom surface of the horizontal connector 3212, and the two sides of the vertical connector 3211 are provided with first adsorption holes, and the two ends of the bottom of the horizontal connector 3212 are provided with second adsorption holes. By the arrangement, the vertical connecting bodies 3211 and the horizontal connecting bodies 3212 on the two sides of the vertical connecting bodies form pick-up positions for adsorbing the cigarette packs 100, so that the number of the cigarette packs 100 which can be transported at one time by the cigarette pack transporting and feeding robot 3 is further increased, and the operation efficiency is improved.

Optionally, in some embodiments, as shown in fig. 12 and 13, the tobacco bale handling feeding robot 3 further includes a suction tool holder 33, the tobacco bale gripping suction tool 32 is connected with the first mechanical arm 31 through the suction tool holder 33, the suction tool holder 33 is provided with a first slide bar 331, and a plurality of tobacco bale gripping suction tools 32 arranged at intervals are slidably mounted on the first slide bar 331, so that the tobacco bale handling feeding robot 3 can adsorb a plurality of tobacco bales 100 at a time, which is beneficial to improving the working efficiency of the tobacco bale handling feeding robot 3. The two-way driving piece 332 and the second sliding rod 333 which are fixedly installed on the suction tool seat 33 are arranged above the first sliding rod 331, two connecting blocks 334 which are respectively positioned on two sides of the two-way driving piece 332 are slidably installed on the second sliding rod 333, two output ends of the two-way driving piece 332 are respectively connected with the two connecting blocks 334 and used for driving the two connecting blocks 334 to be close to or far away from each other, the lower ends of the two connecting blocks 334 are respectively fixedly connected with the tops of the tobacco bale grabbing suction tools 32 positioned on the two sides, and the adjacent tobacco bale grabbing suction tools 32 are in transmission connection through a hinge quadrilateral structure 335. Each hinge quadrilateral 335 specifically includes four sequentially hinged drive rods. When the bidirectional driving member 332 acts, the two-way driving member 332 can drive the two-sided tobacco bale grabbing suction tools 32 to synchronously move towards two sides, and the adjacent tobacco bale grabbing suction tools 32 are connected with each other through the hinge quadrilateral structure 335, so that when the two-sided tobacco bale grabbing suction tools 32 synchronously move towards two sides, the middle tobacco bale grabbing suction tools 32 can be driven to relatively move, the interval between the adjacent tobacco bale grabbing suction tools 32 is always kept equal, each tobacco bale grabbing suction tool 32 can directly face to the tobacco bale 100 to be adsorbed, and the applicability of the tobacco bale grabbing suction tools 32 is improved. Alternatively, the bi-directional driver 332 of the present embodiment is a bi-directional cylinder or a bi-directional electric cylinder.

Alternatively, in some embodiments, as shown in fig. 10-13, a circular arc transition is adopted between the vertical connector 3211 and the horizontal connector 3212, a first protrusion 3214 protruding along a direction perpendicular to the vertical connector 3211 is provided on the vertical connector 3211, a first adsorption hole is provided on the first protrusion 3214, a second protrusion 3213 protruding along a direction perpendicular to the horizontal connector 3212 is provided on the horizontal connector 3212, and a second adsorption hole is provided on the second protrusion 3213. By the mode, the interference between the tobacco bale conveying and feeding robot 3 and the tobacco bale stacking die box 11 during the placement of the tobacco bale 100 can be effectively avoided, and meanwhile, the overall weight of the tobacco bale conveying and feeding robot 3 is reduced.

Illustratively, as shown in fig. 11 and 12, the pack gripping suction tool 32 of the present embodiment is provided with five so as to be able to suck two groups 1*5 of packs. It should be noted that the stacks of two groups 1*5 drawn by the five pack gripping suction devices 32 are in a back-to-back condition, so that when the pack palletizing magazine 11 is placed, the stacks of two groups 1*5 are in opposite directions.

Alternatively, in some embodiments, as shown in fig. 14-17, the stacking station 41 is rectangular, two adjacent sides of the stacking station 41 are fixedly provided with first baffles 411, and two other adjacent sides are respectively movably provided with second baffles 412 corresponding to the first baffles 411, the second baffles 412 are connected with the first driving member 413, and the first driving member 413 is used for driving the second baffles 412 to approach or separate from the first baffles 411. Specifically, the first baffle 411 and the second baffle 412 are respectively two, and enclose a square shape, the first driving member 413 and the second baffle 412 are disposed at the rear of the second baffle 412 in one-to-one correspondence, and when the cigarette pack 100 is placed in a square space enclosed by the first baffle 411 and the second baffle 412, the first driving member 413 acts to drive the second baffle 412 to move toward the first baffle 411 opposite to the first baffle, so as to align the cigarette pack 100, and facilitate taking of the subsequent cigarette pack 100. Alternatively, the first driving member 413 is a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder.

Optionally, in some embodiments, the boxing station 42 is disposed adjacent to the stacking station 41, the boxing station 42 is movably provided with a clamping baffle 421, the clamping baffle 421 is opposite to one of the first baffles 411, the clamping baffle 421 is used for accommodating the cartridges 300, the clamping baffle 421 is connected with a second driving member 422, and the second driving member 422 is used for driving the clamping baffle 421 to be close to or far from the first baffle 411. When the carton 300 is carried to the boxing station 42, the second driving member 422 acts to drive the clamping baffle 421 to move to clamp the carton 300, so as to effectively fix the position of the carton 300 and effectively avoid the displacement of the carton 300 in the process of opening or closing the lid. Alternatively, the second driver 422 is a pneumatic, hydraulic, or electric cylinder.

Optionally, a pull tab sucker 423 is further disposed at one end of the boxing station 42, and when the pull tab 340 is pulled out of the carton 300, the pull tab sucker 423 sucks the pull tab 340, so that the pull tab 340 is effectively prevented from bouncing up when the cigarette packet 100 is packaged, and smooth boxing action of the cigarette packet 100 is ensured. Further, the side of the pull tab sucker 423 is provided with a rotary air cylinder 427, a piston rod of the rotary air cylinder 427 is provided with a pressing piece 428, when the pull tab 340 needs to be put back into the barrel 300, the rotary air cylinder 427 rotates towards the direction of the inside of the barrel 300, and then the pull tab 340 is put into the barrel 300. Further, the pull tab suction cup 423 is slidably mounted on the slide rail, so that the position of the pull tab suction cup 423 can be conveniently adjusted, so that the pull tab suction cup can be suitable for different cartridges 300 to improve the applicability of the pull tab suction cup.

Optionally, the other end of the boxing station 42 is also provided with a backing paper suction cup 424. When the lining paper 330 is pulled out of the carton 300, the lining paper sucker 424 sucks the lining paper 330, so that the lining paper 330 is effectively prevented from bouncing up when the cigarette packet 100 is packed, and the smooth packing action of the cigarette packet 100 is ensured.

Optionally, a positioning spring 425 is disposed on a side of the boxing station 42 away from the stacking station 41, and after the boxing station 42 is opened, the box cover 320 of the box 300 can be hooked by the positioning spring 425, so that the position of the box cover 320 can be fixed, the box cover 320 is inclined, and the top surface of the box 300 can be conveniently grasped by the box carrying and filling robot 7.

Specifically, the positioning spring piece 425 includes an elastic supporting portion 4251, a transition portion 4252 and a hooking portion 4253, wherein the elastic supporting portion 4251 and the hooking portion 4253 are respectively located at two sides of the transition portion 4252, the lower end of the elastic supporting portion 4251 is fixed on the cigarette pack platform 4, the other end extends vertically upwards, and when the cover is opened, the edge of the lid 320 of the carton 300 contacts the hooking portion 4253 first, so as to drive the elastic supporting portion 4251 to bend backwards, and further the edge of the lid 320 passes over the hooking portion 4253 and enters between the transition portion 4252 and the hooking portion 4253, so that the purpose of hooking the lid 320 by the positioning spring piece 425 is achieved. After the box cover 320 is loosened by the box carrying and filling robot 7, the positioning elastic sheet 425 rebounds and resets, so that the box cover 320 is fixed at a certain position, the problem that the top surface of the box cover 320 is attached to the placing table surface of the box 300 after the box cover 320 is opened, so that the box carrying and filling robot 7 cannot normally carry out cover closing operation is avoided, and smooth carrying out of a mechanized boxing process is effectively ensured. In this embodiment, the positioning spring 425 may be made of an elastic material, such as a steel sheet. Optionally, two positioning tabs 425 are spaced apart along the length of the boxing station 42. The interval between two location shell fragment 425 matches with the length of barrel 300, carries out the multiple spot to lid 320 through two location shell fragments 425 and supports, has improved the stability that location shell fragment 425 supported lid 320.

Optionally, a bar code scanner 426 is further disposed on one side of the boxing station 42, and is configured to read a bar code or a two-dimensional code on the bar boxes 300, and further upload information of each bar box 300 to a background server, so that a later-stage worker is facilitated to trace each bar box 300.

Optionally, a 2D camera for detecting the postures of the cigarette packets 100, the lining papers 330 and the pull tabs 340 and the number of the cigarette packets 100 is further arranged above the boxing station 42, the 2D camera is connected with a background controller, and when errors occur, the 2D camera transmits signals to the background controller, and the background controller controls corresponding devices to send out alarms.

Alternatively, in some embodiments, as shown in fig. 18-19, the tobacco bale handling robot 5 includes a second mechanical arm 51 and a tobacco bale displacing mechanical arm 52 disposed at an end of the second mechanical arm 51, where the tobacco bale displacing mechanical arm 52 includes a base 524, a first suction cup 521, a second suction cup 522 and a third driving member 523, the base 524 is mounted at an end of the second mechanical arm 51, the first suction cup 521 is fixed at a bottom of the base 524, the second suction cup 522 is movably disposed on the base 524 and is arranged on one side of the first suction cup 521, the third driving member 523 is fixed on the base 524, and an output end of the third driving member 523 is fixedly connected with the second suction cup 522 for driving the second suction cup 522 to move up and down. When the cigarette packet handling and arranging robot is in operation, the first suction disc 521 and the second suction disc 522 are respectively connected with external pressure supply equipment through pipelines, suction force can be generated by the first suction disc 521 and the second suction disc 522 through the external pressure supply equipment so as to further suck corresponding cigarette packets 100, and the cigarette packet handling and arranging robot 5 can suck one cigarette packet 100 at a time or suck two cigarette packets 100 at the same time through moving the second suction disc 522 up and down. The third driving element 523 may be a cylinder, a hydraulic cylinder, an electric cylinder, or the like, and a cylinder is preferably used in this embodiment.

When the tobacco package handling and arranging robot 5 of this embodiment sucks the tobacco packages 100, the first suction cup 521 and the second suction cup 522 are flush, so as to adsorb two tobacco packages 100 at the same time, then the second mechanical arm 51 moves the tobacco package shifting mechanical arm 52 to a position corresponding to the stacking position 41, the third driving member 523 acts to drive the second suction cup 522 to move downwards, then the second suction cup 522 releases the tobacco packages 100, places the corresponding tobacco packages 100 to the stacking position 41, then the third driving member 523 acts to drive the second suction cup 522 to reset, at this time, the tobacco packages 100 on the first suction cup 521 protrude outwards, then the second mechanical arm 51 acts to enable the tobacco packages 100 on the first suction cup 521 to be aligned with the set position of the stacking position 41, and then the first suction cup 521 is released, so as to complete the placement of two tobacco packages 100. In this embodiment, through the up-and-down movement of the second sucking disc 522, two cigarette packets 100 are staggered up and down, so that the cigarette packet handling and arranging robot 5 can place one cigarette packet 100 at the stacking station 41 first, and then place another cigarette packet 100 at the stacking station 41, so that the requirement of stacking the cigarette packets 100 in sequence is met, and meanwhile, compared with the robot taking one cigarette packet 100 every time, the cigarette packet handling and arranging robot 5 of this embodiment has higher working efficiency.

There are different situations in the stacking form of the packets 100 on the existing packet stack, for example, some packets 100 are arranged in the same direction, and some packets 100 are arranged in opposite directions. With respect to the pack stack of the latter type, when the pack shifting robot 52 sucks the pack 100, the pack 100 sucked by the first suction cup 521 and the pack 100 sucked by the second suction cup 522 are arranged in opposite directions, which causes inconvenience in boxing or stacking of the subsequent packs 100.

In order to solve the above-mentioned problem, the cigarette packet handling and arranging robot 5 of the present embodiment further includes a rotation driving member fixedly mounted at the end of the second mechanical arm 51, and the output end of the rotation driving member is fixedly connected with the upper end of the base 524, so that the rotation driving member can drive the cigarette packet shifting manipulator 52 to rotate, thereby boxing or stacking the cigarette packets 100 adsorbed on the first suction cup 521 and the second suction cup 522 along the same direction. Specifically, the rotary driving member of the present embodiment can drive the base 524 to rotate 180 degrees, thereby realizing 180 degrees of turning of the pack 100 on the first suction cup 521 or the second suction cup 522. Optionally, the rotary driving member of this embodiment is a rotary motor, and an output shaft of the rotary motor is fixedly connected to the top of the base 524, which has a simple structure and is convenient to control.

Alternatively, in some embodiments, as shown in fig. 20, the cassette feeding and finishing device 6 includes a fourth conveyor 61 and a fifth conveyor 62 disposed parallel to each other, and the fourth conveyor 61 and the fifth conveyor 62 rotate in opposite directions. In operation, the cartridge 300 is contained in the cartridge frame 63, and then the cartridge frame 63 is placed in alignment on the fourth conveyor belt 61. The cassette handling and loading robot 7 takes the cassette 300 from the cassette frame 63 located at the forefront on the fourth conveyor 61, and when the cassette 300 in the cassette frame 63 is taken completely, the cassette frame 63 is handled from the fourth conveyor 61 to the forefront of the fifth conveyor 62 by the cassette handling and loading robot 7. When the carton transporting and loading robot 7 moves the carton 300 filled with the cigarette packet 100 back to the carton feeding and finished product outputting device 6, the carton 300 filled with the cigarette packet 100 can be placed in the empty carton frame 63 on the fifth conveying belt 62, thereby forming a cycle, and effectively reducing the use of the carton frame 63.

Optionally, in some embodiments, a 3D camera for detecting the posture of the cartridge 300 in the cartridge frame 63 is arranged above the cartridge feeding and product outputting device 6, so as to facilitate the adjustment of the corresponding picking positions for different postures of the prefabricated cartridges 300 when the cartridge handling and loading robot 7 picks up the cartridges 300, and the 3D camera is connected with a background controller, when the posture of the cartridge 300 is wrong, the 3D camera transmits a signal to the background controller, and the background controller controls corresponding equipment to send an alarm.

Alternatively, in some embodiments, as shown in fig. 21-23, the cartridge handling and loading robot 7 includes a third arm 71 and a cartridge handling opening and closing robot 72 mounted at the end of the third arm 71, the cartridge handling opening and closing robot 72 includes a main suction cup 721, a sub suction cup 722 disposed at one side of the main suction cup 721, and a point suction cup 723 disposed at the top of the main suction cup 721, the main suction cup 721 is used for sucking the top surface of the cartridge 300, the sub suction cup 722 is used for sucking the side surface of the cartridge 300, the included angle between the suction surface of the main suction cup 721 and the suction surface of the sub suction cup 722 is equal to the included angle between the top surface and the side surface of the cartridge 300, the suction end of the point suction cup 723 protrudes outward from one side of the main suction cup 721, and the point suction cup 723 is used for sucking the liner 330 and the pull tab 340 in the cartridge 300. In this embodiment, when carrying the barrel 300, the top surface of the box cover 320 of the barrel 300 is sucked by the main suction cup 721, and the side surface of the box body 310 of the barrel 300 is sucked by the auxiliary suction cup 722, so that on one hand, the stability of the barrel carrying opening and closing manipulator 72 for grabbing the barrel 300 can be improved, and on the other hand, the box body 310 of the barrel 300 is limited by the auxiliary suction cup 722, so that the problem that the barrel 300 is automatically opened in the carrying process is effectively avoided, and the safety of the special-shaped barrel in the carrying process is ensured. Moreover, the included angle between the suction surface of the main suction cup 721 and the suction surface of the sub suction cup 722 is set according to the shape of the cartridge 300, so that the close fitting of the main suction cup 721 and the top surface of the cartridge 300 is ensured, the close fitting of the sub suction cup 722 and the side surface of the cartridge 300 is ensured, and the reliability of gripping the cartridge 300 is improved.

Alternatively, the included angle between the suction surface of the main suction cup 721 and the suction surface of the sub suction cup 722 in this embodiment may be in the range of 70 degrees to 110 degrees, for example, may be 70 degrees, 80 degrees, 85 degrees, 95 degrees, or 110 degrees, and may be specifically set according to the shape of the barrel 300 that needs to be grasped, so long as the main suction cup 721 is ensured to reliably suction the top surface of the barrel 300, and the sub suction cup 722 may reliably suction the side surface of the barrel 300. Preferably, the included angle between the suction surface of the main suction cup 721 and the suction surface of the sub suction cup 722 is 90 degrees, so as to be suitable for the use of a conventional rectangular barrel.

Alternatively, the main suction cup 721 and the sub suction cup 722 of the present embodiment are arranged in an L shape. Specifically, the auxiliary sucker 722 is connected with the main sucker 721 through a first connecting piece 724, the first connecting piece 724 is L-shaped and comprises a horizontal section 7242 and a vertical section 7241, the horizontal section 7242 is fixedly connected with the top of the main sucker 721, and the vertical section 7241 is fixedly connected with one side, deviating from the adsorption surface, of the auxiliary sucker 722. In this way, firm connection between the main suction cup 721 and the sub suction cup 722 is realized, and the structure is simple, and the connection is convenient.

Further, the vertical section 7241 is adjustable in length extending downwardly relative to the horizontal section 7242. When in use, according to the height of the barrel 300, the length of the downward extension of the vertical section 7241 is adjusted, and then the adsorption and supporting positions of the auxiliary sucker 722 to the barrel 300 are adjusted, so that the reliability of the auxiliary sucker 722 to the side surface adsorption of the barrel 300 is ensured, the barrel carrying opening and closing manipulator 72 can be suitable for more types of barrels 300, and the applicability is improved. For example, the vertical section 7241 may be a telescopic rod, and the length of the vertical section 7241 may be changed by an extending or retracting action, or the vertical section 7241 and the horizontal section 7242 may be slidably connected in the up-down direction, and after the vertical section 7241 is slid to a proper position, the position of the vertical section 7241 with respect to the horizontal section 7242 may be locked by a fastener.

Further, the manipulator 72 for carrying and opening and closing a barrel of the present embodiment further includes a second connecting member 725, where the second connecting member 725 includes a connecting cylinder, a first flange disposed at an upper end of the connecting cylinder, and a second flange disposed at a lower end of the connecting cylinder, the first flange is fixedly connected with an end of the third mechanical arm 71 through a fastener, and the second flange is fixedly connected with a top of the main suction cup 721 through a fastener. The second connecting piece 725 has a simple structure and convenient processing, and realizes firm and reliable connection between the carton carrying opening and closing manipulator 72 and the third mechanical arm 71.

Referring to fig. 24, in this embodiment, through the flexible action of the third mechanical arm 71, the carton carrying opening and closing mechanical arm 72 is driven to move along a fixed route, so as to implement the actions of empty carton carrying, opening, packing carton, closing and filling of the carton 300, and the specific workflow is as follows:

The third mechanical arm 71 acts to make the main sucker 721 suck the top surface of the carton 300 and the auxiliary sucker 722 suck the side surface of the carton 300, so as to firmly suck the carton 300 and avoid the empty carton 300 from being opened in the process of conveying. The cans 300 are then transported from the can supply and product output 6 to the boxing station 42.

The box opening action is that after the main suction cup 721 sucks the box cover 320 of the box 300, the third mechanical arm 71 drives the main suction cup 721 to rotate around the hinge point of the box cover 320 so as to open the box cover 320 of the box 300, then the third mechanical arm 71 continues to act so as to enable the point suction cup 723 to face downwards, then the third mechanical arm 71 moves the point suction cup 723 to a position corresponding to the lining paper 330 so as to pull the lining paper 330 out of the box 300, and then the third mechanical arm 71 continues to act so as to move the point suction cup 723 to a position corresponding to the pull tongue 340 so as to pull the pull tongue 340 out of the box 300, and then the opening of the box 300 is completed.

The third mechanical arm 71 operates to suck the cigarette packet 100 at the stacking station 41 by the main suction cup 721 and then convey the cigarette packet 100 into the carton 300 to release it.

The closing operation includes the third mechanical arm 71 moving the spot suction cup 723 to a position corresponding to the pull tab 340, reloading the pull tab 340 into the carton 300, reloading the liner 330 into the carton 300, and the third mechanical arm 71 continuing to move to suck the main suction cup 721 to the rear side of the lid 320, the third mechanical arm 71 driving the main suction cup 721 to rotate around the hinge point of the lid, and closing the lid 320 of the carton 300.

The third mechanical arm 71 operates to make the main suction cup 721 suck the top surface of the carton 300, and the auxiliary suction cup 722 suck the side surface of the carton 300, so as to firmly suck the carton 300, avoid the carton 300 filled with the cigarette packet 100 from being opened in the process of conveying, and then convey the carton 300 filled with the cigarette packet 100 from the boxing station 42 into the carton feeding and finished product outputting device 6.

Optionally, in some embodiments, as shown in fig. 25-27, the first mechanical arm 31 and the tobacco bale gripping suction tool 32, the second mechanical arm 51 and the tobacco bale displacing mechanical arm 52, and the third mechanical arm 71 and the carton handling opening and closing mechanical arm 72 are all connected by the quick connector 8.

The quick coupler 8 includes a robot-arm-side connecting holder 81, a suction-tool-side connecting holder 82, a driving holder 83, and a guide bush 84. A driving cavity 831 is arranged in the driving seat 83, a sliding block 832 capable of moving up and down is slidably arranged in the driving cavity 831, and the sliding block 832 divides the driving cavity 831 into an upper cavity and a lower cavity. The driving seat 83 is respectively provided with a first control hole 833 communicated with the upper cavity and a second control hole 834 communicated with the lower cavity, so that control media are respectively led into or led out of the upper cavity and the lower cavity through the first control hole 833 and the second control hole 834, and the aim of controlling the sliding block 832 to move up and down is fulfilled.

The arm side connecting seat 81 is fixedly installed at the top of the driving seat 83, and when the device is used, the arm side connecting seat 81 is connected with a corresponding arm through a screw or a bolt, a detection cavity 811 is formed in the arm side connecting seat 81, a detection block 812 capable of moving up and down is arranged in the detection cavity 811, the detection block 812 extends downwards to penetrate through the bottom of the arm side connecting seat 81 and the top of the driving seat 83, penetrates into the driving cavity 831 and is fixedly connected with the sliding block 832, and accordingly the detection block 812 is driven to move up and down synchronously when the sliding block 832 moves up and down. The inner side wall of the detection chamber 811 is provided with two detection probes 813, and the detection probes 813 are respectively used for detecting the position when the slider 832 is lifted to the limit position and the position when the slider is lowered to the limit position. The detection probe 813 employs a proximity switch.

The guide sleeve 84 is fixedly installed at the bottom of the driving seat 83 and is coaxially arranged with the driving cavity 831, a driving part 8321 extending downwards from the lower end surface of the sliding block 832 is arranged on the sliding block 832, the driving part 8321 extends into the guide sleeve 84, and the lower end of the driving part 8321 is conical. The side wall of the guide sleeve 84 is provided with three mounting holes 841, the three mounting holes 841 are uniformly arranged at intervals around the circumference of the guide sleeve 84, locking balls 842 capable of radially moving along the guide sleeve 84 are respectively arranged in the three mounting holes 841, and when the driving part 8321 moves downwards, the driving part is inserted between the three locking balls 842, so that the locking balls 842 are driven to move outwards.

The suction tool side connecting seat 82 is fixedly connected with a corresponding suction tool or manipulator through a screw or a bolt, and the suction tool side connecting seat 82 is provided with a stepped hole 821, wherein the hole diameter of the through hole positioned above is matched with the diameter of the guide sleeve 84, and the hole diameter of the through hole positioned below is larger than the hole diameter of the through hole positioned above.

When the mechanical arm is required to be connected with a corresponding suction tool or mechanical arm, the sliding block 832 is firstly moved upwards to a limit position, the locking balls 842 can be moved inwards to be hidden in the guide sleeve 84, then the guide sleeve 84 is inserted into the stepped hole 821 until the top surface of the suction tool side connecting seat 82 is attached to the bottom surface of the driving seat 83, then the sliding block 832 is driven to move downwards, the driving part 8321 is inserted between the three locking balls 842, the locking balls 842 are further driven to move outwards, the outer surface of the guide sleeve 84 is protruded, and the guide sleeve 84 is further firmly connected with the suction tool side connecting seat 82, so that the purpose of connecting the mechanical arm with the suction tool or mechanical arm is realized.

The shoulder 822 of the stepped hole 821 is inclined, and when the mechanical arm, the suction tool or the mechanical arm needs to be released, the sliding block 832 moves upwards and drives the locking ball 842 to retract into the guide sleeve 84 through the inclined plane, so that the two are more convenient to separate.

The working process of the automatic boxing system for the special-shaped strip boxes provided by the invention is as follows:

1) The pack handling and loading robot 3 takes the packs 100 from the pack supply device 2 step by step according to the set coordinates, and then carries them into the pack palletizing magazine 11 parked at the specified coordinates. After the tobacco bale handling and feeding robot 3 takes a certain number of times, the tobacco bale 100 in the tobacco bale 200 is completely taken, the lifting mechanism 23 acts to move the empty tobacco bale 200 to the second conveying belt 22 and is conveyed away by the second conveying belt 22, and the first conveying belt 21 acts to move the tobacco bale 200 with the tobacco bale 100 at the rear side to a designated position (on the lifting mechanism 23) so that the tobacco bale handling and feeding robot 3 can continue taking.

2) The tobacco package conveying platform 1 moves the tobacco package stacking die box 11 filled with the tobacco packages 100 to specified coordinates for the tobacco package carrying and arranging robot 5 to take.

3) The tobacco bale handling and arranging robot 5 sequentially takes the tobacco bales 100 from the tobacco bale stacking die box 11 according to the set coordinates, and carries the tobacco bales to the stacking station 41 for stacking.

4) The first driving member 413 is operated to drive the second baffle 412 to move in a direction approaching the first baffle 411, so as to tidy the cigarettes 100 in the stacking station 41.

5) The cassette handling and loading robot 7 sequentially takes the cassettes 300 from the cassette frames 63 on the fourth conveyor 61 according to the set path (note: in the initial state, the fourth conveyor 61 is close to the cassette frame 63 where the empty cassettes 300 are placed on one end of the cassette handling and loading robot 7, and the empty cassette frame 63 is placed on one end of the fifth conveyor 62 close to the cassette handling and loading robot 7), and the cassettes 300 are handled to the boxing station 42. When serious errors occur in the posture of the barrel 300 in the barrel frame 63, the 3D camera transmits signals to the background controller, and the background controller controls the alarm device to give an alarm.

6) The second driving member 422 operates to drive the clamping bar 421 to move in a direction approaching the first bar 411, thereby clamping the cartridge 300.

7) The carton transporting and loading robot 7 moves along the preset track to sequentially complete the operations of opening the carton 300, pulling the liner 330 out of the carton 300 and being sucked and fixed by the liner sucking disc 424, pulling the pull tab 340 out of the carton 300 and being sucked and fixed by the pull tab sucking disc 423, putting the cigarette packet 100 into the carton 300, pulling the liner 330 into the carton 300, pulling the pull tab 340 into the carton 300 (the rotary cylinder 427 can also drive the pressing sheet 428 to rotate so as to sweep the pull tab 340 into the carton 300), closing the lid of the carton 300, and transporting the carton 300 into the carton frame 63 on the fifth conveyor belt 62. The 2D camera monitors the whole process in real time, and when the situation that the number and the posture of the cigarette packets 100 in the carton 300 are not right, or the pull tab 340 does not successfully pull out the carton 300 or pull in the carton 300, or the lining paper 330 does not successfully pull out the carton 300 or pull in the carton 300 occurs, the 2D camera transmits a signal to the background controller, and the background controller controls the alarm device to send an alarm. When the cassette 300 in the cassette frame 63 on the fourth conveyor 61 is completely taken out, the cassette transfer and loading robot 7 transfers the empty cassette frame 63 to the fifth conveyor 62.

According to the automatic boxing system for the special-shaped strip boxes, when program setting is carried out, different control programs are written for filling cigarette products with different product specifications, different size specifications and different arrangement modes, so that the program of the corresponding product specifications can be called when flexible filling is carried out, and the filling of the cigarette products with different product specifications, different size specifications and different arrangement modes can be realized in the same system.

As shown in fig. 28, the present invention further provides a control method of an automatic boxing system for special-shaped cartons, which is used in the automatic boxing system for special-shaped cartons according to any of the above schemes, and the control method specifically includes the following steps:

S1, detecting whether an empty cigarette packet stacking die box 11 is in place, if so, grabbing a cigarette packet 100 from a cigarette packet supply device 2 by a cigarette packet conveying and feeding robot 3, conveying the cigarette packet 100 into the cigarette packet stacking die box 11, conveying the cigarette packet stacking die box 11 filled with the cigarette packet 100 to a designated position through a cigarette packet conveying platform 1, and returning to continuously detect whether the next empty cigarette packet stacking die box 11 is in place;

Optionally, in S1, the packet handling and feeding robot 3 first grabs one 1*5 groups of packets of cigarettes, then the first mechanical arm 31 drives the packet grabbing suction tool 32 to rotate 180 degrees to grab another 1*5 groups of packets of cigarettes, then the packet handling and feeding robot 3 carries 2*5 groups of packets of cigarettes to a position opposite to the packet stacking die box 11, then places 1*5 groups of packets of cigarettes on one side, places 1*5 groups of packets of cigarettes on the other side, and finally conveys the packet stacking die box 11 filled with 2*5 groups of packets of cigarettes to the packet stacking die box platform 4 through the packet conveying platform 1.

S2, detecting whether a tobacco package stacking die box 11 filled with tobacco packages 100 is in place, if so, sequentially picking up the tobacco packages 100 from the tobacco package stacking die box 11 by a tobacco package conveying arrangement robot 5, conveying the tobacco packages 100 along the tobacco packages 100 to a stacking station 41, returning the empty tobacco package stacking die box 11 through a tobacco package conveying platform 1 after the tobacco packages 100 in the tobacco package stacking die box 11 are taken out, and sorting the tobacco packages 100 on the stacking station 41, otherwise, returning to continuously detect whether the tobacco package stacking die box 11 filled with the tobacco packages 100 is in place;

Optionally, in S2, a 2*5 group of tobacco stacks is installed in the tobacco packet stacking die box 11, the tobacco packet handling and arranging robot 5 picks up 1*2 groups of tobacco packets 100 side by side each time, then the tobacco packet handling and arranging robot 5 places one tobacco packet 100 in 1*2 groups of tobacco packets 100 at the stacking station 41, places another tobacco packet 100 in 1*2 groups of tobacco packets 100 at the stacking station 41, and repeats the above operations for five times in a circulating manner, so that all the tobacco packets 100 in the tobacco packet stacking die box 11 can be taken out.

S3, detecting whether the empty can 300 in the can feeding and finished product outputting device 6 is in place, if so, the can conveying and filling robot 7 picks up the empty can 300 from the can feeding and finished product outputting device 6 and conveys the empty can 300 to the boxing station 42, then the can conveying and filling robot 7 opens the box cover 320 of the can 300, pulls the lining paper 330 and the pull tab 340 out of the can 300 respectively, loads the cigarette pack 100 of the stacking station 41 into the can 300, pulls the lining paper 330 and the pull tab 340 back into the can 300 respectively, closes the box cover 320 of the can 300 and conveys the can 300 filled with the cigarette pack 100 to the can feeding and finished product outputting device 6, and if not, returns to continue detecting whether the empty can 300 in the can feeding and finished product outputting device 6 is in place.

Alternatively, in S3, when the packets 100 at the stacking station 41 are loaded into the carton 300, one layer of packets 100 is loaded into the box 310, and then the second layer of packets 100 is loaded, thereby filling the entire carton 300.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the invention. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. The automatic cartoning system for special-shaped boxes is characterized by comprising:

A cigarette pack conveying platform (1) is provided with a cigarette pack stacking mold box (11) capable of accommodating at least two types of cigarette packs (100);

A cigarette pack supply device (2) is provided at a supply end of the cigarette pack conveying platform (1) and is used to provide cigarette packs (100);

a cigarette pack handling and loading robot (3), arranged at the feeding end of the cigarette pack conveying platform (1), for conveying the cigarette packs (100) on the cigarette pack supply device (2) into the cigarette pack stacking mold box (11);

A cigarette packing platform (4) is arranged on the side of the cigarette pack conveying platform (1), and a stacking station (41) and a packing station (42) are provided on the cigarette packing platform (4);

a cigarette pack transporting and arranging robot (5), arranged on the same side as the cigarette packing box platform (4), for transporting cigarette packs (100) from the cigarette pack stacking mold box (11) to the stacking station (41);

a strip box supply and finished product output device (6), arranged on the side of the cigarette pack conveying platform (1), for providing empty strip boxes (300) and transporting strip boxes (300) filled with cigarette packs (100);

A strip box handling and filling robot (7) is arranged on the same side as the strip box supply and finished product output device (6), and is used to transport empty strip boxes (300) from the strip box supply and finished product output device (6) to the box filling station (42), and to open the strip boxes (300), process the lining paper (330) and the pull tab (340), fill the strip boxes (300), close the boxes, and carry the strip boxes (300) filled with cigarette packs (100) back to the strip box supply and finished product output device (6).

2. The automatic cartoning system for special-shaped strip boxes according to claim 1 is characterized in that the cigarette pack stacking mold box (11) includes a base (111) and side baffles (112), and a plurality of the side baffles (112) are arranged around the base (111) to form an enclosed space for placing cigarette packs (100); the fixed position of each of the side baffles (112) on the base (111) is adjustable, and by adjusting the position of each of the side baffles (112), it is possible to adapt to the stacking of cigarette packs (100) of different forms.

3. The automatic cartoning system for special-shaped strip boxes according to claim 1 is characterized in that the cigarette pack supply device (2) includes a first conveyor belt (21), a second conveyor belt (22) and a lifting mechanism (23), the second conveyor belt (22) is located above the first conveyor belt (21), and the first conveyor belt (21) and the second conveyor belt (22) are arranged parallel to each other; the lifting mechanism (23) is arranged on the side of one end of the first conveyor belt (21) and the second conveyor belt (22), and is used to transport the empty cigarette frame (200) on the first conveyor belt (21) to the second conveyor belt (22).

4. The automatic cartoning system for special-shaped strip boxes according to claim 3 is characterized in that the lifting mechanism (23) includes two symmetrically distributed third conveyor belts (231), and the gap between the two third conveyor belts (231) matches the length of the cigarette frame (200); a support plate (232) is provided on the third conveyor belt (231); the two third conveyor belts (231) rotate synchronously in opposite directions, and the empty cigarette frame (200) is transported downward by riding on the two support plates (232).

5. The automatic cartoning system for special-shaped strip boxes according to claim 1 is characterized in that the cigarette pack handling and loading robot (3) includes a first robotic arm (31) and a cigarette pack grabbing suction device (32) installed on the first robotic arm (31), the cigarette pack grabbing suction device (32) includes a picking body (321), the picking body (321) includes a horizontal connector (3212) and a vertical connector (3211) vertically connected, and a picking position for adsorbing cigarette packs (100) is formed between the horizontal connector (3212) and the vertical connector (3211); a first adsorption hole is provided on the side of the vertical connector (3211), and a second adsorption hole is provided on the bottom surface of the horizontal connector (3212), the first adsorption hole and the second adsorption hole are connected through an air flow channel in the picking body (321), and the air flow channel is connected to an external negative pressure device.

6. The automatic cartoning system for special-shaped strip boxes according to claim 5 is characterized in that the cigarette pack handling and loading robot (3) further comprises a suction base (33), and the cigarette pack grabbing suction base (32) is connected to the first mechanical arm (31) through the suction base (33); a first slide bar (331) is provided on the suction base (33), and at least two spaced-apart cigarette pack grabbing suction bases (32) are slidably mounted on the first slide bar (331); a bidirectional driving member (332) and a bidirectional driving member (333) are fixedly mounted on the suction base (33) above the first slide bar (331). A second slide bar (333) is provided with two connecting blocks (334) respectively located on both sides of the bidirectional driving member (332) and slidably mounted on the second slide bar (333). The two output ends of the bidirectional driving member (332) are respectively connected to the two connecting blocks (334) for driving the two connecting blocks (334) to move closer to or away from each other. The lower ends of the two connecting blocks (334) are respectively fixedly connected to the tops of the cigarette pack grabbing suckers (32) located on the two most sides, and the adjacent cigarette pack grabbing suckers (32) are connected by a hinge quadrilateral structure (335).

7. The automatic cartoning system for special-shaped boxes according to claim 1, characterized in that the stacking station (41) is rectangular, two adjacent sides of the stacking station (41) are fixedly provided with first baffles (411), and the other two adjacent sides are movably provided with second baffles (412) corresponding to the first baffles (411), the second baffles (412) are connected to a first driving member (413), and the first driving member (413) is used to drive the second baffle (412) to approach or move away from the first baffle (411);

The box loading station (42) is arranged adjacent to the stacking station (41), and the box loading station (42) is movably provided with a clamping baffle (421), and the clamping baffle (421) is opposite to one of the first baffles (411), and the clamping baffle (421) and the first baffle (411) are used to accommodate the box (300); the clamping baffle (421) is connected to a second driving member (422), and the second driving member (422) is used to drive the clamping baffle (421) to approach or move away from the first baffle (411);

A tab suction cup (423) is provided at one end of the box loading station (42), and a lining paper suction cup (424) is provided at the other end; a positioning spring piece (425) is provided on the side of the box loading station (42) away from the stacking station (41); after the strip box (300) is opened at the box loading station (42), the box cover (320) of the strip box (300) can be hooked by the positioning spring piece (425).

8. The automatic cartoning system for special-shaped strip boxes according to claim 1 is characterized in that the cigarette pack handling and arranging robot (5) includes a second robotic arm (51) and a cigarette pack shifting robot (52) arranged at the end of the second robotic arm (51), the cigarette pack shifting robot (52) includes a base (524), a first suction cup (521), a second suction cup (522) and a third driving member (523), the base (524) is installed at the end of the second robotic arm (51); the first suction cup (521) is fixed to the bottom of the base (524); the second suction cup (522) is movably arranged on the base (524) and is arranged side by side on one side of the first suction cup (521); the third driving member (523) is fixed on the base (524), and the output end of the third driving member (523) is fixedly connected to the second suction cup (522) for driving the second suction cup (522) to move up and down.

9. The automatic cartoning system for special-shaped strip boxes according to claim 1 is characterized in that the strip box supply and finished product output device (6) includes a fourth conveyor belt (61) and a fifth conveyor belt (62) arranged parallel to each other, and the fourth conveyor belt (61) and the fifth conveyor belt (62) rotate in opposite directions.

10. The automatic cartoning system for special-shaped strip boxes according to claim 1 is characterized in that the strip box handling and filling robot (7) includes a third robotic arm (71) and a strip box handling opening and closing robot (72) installed at the end of the third robotic arm (71); the strip box handling opening and closing robot (72) includes a main suction cup (721), an auxiliary suction cup (722) arranged on one side of the main suction cup (721) and a point suction cup (723) arranged on the top of the main suction cup (721), the main suction cup (721) 21) is used to absorb the top surface of the strip box (300), the auxiliary suction cup (722) is used to absorb the side surface of the strip box (300), and the angle between the absorption surface of the main suction cup (721) and the absorption surface of the auxiliary suction cup (722) is equal to the angle between the top surface and the side surface of the strip box (300); the absorption end of the point suction cup (723) protrudes outward from one side of the main suction cup (721), and the point suction cup (723) is used to absorb the lining paper (330) and the pull tab (340) in the strip box (300).

11. A control method for an automatic cartoning system for special-shaped strip boxes, used in the automatic cartoning system for special-shaped strip boxes according to any one of claims 1 to 10, characterized by comprising:

Detecting whether an empty cigarette pack stacking mold box (11) is in place; if so, the cigarette pack handling and loading robot (3) grabs a cigarette pack (100) from the cigarette pack supply device (2), and transports and places the cigarette pack (100) into the cigarette pack stacking mold box (11); then, the cigarette pack stacking mold box (11) containing the cigarette pack (100) is transported to a designated position via the cigarette pack conveying platform (1), and at the same time, returns to continue detecting whether the next empty cigarette pack stacking mold box (11) is in place;

Detect whether the cigarette pack stacking mold box (11) containing cigarette packs (100) is in place. If so, the cigarette pack transporting and arranging robot (5) picks up cigarette packs (100) from the cigarette pack stacking mold box (11) in sequence, and transports the cigarette packs (100) along the cigarette packs (100) and places them on the stacking station (41). After all the cigarette packs (100) in the cigarette pack stacking mold box (11) are taken out, the empty cigarette pack stacking mold box (11) is returned to its original position through the cigarette pack conveying platform (1), and the cigarette packs (100) on the stacking station (41) are sorted.

Detect whether the empty strip box (300) in the strip box supply and finished product output device (6) is in place. If so, the strip box transporting and filling robot (7) picks up the empty strip box (300) from the strip box supply and finished product output device (6) and transports the empty strip box (300) to the box loading station (42). Then, the strip box transporting and filling robot (7) opens the box cover (320) of the strip box (300), pulls the lining paper (330) and the pull tab (340) out of the strip box (300), loads the cigarette packs (100) in the stacking station (41) into the strip box (300), pulls the lining paper (330) and the pull tab (340) back into the strip box (300), closes the box cover (320), and transports the strip box (300) filled with cigarette packs (100) to the strip box supply and finished product output device (6).