CN205771879U - Tobacco bale based on robot packs square adjuvant automatical feeding system - Google Patents

Abstract

Tobacco bale based on robot packs square adjuvant automatical feeding system, it is characterized in that: include the bulk adjuvant conveyer system being arranged on planer-type main support, it is arranged on the robot clamp on the right side of by planer-type main support, it is fixed on the bulk adjuvant packaging paper recovering device of planer-type main support right side front, it is fixed on the bulk adjuvant waste automatic-recovery device of rear end on the right side of planer-type main support, the bulk adjuvant wrapping paper being located in bulk adjuvant conveyor frame detaches auxiliary body, it is connected to the Timing Belt conveyer on the left of planer-type main support, the articulated robot that is located on robot clamp and respectively materials conveying system, material-transporting system, cutter diced system provides baric systerm nine part of power to constitute；The beneficial effects of the utility model are: effectively reduce production cost, substantially increase production efficiency；This utility model simple in construction, has preferable strength and stiffness, stable and reliable in work, energy-efficient.

Description

Tobacco bale based on robot packs square adjuvant automatical feeding system

Technical field

This utility model belongs to adjuvant automatical feeding system, and the tobacco bale being specifically related to the de-stacking of a kind of robot packs square adjuvant automatical feeding system, is particularly suited in tobacco leaf production industry the adjuvant automatical feeding system between volume hired car.

Background technology

At present, packer is widely used between the volume hired car of each cigarette factory of the whole nation, and major part is artificial loading.Existing major part packer efficiency is 400/minute, its single adjuvant is surrounded by 625 adjuvants, 4 bag adjuvants totally 2500 bulk adjuvant wrapping papers are had in one packing crates, this means that workman has needed the unpacking of 10 casees accessory packages, unpacking per hour, completing the carrying of 40 bag accessory packages, labor strength is big simultaneously.The labor intensity of personnel can be largely alleviated according to full automatic material-uploading style.

Adjuvant in bulk does not possess the condition of machine carrying, in order to realize machine carrying, first with bulk adjuvant wrapping paper, adjuvant can be rolled into bag, packaged accessory package is carried to particular platform by robot, cut off bulk adjuvant wrapping paper, and it is detached, then by push rod, bulk material being pushed on conveyer, bulk material is delivered to packer feeding mouth gently by horizontal conveyer or vertical conveyor.

At present, domestic less for the automatic charging equipment between tobacco business volume hired car, rare import equipment technical sophistication, expensive, maintenance and repair cost is high, and maintenance is time-consuming long.To this end, study a kind of system being capable of Nicotiana tabacum L. mica wrappingmachine automatic charging can fill up domestic present technological gap.

Summary of the invention

The purpose of this utility model is intended to overcome domestic the deficiencies in the prior art, it is provided that a kind of simple in construction, cost are relatively low, it is possible to the tobacco bale completing automatic charging packs square adjuvant automatical feeding system.

The purpose of this utility model is achieved through the following technical solutions.

Tobacco bale based on robot packs square adjuvant automatical feeding system, and this utility model is characterised by:

1.1) the bulk adjuvant conveyer system being arranged on planer-type main support is included, it is arranged on the robot clamp on the right side of by planer-type main support, it is fixed on the bulk adjuvant packaging paper recovering device on the right side of planer-type main support, the bulk adjuvant waste automatic-recovery device being abutted against with bulk adjuvant packaging paper recovering device, the bulk adjuvant wrapping paper being located in bulk adjuvant conveyor frame detaches auxiliary body, it is connected to the Timing Belt conveyer on the left of planer-type main support, the articulated robot that is located on robot clamp and respectively materials conveying system, material-transporting system, cutter diced system provides baric systerm nine part of power to constitute；Wherein:

1.2) described bulk adjuvant conveyer system, is made up of planer-type main support, right conveyer device, horizontal transferring device, left conveyer device, horizontal channel and reshaping device；Described right conveyer device is fixed on the right side of planer-type main support by connecting shaft；Described horizontal transferring device is fixed in planer-type main support top by connecting shaft；Described left conveyer device is fixed on the left of planer-type main support by connecting shaft；Described horizontal channel is fixed in the middle part of planer-type main support by connecting shaft and is adapted with horizontal transferring device；Described reshaping device is fixed on planer-type main support (1) left side by connecting shaft and adapts with left conveyer device；

1.3) described robot clamp, by upper mounting plate, lower installation board, contiguous block, wrapping paper sucker, separate cardboard sucker, laser range finder, paper pressing jar, translation cylinder, rotary cut mechanism of paper, blade of cutting a sheet of paper cuts mechanism of paper, electromagnetism valve island, vacuum generator form；Wherein, upper mounting plate is fixed at robot mounting flange by screw thus is connected with robot by whole fixture；Lower installation board is connected with upper mounting plate by contiguous block；Cut mechanism of paper, electromagnetism valve island, vacuum generator are installed on upper mounting plate；Wrapping paper sucker, separation cardboard sucker, laser range finder are installed on lower installation board；

1.4) described bulk adjuvant packaging paper recovering device, including the taper gathering sill stood upside down, U-lag, cover plate, door-plate, L-shaped fixed plate, connecting element, hinge combination, door lock combination, handle, screw, splicing case composition；The combination of U-lag, cover plate, door-plate, L-shaped fixed plate, connecting element, hinge, door lock combination collectively form the main channel of bulk adjuvant packaging paper recovering device；Taper gathering sill is fixed on the top of U-lag by flat head screw；Splicing case is positioned at the bottom of whole device；

1.5) described bulk adjuvant waste automatic-recovery device, including pusher, splicing guide rail, splicing desktop, splicing table welding support, cylinder, line slideway, floating junction and nylon hoof foot；

Wherein pusher is the executive component of whole device, and cylinder is the dynamical element of whole device, and line slideway is the director element of whole device, and nylon hoof foot is the support component of whole device；Cylinder is connected with the floating junction connecting plate of pusher by two nuts of floating junction, and then constitutes main driven relationship with pusher；Left side connector and right side connector are connected with the slide block of line slideway by line slideway by screw, and then are connected together with pusher by line slideway；When cylinder side-to-side movement, drive pusher side-to-side movement on line slideway；Four nylon hoof feet are connected with four plugs of splicing table welding support, reach to support the effect of bulk adjuvant waste automatic-recovery device；

1.6) described bulk adjuvant wrapping paper detaches auxiliary body, is made up of cylinder body I V, right pallet, support；Wherein cylinder body I V, right pallet are connected firmly by the movable end of bindiny mechanism I with cylinder body I respectively, and support is fixing with the connecting plate of cylinder body I V piston rod end to be connected；

1.7) described tobacco bale based on robot packs square adjuvant automatical feeding system baric systerm, it includes material-transporting system, material handling and cutter diced system, it is connected with actuating device of atmospheric pressure respectively, actuating device of atmospheric pressure provides driving power to compressor；

In this utility model conveyer device:

2.1) the right conveyer device described in is made up of cylinder body I and right tray combination；

2.2) horizontal transferring device described in is made up of cylinder body II, horizontal push；

2.3) the left conveyer device described in is made up of cylinder body III and left tray combination；

2.4) horizontal channel described in is made up of front apron, front connecting plate, backboard, rear connecting plate；The spacing of front apron and backboard adapts with the material width passed through, and front apron is connected firmly by bolt with front connecting plate, and backboard is connected firmly by bolt with rear connecting plate；

2.5) reshaping device described in is made up of shaping bar and bindiny mechanism；

2.6) the right tray combination described in is made up of right pallet, bindiny mechanism I, cylinder body IV, and is connected firmly by the movable end of right pallet with cylinder body I by attachment structure I；

2.7) the horizontal push combination described in is made up of push rod and bindiny mechanism II, and is connected firmly by the movable end of push rod with cylinder body II by bindiny mechanism II；

2.8) the left tray combination described in is made up of left pallet and bindiny mechanism III；And by bindiny mechanism III, the movable end of left pallet with cylinder body III is connected firmly；

2.9) cylinder body I, cylinder body II and cylinder body III described in and cylinder body IV are pneumatically or hydraulically or electronic cylinder body；

2.10) connecting shaft described in is metal or processing of high molecular material forms.

In this utility model robot clamp:

3.1) robot clamp is guided bar and motor fixed plate to form by fractional motor, tool rest telescoping cylinder, circular shear blade assembly, wrapping paper；Wherein, fractional motor is the power set driving circular shear blade assembly to rotate；

3.2) blade of cutting a sheet of paper is cut mechanism of paper and is made up of installing plate, pressing plate, tool rest telescoping cylinder, blade, cutter knife mechanism installing plate, wrapping paper guided plate；

3.3) rotary cut mechanism of paper and blade of cutting a sheet of paper cut mechanism of paper use interchangeable structure；

3.4) being provided with buffer head on the head of paper pressing jar cylinder rod, the material of buffer head uses silicone rubber.

Tool rest telescoping cylinder is in retracted mode during fixture carrying material all the time, stretches out when cutting mechanism of paper and starting, cuts after paper has worked and retract；

Robot clamp of the present utility model, when its cut mechanism of paper be rotary cut mechanism of paper time, its workflow is: after robot starts, fixture is driven to move above material, vacuum generator starts, wrapping paper sucker is made to produce negative pressure with separating cardboard sucker, robot drives fixture to move downward afterwards, wrapping paper sucker is made to hold separation cardboard with separating cardboard sucker, then robot drives and moves on fixture, after cardboard is put into appointment recovery zone, vacuum generator quits work, and separates cardboard and falls in recovery zone；Robot drives fixture to move above material again, and after utilizing laser range finder to find the center of material, robot drives fixture to begin to decline, the vacuum generator now controlling wrapping paper sucker is started working, make wrapping paper sucker produce negative pressure, hold the wrapping paper of material, after robot obtains vacuum signal, it is lifted up material, while lifting, two paper pressing jars stretch out, and prevent material from rocking in handling process, then robot continues to move to, and material is positioned over appointed place；After material puts in place, cutting mechanism of paper and start, the tool rest telescoping cylinder first cut in mechanism of paper stretches out, and fractional motor starts to rotate, and then translation cylinder starts mobile, band cutting blade cutting wrapping paper, now wrapping paper sucker sorption wrapping paper always.After having cut, robot drives fixture to move, and when arriving above recovery basket, vacuum generator quits work, and wrapping paper completes to separate with material, is put into by wrapping paper in recovery basket.

This utility model is in bulk adjuvant packaging paper recovering device:

4.1) the taper gathering sill stood upside down is made up of big bending plate, little bending plate and flat head screw, two big bending plates and two little bending plates are by welding, forming taper gathering sill weldment, flat head screw for being connected to the top of U-lag by the taper gathering sill of handstand.Cover plate is connected with U-lag by connecting element；Door-plate is connected with U-lag by hinge combination.On the basis of whole bulk adjuvant packaging paper recovering device is fixed on accordingly by L-shaped fixed plate by screw；Door lock combination is made up of snap close, bridge piece and screw, and snap close is fixed by screws on door-plate, and bridge piece is fixed by screws on U-lag, and when door-plate closes, snap close fastens with bridge piece, is pinned by door-plate.Handle is fixed by screws on door-plate；

4.2) material of the bulk adjuvant packaging U-lag of paper recovering device, cover plate and door-plate uses transparent acrylic；(this allows to observe the state in bulk adjuvant wrapping paper dropping process in the channel intuitively, and can find bulk adjuvant wrapping paper whether putty in main channel in time.)

4.3) the taper gathering sill of the handstand of bulk adjuvant packaging paper recovering device uses taper closing-in structure；Design both can increase bulk adjuvant wrapping paper and fall into the probability of following main channel, can reduce again the physical dimension of main channel, save space.

This utility model is in bulk adjuvant waste automatic-recovery device:

5.1 pushers are by plugboard, side connecting plate, middle connecting plate, big girth member, left side connector, cylinder connection piece, floating junction connecting plate, little girth member, right side connector and screw composition, two plugboards are connected with two side connecting plates respectively by screw, the side connecting plate of the left and right sides, big girth member, left side connector and right side connector are connected by screw on the big girth member of the left and right sides, cylinder connection piece and little girth member are connected by screw on left side connector and right side connector, floating junction connecting plate is connected by screw on cylinder connection piece；Splicing guide rail is connected with splicing desktop by screw；Splicing desktop is made up of desktop and screw, and desktop is connected by screw in the square tube of splicing table welding support.Splicing table welding support is welded by square tube, square tube, square tube, square tube, square tube, square tube, plug, closure plate and cylinder gripper shoe；Cylinder is connected on cylinder supports plate by screw；Line slideway is made up of guide rail, slide block and screw, is fixed in the square tube of splicing table welding support by guide rail by screw；Floating junction is made up of joint and nut；

nullThis utility model bulk adjuvant waste automatic-recovery device operation principle is，When bulk adjuvant waste material is sent to specify position on the right side of the plugboard of pusher，The signal that bulk adjuvant waste material puts in place is passed to control centre by sensor detecting device，Control centre is to the signal of cylinder air-breathing，Cylinder air-breathing also drives pusher to move right，During pusher moves right，Bulk adjuvant waste material grafting is lived and moves right together by the plugboard of pusher，When pusher moves right extreme position under the drive of cylinder，Bulk adjuvant waste material is delivered to above splicing guide rail simultaneously completely，Complete the recovery operation of bulk adjuvant waste material，Afterwards，Cylinder intake，Pusher moves to initial position under the promotion of cylinder to the left，Wait that next part bulk adjuvant waste material arrives specific bit on the right side of the plugboard of pusher and postpones and repeat above-mentioned action.

This utility model detaches in auxiliary body at bulk adjuvant wrapping paper:

6.1) cylinder body I V described in, is made up of cylinder body and 2 piston rods, and two-piston rod end head is connected by a plate, and piston can be along cylinder body linear reciprocating motion；

6.2) the right pallet described in, is a square plate, centre have meet support longitudinally through irregularly-shaped hole, laterally have level trough；

6.3) support described in, is one " " shape bending part, has installing hole bottom " " shape, and the connecting plate for the piston termination with cylinder body I V is connected；

Bulk adjuvant wrapping paper described in the utility model detaches auxiliary body, and its original state is: cylinder body I V piston stretches out, and pedestal upper end is positioned at more than right tray upper surface；Sucker on robot clamp holds after accessory package is positioned on support by bulk adjuvant wrapping paper, sucker continues to hold bulk adjuvant wrapping paper, bulk adjuvant wrapping paper is cut by the cutter on robot clamp, machine sucker holds bulk adjuvant wrapping paper and removes, bulk adjuvant wrapping paper is pulled out out accessory package through the space in the middle of " u "-shaped support, will not pull bulk adjuvant during taking out bulk adjuvant wrapping paper.Subsequently, cylinder body I V is regained, and drives support mobile to right pallet level trough bottom surface position below together.Then, adjuvant level trough through right pallet can be pushed on horizontal channel under the drive of mobile device by push rod.

This utility model is in baric systerm:

7.1) material-transporting system is connected with actuating device of atmospheric pressure through the first four-way, the second threeway, the first threeway, filtering pressure reducing valve, compressor with material handling and cutter diced system；

7.2 the material-transporting system described in) includes lifting on the left of material lifts gas circuit, material support gas circuit and fault material release gas circuit on the right side of gas circuit, material horizontal feed gas circuit, material, each gas circuit connects and composes gas circuit by cylinder manifold I and the first threeway, the second threeway with driving means；

7.3) material supports the pneumatic cylinder of gas circuit and is arranged on the right side of material on the pneumatic cylinder lifting gas circuit, lifts along with the lifting of pneumatic cylinder lifting gas circuit on the right side of material；

7.4) material left/right side lifting air routing electromagnet reversal valve, two bidirectional speed governing valves and pneumatic cylinder are connected to form, and gases at high pressure pass through pneumatic cylinder, and the slide block on pneumatic cylinder does up and down or high low-speed motion with material under the control of solenoid directional control valve and flow speed control valve；

7.5) material horizontal feed gas circuit is connected to form by a solenoid directional control valve, two bidirectional speed governing valves and a pneumatic cylinder, gases at high pressure pass through pneumatic cylinder, and the slide block on pneumatic cylinder does level or high low-speed motion with material under the control of solenoid directional control valve and flow speed control valve；

7.6) material support gas circuit is connected to form by a solenoid directional control valve, two bidirectional speed governing valves and a pneumatic cylinder, gases at high pressure pass through pneumatic cylinder, and the slide block on pneumatic cylinder raises under the control of solenoid directional control valve and flow speed control valve with material, regains or high low-speed motion；

7.7) fault material release gas circuit is connected to form by a solenoid directional control valve, two bidirectional speed governing valves and a pneumatic cylinder, and gases at high pressure pass through pneumatic cylinder, and pneumatic cylinder pushes material under the control of solenoid directional control valve and flow speed control valve and does level or high, low speed motion；

7.8) materials conveying system described in includes that material separates cardboard carrying gas circuit, material handling gas circuit, each gas circuit is connected to form Guan Bi gas circuit by four-way and driving means, each gas circuit is connected on robot arm by fixture, can take exercises along with robot arm, thus realize position material handling specified to system；

7.9) the cutter diced system described in includes that material package paper cutting gas circuit, material depression bar gas circuit and cutter are stretched gas circuit, each gas circuit is connected to form gas circuit by cylinder manifold II, the first four-way with driving means, each gas circuit is connected on robot arm by fixture, it is possible to along with robot arm is taken exercises；

7.10) the stretch pneumatic cylinder of gas circuit of cutter is arranged in wrapping paper cutting gas circuit, along with the pneumatic cylinder of wrapping paper cutting gas circuit moves reciprocatingly back and forth；

7.11) material-transporting system, material handling system and the cutter diced system described in by increasing different executive components and can control element formation gas circuit, increases new operational motion, makes the expansible new function of equipment；

7.12) material described in separates cardboard carrying gas circuit and is connected to form by a vacuum generator and one or more sucker, sucker realizes separating the suction of cardboard, playing function by the control of vacuum generator, by robot, segmentation cardboard is being placed on the position specified；

7.13) the material handling gas circuit described in is connected to form gas circuit by a vacuum generator and three suckers, and sucker realizes the suction of material, playing function by the control of vacuum generator, and material is being placed on the position specified by robot；

7.14) the material package paper cutting gas circuit described in is connected to form by a solenoid directional control valve, two bidirectional speed governing valves and a pneumatic cylinder, gases at high pressure pass through pneumatic cylinder, pneumatic cylinder moves reciprocatingly with cutter under the control of solenoid directional control valve and flow speed control valve, thus realizes the cutting to wrapping paper；

7.15) gas circuit of stretching of the cutter described in is connected to form by a solenoid directional control valve, two bidirectional speed governing valves and a pneumatic cylinder, and gases at high pressure pass through pneumatic cylinder, and pneumatic cylinder promotes cutter to do reciprocal telescopic movement under the control of solenoid directional control valve and flow speed control valve；

7.16) the material depression bar gas circuit described in is connected to form by a solenoid directional control valve, two bidirectional speed governing valves and two pneumatic cylinders, gases at high pressure pass through two pneumatic cylinders in parallel, pneumatic cylinder promotes depression bar to do reciprocal telescopic movement under the control of solenoid directional control valve and flow speed control valve, makes depression bar realize the compression to material and loosen.

The beneficial effects of the utility model are, it is achieved that the carrying of accessory package；The cutting of accessory package bulk adjuvant wrapping paper, recovery；Remove the conveying on a conveyor of the accessory package after bulk adjuvant wrapping paper, it is ensured that automatic charging process reliability and stability.Adjuvant conveying frame carries defeated gantry frame open frame by arranging the adjuvant with conveying and shaping feature between automatical feeding system and packer, makes adjuvant in bulk by keeping native mode after this frame so that whole material conveying process is safe and reliable.Robot clamp completes the carrying of accessory package, the work such as the cutting of accessory package bulk adjuvant wrapping paper, recovery, clamp structure Sizes, easy to maintenance, the particular design of the cutting tool of accessory package bulk adjuvant wrapping paper substantially reduces tool changing frequency, improves production efficiency.The taper closing-in structure design of the taper gathering sill that bulk adjuvant packaging paper recovering device stands upside down both can increase bulk adjuvant wrapping paper and fall into the probability of following main channel, can reduce again the physical dimension of main channel, save space.The material of U-lag, cover plate and door-plate is transparent acrylic, and this allows to observe the situation in bulk adjuvant wrapping paper dropping process in the channel intuitively, and can find bulk adjuvant wrapping paper whether putty in main channel in time.Change monoblock type door-plate into cover plate and door-plate, it is to avoid the deformation caused because door-plate is long, and reduce the difficulty of processing.Change built-in door-inhale formula switch locking mode into external snap close and bridge piece locking mode, eliminate the obstacle in bulk adjuvant wrapping paper dropping process.It addition, whole bulk adjuvant packaging paper recovering device good looking appearance, it is possible to it is applicable to the field such as packaging for foodstuff, industrial packaging.Bulk adjuvant waste automatic-recovery device not only avoid the potential safety hazard produced because of manual recovery cigarette case paper stack and the economic loss causing the reduction of whole production line efficiency to bring because of shutdown, and novel structure, compact, reliable, be easy to assembling and regulation, low cost of manufacture, take up room the advantage such as little.Additionally, coordinate corresponding sensor detecting device, adaptability and the production efficiency of whole piece cigarette case package production line, a kind of bulk adjuvant waste automatic-recovery device being worthy to be popularized can be improve as an ingredient of whole cigarette case package automatic production line.Bulk adjuvant wrapping paper detaches auxiliary body and easily realizes detaching of accessory package bulk adjuvant wrapping paper, simple in construction, it is easy to accomplish, practical.Material-transporting system, material handling and cutter diced system in baric systerm are each independently of the others, whole hydraulic system stable drive, dependable performance, will not interfere and cause system acting time delay, and it is easy to adjust, simple, can be according to realizing situation and adjust constantly the speed of each function system, material-transporting system, materials conveying system by increasing different execution components and parts and can control components and parts and form valve control gas circuit, increase new operational motion and make the expansible new function of equipment.

This utility model effectively reduces production cost, substantially increases production efficiency.This utility model simple in construction, has preferable strength and stiffness, stable and reliable in work, energy-efficient.

This utility model content is expanded on further below in conjunction with Figure of description.

Accompanying drawing explanation

Fig. 1 is axonometric chart structural representation of the present utility model；

Fig. 2 is the overall package schematic diagram after bulk adjuvant conveyor frame carries each functional module；

Fig. 3 is bulk adjuvant conveyor frame front view；

Fig. 4 is bulk adjuvant conveyor frame top view；

Fig. 5 is bulk adjuvant conveyor frame left view；

Fig. 6 is bulk adjuvant conveyor frame right tray combination structure schematic diagram；

Fig. 7 is bulk adjuvant conveyor frame horizontal push combinative structure schematic diagram；

Fig. 8 is bulk adjuvant conveyor frame left tray combination structure schematic diagram；

Fig. 9 is that robot clamp installs the rotary front view cutting mechanism of paper；

Figure 10 is that robot clamp installation is rotary cuts mechanism of paper left view；

Figure 11 is the top view of robot clamp；

Figure 12 is that robot clamp is installed blade of cutting a sheet of paper and cut the front view of mechanism of paper；

Figure 13 is that robot clamp is installed blade of cutting a sheet of paper and cut the left view of mechanism of paper；

Figure 14 is the rotary front view cutting mechanism of paper of robot clamp；

Figure 15 is the rotary left view cutting mechanism of paper of robot clamp；

Figure 16 is that robot clamp blade of cutting a sheet of paper cuts the front view of mechanism of paper；

Figure 17 is that robot clamp blade of cutting a sheet of paper cuts the left view of mechanism of paper；

Figure 18 is the shaft side figure of bulk adjuvant packaging paper recovering device；

Figure 19 is the shaft side figure that bulk adjuvant packaging paper recovering device removes cover plate (51)；

Figure 20 is taper gathering sill (49) and the top view of splicing case (59) that bulk adjuvant packaging paper recovering device removes handstand；

Figure 21 is the schematic diagram of the taper gathering sill (49) that bulk adjuvant packaging paper recovering device stands upside down；

Figure 22 is the schematic diagram of bulk adjuvant packaging paper recovering device connecting element (54)；

Figure 23 is the schematic diagram of bulk adjuvant packaging paper recovering device hinge combination (55)；

Figure 24 is the schematic diagram of bulk adjuvant packaging paper recovering device door lock combination (56)；

Figure 25 is the shaft side figure of bulk adjuvant waste automatic-recovery device；

Figure 26 is the shaft side figure that bulk adjuvant waste automatic-recovery device removes after splicing guide rail (62), splicing desktop (63), square tube (64-2), square tube (64-3), square tube (64-5), a closure plate (64-8)；

Figure 27 is bulk adjuvant waste automatic-recovery device pusher (61) front view at initial position；

Figure 28 is that bulk adjuvant waste material (69) is delivered to the front view on splicing guide rail (62) by bulk adjuvant waste automatic-recovery device pusher (61)；

Figure 29 is the explosive view that bulk adjuvant waste automatic-recovery device removes after pusher (61), cylinder (65), line slideway (66), floating junction (67)；

Figure 30 is the shaft side figure of bulk adjuvant waste automatic-recovery device pusher (61)；

Figure 31 is the shaft side figure of bulk adjuvant waste automatic-recovery device line slideway (66)；

Figure 32 is the shaft side figure of bulk adjuvant waste automatic-recovery device floating junction (67)；

Figure 33 is the schematic perspective view that bulk adjuvant wrapping paper detaches auxiliary body；

Figure 34 is the working state schematic representation 1 that bulk adjuvant wrapping paper detaches auxiliary body；

Figure 35 is the working state schematic representation 2 that bulk adjuvant wrapping paper detaches auxiliary body；

Figure 36 is the left view of Figure 35；

Figure 37 is the construction module figure of baric systerm；

Figure 38 is the air pressure materials conveying system structural representation of baric systerm；

Figure 39 is the air pressure cutter diced system structural representation of baric systerm；

Figure 40 is the air pressure material-transporting system structural representation of baric systerm；

nullIn figure，1-planer-type main support，The right conveyer device of 2-，3-horizontal transferring device，The left conveyer device of 4-，5-horizontal channel，6-reshaping device，7-cylinder body I，The right tray combination of 8-，9-cylinder body II，10-horizontal push combines，11-cylinder body III，The left tray combination of 12-，Baffle plate on the left of 13-，Connecting plate on the left of 14-，15-right-hand apron，Connecting plate on the right side of 16-，17-shaping bar，18-bindiny mechanism，The right pallet of 19-，20-bindiny mechanism I，21-cylinder IV，22-push rod，23-bindiny mechanism II，The left pallet of 24-，25-bindiny mechanism III，26-connecting shaft，27-upper mounting plate，28-laser range finder，29-contiguous block，30-lower installation board，31-paper pressing jar，32-translates cylinder，33-wrapping paper sucker，34-is rotary cuts mechanism of paper，35-separates cardboard sucker，36-electromagnetism valve island，37-vacuum generator，38-blade of cutting a sheet of paper cuts mechanism of paper，39-installing plate，40-pressing plate，41-tool rest telescoping cylinder，42-blade，43-cutter knife mechanism installing plate，44-wrapping paper guided plate，45-wrapping paper guides bar，46-motor fixed plate，47-circular shear blade assembly，48-fractional motor，49-taper gathering sill，50-U shape groove，51-cover plate，52-door-plate，53-L shape fixed plate，54-connecting element，55-hinge combines，56-door lock combines，57-handle，58-screw，59-splicing case，60-bulk adjuvant wrapping paper，61-pusher，62-splicing guide rail，63-splicing desktop，64-splicing table welding support，65-cylinder，66-line slideway，67-floating junction，68-nylon hoof foot，69-bulk adjuvant waste material，70-support，71-accessory package，72-Timing Belt conveyer，73-articulated robot，74-actuating device of atmospheric pressure，75-compressor，76-filter，77-the first threeway，78-the second threeway，79-the first solenoid directional control valve，80-first、Second bidirectional speed governing valve，Lifting air cylinder pressure on the right side of 81-，82-cylinder manifold I，83-the second solenoid directional control valve，84-fault releases pneumatic cylinder，85-the 3rd、4th bidirectional speed governing valve，86-supports pneumatic cylinder，87-the 5th、6th bidirectional speed governing valve，88-the 3rd solenoid directional control valve，89-horizontal feed pneumatic cylinder，90-the 7th、8th bidirectional speed governing valve，91-the 4th solenoid directional control valve，Lifting air cylinder pressure on the left of 92-，93-the 9th、Tenth bidirectional speed governing valve，94-the 5th solenoid directional control valve，95-the first four-way，96-the second vacuum generator，97-second、Three、Four suckers，98-the first vacuum generator，99-the first sucker，100-cylinder manifold II，101-the 8th solenoid directional control valve，102-the 15th、16th bidirectional speed governing valve，103-wrapping paper cutting pneumatic cylinder，104-the 7th solenoid directional control valve，105-the 13rd、14th bidirectional speed governing valve，106-cutter stretches pneumatic cylinder，107-the 6th solenoid directional control valve，108-the 11st、12nd bidirectional speed governing valve，109-depression bar pneumatic cylinder，110-depression bar pneumatic cylinder，111-the 3rd threeway，112-the 4th threeway，113-the second four-way.

Detailed description of the invention

As shown in Figure 1, tobacco bale based on robot of the present utility model packs square adjuvant automatical feeding system, includes bulk adjuvant conveying frame, robot clamp, bulk adjuvant packaging paper recovering device, bulk adjuvant waste automatic-recovery device, bulk adjuvant wrapping paper detach auxiliary body, Timing Belt conveyer, articulated robot and baric systerm.

As in figure 2 it is shown, the gantry frame open frame of a kind of adjuvant conveying, it is characterized in that: it is made up of planer-type main support 1, right conveyer device 2, horizontal transferring device 3, left conveyer device 4, horizontal channel 5 and reshaping device 6.Right conveyer device 2 is fixed on the right side of planer-type main support 1 by connecting shaft 26；Horizontal transferring device 3 is fixed in planer-type main support 1 top by connecting shaft 26；Left conveyer device 4 is fixed on the left of planer-type main support 1 by connecting shaft 26；Horizontal channel 5 is fixed in the middle part of planer-type main support 1 by connecting shaft 26 and is adapted with horizontal transferring device 3；Reshaping device 6 is fixed on the left of planer-type main support 1 by connecting shaft 26 and adapts with left conveyer device.Described right conveyer device 2 is made up of cylinder body I 7 and right tray combination 8；Described horizontal transferring device 3 is made up of cylinder body II 9, horizontal push combination 10；Described left conveyer device 4 is made up of cylinder body III 11 and left tray combination 12；Described horizontal channel 5 is made up of front apron 13, front connecting plate 14, backboard 15 and rear connecting plate 16, the spacing of front apron and backboard adapts with the material width passed through, front apron is connected firmly by bolt with front connecting plate, and backboard is connected firmly by bolt with rear connecting plate；Described reshaping device 6 is made up of shaping bar 17 and bindiny mechanism 18.Described right tray combination 8 is made up of right pallet 19, bindiny mechanism I 20, cylinder body IV 21, and is connected firmly by the movable end of right pallet 19 with cylinder body I 7 by attachment structure I 20；Described horizontal push combination 10 is made up of push rod 22 and bindiny mechanism II 23, and is connected firmly by the movable end of push rod 22 with cylinder body II 9 by bindiny mechanism II；Described left tray combination 12 is made up of left pallet 24 and bindiny mechanism III 25, and is connected firmly by the movable end of left pallet 24 with cylinder body III 11 by bindiny mechanism III 25.Described cylinder body I 7, cylinder body II 9 and cylinder body III 11 and cylinder body IV 21 for pneumatic, surge or electronic cylinder body.The portal frame type frame of adjuvant conveying is between automatical feeding system and packer, and bulk adjuvant is positioned on the right pallet of right conveyer device by robot clamp, and bulk accessory package is unpacked process by automatical feeding system；If broken down in processing procedure, right pallet moves downwardly to right conveyer device lower end under the effect of cylinder body I, and is processed by bulk adjuvant waste automatic-recovery device.If processing procedure is normal, the adjuvant unpacked propelling horizontal channel is moved to left conveyer device top under the effect of cylinder body I I by push rod the most to the left that adapt on horizontal push device with position, horizontal channel；In motor process, front apron and the backboard adjuvant to unpacking of horizontal channel carry out before and after's shaping；The adjuvant unpacked drops down onto on the left pallet of left conveyer device, and left pallet moves downwardly to packer feeding mouth under the effect of cylinder body III；In motor process, near reshaping device on the left of the material unpacked, complete the shaping to adjuvant of unpacking.

As shown in Fig. 9 17, robot clamp by upper mounting plate 27, lower installation board 30, contiguous block 29, wrapping paper sucker 33, separate cardboard sucker 35, laser range finder 28, paper pressing jar 31, translation cylinder 32, rotary cut mechanism of paper 34, blade of cutting a sheet of paper cuts mechanism of paper 48, electromagnetism valve island 36, vacuum generator 37 form；Wherein, upper mounting plate 27 is fixed at robot mounting flange by screw thus is connected with robot by whole fixture；Lower installation board 30 is connected with upper mounting plate 27 by contiguous block 29；Cut mechanism of paper, electromagnetism valve island 36, vacuum generator 37 are installed on upper mounting plate 27；Wrapping paper sucker 33, separate cardboard sucker 35, laser range finder 28 and be installed on lower installation board 30.When its cut mechanism of paper be rotary cut mechanism of paper 34 time, its workflow is: after robot starts, fixture is driven to move above material, vacuum generator 37 starts, wrapping paper sucker 33 is made to produce negative pressure with separating cardboard sucker 35, robot drives fixture to move downward afterwards, wrapping paper sucker 33 is made to hold separation cardboard with separating cardboard sucker 35, then robot drives and moves on fixture, after cardboard is put into appointment recovery zone, vacuum generator quits work, and separates cardboard and falls in recovery zone.Robot drives fixture to move above material again, after utilizing laser range finder 28 to find the center of material, robot drives fixture to begin to decline, the vacuum generator now controlling wrapping paper sucker 35 is started working, wrapping paper sucker 35 is made to produce negative pressure, hold the wrapping paper of material, after robot obtains vacuum signal, it is lifted up material, while lifting, two paper pressing jars 31 stretch out, and prevent material from rocking in handling process, then robot continues to move to, and material is positioned over appointed place.After material puts in place, cutting mechanism of paper and start, the tool rest telescoping cylinder 4 first cut in mechanism of paper stretches out, and fractional motor 48 starts to rotate, and then translation cylinder starts mobile, band cutting blade cutting wrapping paper, now wrapping paper sucker sorption wrapping paper always.After having cut, robot drives fixture to move, and when arriving above recovery basket, vacuum generator quits work, and wrapping paper completes to separate with material, is put into by wrapping paper in recovery basket.When its cut mechanism of paper cut mechanism of paper 38 for blade of cutting a sheet of paper time, its workflow is: after robot starts, fixture is driven to move above material, vacuum generator 37 starts, wrapping paper sucker 33 is made to produce negative pressure with separating cardboard sucker 35, robot drives fixture to move downward afterwards, wrapping paper sucker 33 is made to hold separation cardboard with separating cardboard sucker 35, then robot drives and moves on fixture, after cardboard is put into appointment recovery zone, vacuum generator quits work, and separates cardboard and falls in recovery zone.Robot drives fixture to move above material again, after utilizing laser range finder 28 to find the center of material, robot drives fixture to begin to decline, the vacuum generator now controlling wrapping paper sucker 35 is started working, wrapping paper sucker 35 is made to produce negative pressure, hold the wrapping paper of material, after robot obtains vacuum signal, it is lifted up material, while lifting, two paper pressing jars 31 stretch out, and prevent material from rocking in handling process, then robot continues to move to, and material is positioned over appointed place.After material puts in place, the tool rest telescoping cylinder 41 first cut in mechanism of paper stretches out, and then translation cylinder starts mobile, band cutting blade cutting wrapping paper, now wrapping paper sucker sorption wrapping paper always.After having cut, robot drives fixture to move, and when arriving above recovery basket, vacuum generator quits work, and wrapping paper completes to separate with material, is put into by wrapping paper in recovery basket.

Such as Figure 18, a kind of bulk adjuvant packaging paper recovering device, it is characterized in that, form including the taper gathering sill 49 stood upside down, U-lag 50, cover plate 51, door-plate 52, L-shaped fixed plate 53, connecting element 54, hinge combination 55, door lock combination 56, handle 57, screw 58, splicing case 59.The taper gathering sill 49 stood upside down is made up of big bending plate 49-1, little bending plate 49-2 and flat head screw 49-3, two big bending plate 49-1 and two little bending plate 49-2 are by welding, forming taper gathering sill weldment, flat head screw 49-3 for being connected to the top of U-lag 50 by the taper gathering sill 49 of handstand.Cover plate 51 is connected with U-lag 50 by connecting element 54.Door-plate 52 is connected with U-lag 50 by hinge combination 55.On the basis of whole bulk adjuvant packaging paper recovering device is fixed on accordingly by L-shaped fixed plate 53 by screw 58.Door lock combination 56 is made up of snap close 56-1, bridge piece 56-2 and screw 56-3, snap close 56-1 is fixed on door-plate 52 by screw 56-3, and bridge piece 56-2 is fixed on U-lag 50 by screw 56-3, when door-plate 52 closes, snap close 56-1 and bridge piece 56-2 fastens, and is pinned by door-plate 52.Handle 57 is fixed on door-plate 52 by screw 56-3.Splicing case 59 is positioned at the bottom of bulk adjuvant packaging paper recovering device.U-lag 50, cover plate 51, door-plate 52, L-shaped fixed plate 53, connecting element 54, hinge combination 55, door lock combination 56 collectively form the main channel of bulk adjuvant packaging paper recovering device.Cut after mechanism of paper separates when bulk adjuvant wrapping paper 60 is automated, first fall in the taper gathering sill 49 of handstand, it is then passed through the main channel collectively formed by U-lag 50, cover plate 51, door-plate 52, L-shaped fixed plate 53, connecting element 54, hinge combination 55, door lock combination 56, finally fall in the splicing case 59 being positioned at bottom bulk adjuvant packaging paper recovering device, complete the recovery operation of bulk adjuvant wrapping paper.

Such as Figure 25, Figure 26, a kind of bulk adjuvant waste automatic-recovery device, it is characterised in that include that pusher 61, splicing guide rail 62, splicing desktop 63, splicing table welding support 64, cylinder 65, line slideway 66, floating junction 67 and nylon hoof foot 68 form.nullPusher 61 is by plugboard 61-1、Side connecting plate 61-2、Middle connecting plate 61-3、Big girth member 61-4、Left side connector 61-5、Cylinder connection piece 61-6、Floating junction connecting plate 61-7、Little girth member 61-8、Right side connector 61-9 and screw 61-10 composition，Two plugboard 61-1 are connected with two side connecting plate 61-2 respectively by screw 61-10，The side connecting plate 61-2 of the left and right sides、Big girth member 61-4、Left side connector 61-5 and right side connector 61-9 is connected on the big girth member 61-4 of the left and right sides by screw 61-10，Cylinder connection piece 61-6 and little girth member 61-8 is connected on left side connector 61-5 and right side connector 61-9 by screw 61-10，Floating junction connecting plate 61-7 is connected on cylinder connection piece 61-6 by screw 61-10.Splicing guide rail 62 is connected with splicing desktop 63 by screw 63-2.Splicing desktop 63 is made up of desktop 63-1 and screw 63-2, and desktop 3-1 is connected in square tube 64-5 of splicing table welding support 64 by screw 63-2.Splicing table welding support 64 is welded by square tube 64-1, square tube 64-2, square tube 64-3, square tube 64-4, square tube 64-5, square tube 64-6, plug 64-7, closure plate 64-8 and cylinder gripper shoe 64-9.Cylinder 65 is connected on cylinder supports plate 64-9 by screw 61-10.Line slideway 66 is made up of guide rail 66-1, slide block 66-2 and screw 66-3, is fixed in square tube 64-4 of splicing table welding support 64 by guide rail 66-1 by screw 66-3.Floating junction 67 is made up of joint 67-1 and nut 67-2.Cylinder 65, as the dynamical element of whole device, is connected with the floating junction connecting plate 61-7 of pusher 61 by two nut 67-2 of floating junction 67, and then constitutes main driven relationship with pusher 61；Left side connector 61-5 and right side connector 61-9, as the director element of whole device, is connected with the slide block 66-2 of line slideway 66 by screw 61-10, and then is connected together with pusher 61 by line slideway 66 by line slideway 66；When cylinder 65 side-to-side movement, drive pusher 61 side-to-side movement on line slideway 66.Nylon hoof foot 68 is the support component of whole device, and is connected with the plug 64-7 of splicing table welding support 64, reaches to support the effect of bulk adjuvant waste material recovery device.nullA kind of bulk adjuvant waste automatic-recovery device operation principle is，When bulk adjuvant waste material 69 is sent to specify position on the right side of the plugboard 61-1 of pusher 61，The signal that bulk adjuvant waste material 69 puts in place is passed to control centre by sensor detecting device，Control centre is to the signal of cylinder 65 air-breathing，Cylinder 65 air-breathing also drives pusher 61 to move right，During pusher 61 moves right，Bulk adjuvant waste material 69 grafting is lived and moves right together by the plugboard 61-1 of pusher 61，When pusher 61 moves right extreme position under the drive of cylinder 65，Bulk adjuvant waste material 69 is delivered to above splicing guide rail 62 simultaneously completely，Complete the recovery operation of bulk adjuvant waste material 69，Afterwards，Cylinder 65 air inlet，Pusher 61 moves to initial position under the promotion of cylinder 65 to the left，Wait that next part bulk adjuvant waste material 69 arrives specific bit on the right side of the plugboard 61-1 of pusher 61 and postpones and repeat above-mentioned action.

Bulk adjuvant wrapping paper as shown in figure 33 detaches auxiliary body: be made up of cylinder body I V21, right pallet 19, support 70.Wherein cylinder body I V21 cylinder body is rectangle, has installing hole in the middle part of cylinder body, and for being connected with fixed frame, piston rod can be along cylinder body at vertical square linear reciprocating motion；Right pallet 19 has the square shaped thick plate in " " shape support plan view shape hole for centre, and thickness is 20mm, and its thickness direction has installing hole, and for being connected with fixed frame, horizontal direction has level trough, it is simple to the push rod 22 being pushed on conveyer by adjuvant passes through；Support 70, in addition to having " " shape shape, also add bending edges, can increase the contact area with accessory package in right amount, ensures not contact with bulk adjuvant wrapping paper 60 simultaneously.Bulk adjuvant wrapping paper as shown in Figure 34, Figure 35, Figure 36 detaches auxiliary body.During work, its original state is: cylinder body I V21 piston stretches out, and support 70 upper end is positioned at more than right pallet 19 upper surface.Sucker on robot clamp holds after accessory package 71 is positioned on support 70 by bulk adjuvant wrapping paper 60, sucker continues to hold bulk adjuvant wrapping paper 60, bulk adjuvant wrapping paper 60 is cut by the cutter on robot clamp, machine sucker holds bulk adjuvant wrapping paper 60 and moves, bulk adjuvant wrapping paper 60 is pulled out out accessory package 71 through the space in the middle of " " shape support 70, will not pull bulk adjuvant during taking out bulk adjuvant wrapping paper 60.Subsequently, cylinder body I V21 is regained, and drives support 70 mobile to right pallet 19 level trough bottom surface position below together.Then, adjuvant is pushed on horizontal channel by push rod 22 level trough through right pallet 19 under the drive of cylinder.

As shown in figure 37, a kind of tobacco bale based on robot packs square adjuvant automatic charging baric systerm, driven by engine compressor-whole baric systerm provide power.Whole baric systerm divides again-materials conveying system, cutter diced system and material-transporting system.As shown in figure 38, when robot clamp moves on material segmentation cardboard, in materials conveying system, material in parallel separates cardboard carrying gas circuit and material handling gas circuit；Material separates cardboard carrying gas circuit and is connected with a sucker 99 by the first vacuum generator 98, when vacuum generator evacuation, material is split cardboard and is picked up by sucker, postpone the cardboard picked up being put into specific bit by robot arm, vacuum generator is exitted, cardboard loses suction Automatic-falling, it is achieved the carrying to segmentation cardboard；Material handling gas circuit is connected with sucker 97 by the second vacuum generator 96, and robot arm returns on material, and the second vacuum generator 96 starts evacuation, inhales 97 and is picked up by material, by robot arm by the material handling picked up to the support cylinder stretched out.As shown in figure 39, cutter diced system is provided pressure gas source by compressor by cylinder manifold II100, and material depression bar gas circuit that cutter diced system is in parallel, cutter stretch gas circuit and wrapping paper cutting gas circuit.Material depression bar gas circuit is formed by connecting by the 6th solenoid directional control valve the 107, the 3rd threeway the 111, the 4th threeway 112, bidirectional speed governing valve 108 and depression bar pneumatic cylinder 109,110, after material is picked up by the sucker 97 on robot arm fixture, material depression bar gas circuit turns on, and material is compressed by depression bar；Cutter gas circuit of stretching is connected is formed by the 7th solenoid directional control valve 104, bidirectional speed governing valve 105, the cutter pneumatic cylinder 106 that stretches, robot arm is by time in the material handling picked up to the support cylinder stretched out, cutter stretches gas circuit conducting, and cutter is reached suitable position by the cutter pneumatic cylinder that stretches；Wrapping paper cutting gas circuit is connected by the 8th solenoid directional control valve 101, bidirectional speed governing valve 102 and wrapping paper cutting pneumatic cylinder 103 and forms, when cutter reaches suitable position, wrapping paper cutting gas circuit conducting, wrapping paper is cut by wrapping paper cutting pneumatic cylinder with tool motion, and the wrapping paper being cut open is transported in wrapping paper collecting box along with the motion of robot arm.As shown in figure 40, material-transporting system is provided power resources by compressor by threeway 78 and cylinder manifold I, lifts and lifts gas circuit on the right side of gas circuit, material horizontal feed gas circuit, material, material supports gas circuit and gas circuit released by fault material on the left of material-transporting system is in parallel material；Material supports gas circuit and by the 3rd solenoid directional control valve 88, bidirectional speed governing valve 87 and supports pneumatic cylinder 86 and be connected and form, and whole gas circuit be arranged on the right side of material lift the right side of gas circuit rise will firm on, move along with the motion of right side cylinder.Before material is transported to support on pneumatic cylinder by robot arm, support pneumatic cylinder stretches out, and when robot arm material package paper is extracted out, extract out the cutting of unsuccessful and material package paper unsuccessful after, supporting pneumatic cylinder regains, and this ensures that theres material slump during paper extraction；On the right side of material, lifting air route the first solenoid directional control valve 79, bidirectional speed governing valve 80 and is connected with right side lifting air cylinder pressure 81 and forms, when material package paper does not cut successfully or wrapping paper paper extraction is unsuccessful, gas circuit conducting is lifted on the right side of material, material is flowed to fault material and releases gas circuit by drive support cylinder by right side lifting air cylinder pressure together, is then return to wait next instruction in situ；Fault material release gas circuit is connected by the second solenoid directional control valve 83, bidirectional speed governing valve 85 and fault release pneumatic cylinder 84 and forms, when receiving fault material information, gas circuit conducting released by fault material, and fault is released pneumatic cylinder motion and released by fault material, is then return to wait next instruction in situ；Material horizontal feed gas circuit is connected with horizontal feed cylinder 89 by the 4th solenoid directional control valve 91, bidirectional speed governing valve 90 and forms, after receiving the material package paper successful information of cutting, material horizontal feed gas circuit turns on, material is flowed to left side lifting gas circuit by horizontal feed cylinder, is then quickly returning to wait next instruction in situ；Left side lifting air route the 5th solenoid directional control valve 94, bidirectional speed governing valve 93 are connected with left side lifting air cylinder pressure 92 and form, after receiving the material that horizontal feed cylinder is sent here, gas circuit turns on, left side lifting air cylinder pressure transports material to the conveying mechanism bottom the pneumatic cylinder of left side, being exported by material by conveying mechanism, left side lifting air cylinder pressure returns to wait next instruction in situ.

Claims (7)

1. tobacco bale based on robot packs square adjuvant automatical feeding system, it is characterised in that:

1.1) the bulk adjuvant conveyer system being arranged on planer-type main support is included, it is arranged on the robot clamp on the right side of by planer-type main support, it is fixed on the bulk adjuvant packaging paper recovering device of planer-type main support right side front, it is fixed on the bulk adjuvant waste automatic-recovery device of rear end on the right side of planer-type main support, the bulk adjuvant wrapping paper being located in bulk adjuvant conveyor frame detaches auxiliary body, it is connected to the Timing Belt conveyer on the left of planer-type main support, the articulated robot that is located on robot clamp and respectively materials conveying system, material-transporting system, cutter diced system provides baric systerm nine part of power to constitute；Wherein:

1.2) described bulk adjuvant conveyer system, is made up of planer-type main support (1), right conveyer device (2), horizontal transferring device (3), left conveyer device (4), horizontal channel (5) and reshaping device (6)；Described right conveyer device (2) is fixed on planer-type main support (1) right side by connecting shaft (26)；Described horizontal transferring device (3) is fixed on top in planer-type main support (1) by connecting shaft (26)；Described left conveyer device (4) is fixed on planer-type main support (1) left side by connecting shaft (26)；Described horizontal channel (5) is fixed on planer-type main support (1) middle part by connecting shaft (26) and is adapted with horizontal transferring device (3)；Described reshaping device (6) is fixed on planer-type main support (1) left side by connecting shaft (26) and adapts with left conveyer device；

1.3) described robot clamp, by upper mounting plate (27), lower installation board (30), contiguous block (29), wrapping paper sucker (33), separate cardboard sucker (35), laser range finder (28), paper pressing jar (31), translation cylinder (32), rotary cut mechanism of paper (34), blade of cutting a sheet of paper cuts mechanism of paper (38), electromagnetism valve island (36), vacuum generator (37) form；Wherein, upper mounting plate (27) is fixed at robot mounting flange by screw thus is connected with robot by whole fixture；Lower installation board (30) is connected with upper mounting plate (27) by contiguous block (29)；Cut mechanism of paper, electromagnetism valve island (36), vacuum generator (37) are installed on upper mounting plate (27)；Wrapping paper sucker (33), separation cardboard sucker (35), laser range finder (28) are installed on lower installation board (30)；

1.4) described bulk adjuvant packaging paper recovering device, including the taper gathering sill (49) stood upside down, U-lag (50), cover plate (51), door-plate (52), L-shaped fixed plate (53), connecting element (54), hinge combination (55), door lock combination (56), handle (57), screw (58), splicing case (59) composition；U-lag (50), cover plate (51), door-plate (52), L-shaped fixed plate (53), connecting element (54), hinge combination (55), door lock combination (56) collectively form the main channel of bulk adjuvant packaging paper recovering device；Taper gathering sill (49) is fixed on the top of U-lag (50) by flat head screw (49-3)；Splicing case (59) is positioned at the bottom of whole device；

1.5) described bulk adjuvant waste automatic-recovery device, including pusher (61), splicing guide rail (62), splicing desktop (63), splicing table welding support (64), cylinder (65), line slideway (66), floating junction (67) and nylon hoof foot (68)；

Wherein pusher (61) is the executive component of whole device, cylinder (65) is the dynamical element of whole device, line slideway (66) is the director element of whole device, and nylon hoof foot (68) is the support component of whole device；Cylinder (65) is connected with the floating junction connecting plate (61-7) of pusher (61) by two nuts (67-2) of floating junction (67), and then constitutes main driven relationship with pusher (61)；Left side connector (61-5) and right side connector (61-9) are connected with the slide block (66-2) of line slideway (66) by line slideway (66) by screw (61-10), and then are connected together with pusher (61) by line slideway (66)；When cylinder (65) side-to-side movement, drive pusher (61) in the upper side-to-side movement of line slideway (66)；Four nylon hoof foot (68) are connected with four plugs (64-7) of splicing table welding support (64), reach to support the effect of bulk adjuvant waste automatic-recovery device；

1.6) described bulk adjuvant wrapping paper detaches auxiliary body, is made up of cylinder body I V (21), right pallet (19), support (70)；Wherein cylinder body I V (21), right pallet (19) are connected firmly by the movable end of bindiny mechanism I with cylinder body I respectively, and support (70) is fixing with the connecting plate of cylinder body I V (21) piston rod end to be connected；

1.7) described tobacco bale based on robot packs square adjuvant automatical feeding system baric systerm, it includes material-transporting system, material handling and cutter diced system, it is connected with actuating device of atmospheric pressure (74) respectively, actuating device of atmospheric pressure (74) provides to compressor (75) and drive power.

Tobacco bale based on robot the most according to claim 1 packs square adjuvant automatical feeding system, it is characterised in that:

2.1) the right conveyer device (2) described in is made up of cylinder body I (7) and right tray combination (8)；

2.2) horizontal transferring device (3) described in is made up of cylinder body II (9), horizontal push combination (10)；

2.3) the left conveyer device (4) described in is made up of cylinder body III (11) and left tray combination (12)；

2.4) horizontal channel (5) described in is made up of front apron (13), front connecting plate (14), backboard (15), rear connecting plate (16)；The spacing of front apron and backboard adapts with the material width passed through, and front apron is connected firmly by bolt with front connecting plate, and backboard is connected firmly by bolt with rear connecting plate；

2.5) reshaping device (6) described in is made up of shaping bar (17) and bindiny mechanism (18)；

2.6) the right tray combination (8) described in is made up of right pallet (19), bindiny mechanism I (20), cylinder body IV (21), and is connected firmly by the movable end of right pallet (19) with cylinder body I (7) by attachment structure I (20)；

2.7) horizontal push combination (10) described in is made up of push rod (22) and bindiny mechanism II (23), and is connected firmly by the movable end of push rod (22) with cylinder body II (9) by bindiny mechanism II；

2.8) the left tray combination (12) described in is made up of left pallet (24) and bindiny mechanism III (25)；And by bindiny mechanism III (25), the movable end of left pallet (24) with cylinder body III (11) is connected firmly；

2.9) cylinder body I (7), cylinder body II (9) and cylinder body III (11) described in and cylinder body IV (21) are pneumatically or hydraulically or electronic cylinder body；

2.10) connecting shaft (26) described in is metal or processing of high molecular material forms.

Tobacco bale based on robot the most according to claim 1 packs square adjuvant automatical feeding system, it is characterised in that:

3.1) robot clamp is guided bar (45) and motor fixed plate (46) to form by fractional motor (48), tool rest telescoping cylinder (41), circular shear blade assembly (47), wrapping paper；Wherein, fractional motor (48) is the power set driving circular shear blade assembly (47) to rotate；

3.2) blade of cutting a sheet of paper cuts mechanism of paper (38) and be made up of installing plate (39), pressing plate (40), tool rest telescoping cylinder (41), blade (42), cutter knife mechanism installing plate (43), wrapping paper guided plate (44)；

3.3) the rotary mechanism of paper (34) that cuts cuts mechanism of paper (38) employing interchangeable structure with blade of cutting a sheet of paper；

3.4) being provided with buffer head on the head of paper pressing jar (31) cylinder rod, the material of buffer head uses silicone rubber.

Tobacco bale based on robot the most according to claim 1 packs square adjuvant automatical feeding system, it is characterised in that in bulk adjuvant packaging paper recovering device:

4.1) the taper gathering sill (49) stood upside down is made up of big bending plate (49-1), little bending plate (49-2) and flat head screw (49-3), two big bending plates (49-1) pass through to weld with two little bending plates (49-2), forming taper gathering sill weldment, flat head screw (49-3) for being connected to the top of U-lag (50) by the taper gathering sill (49) stood upside down；Cover plate (51) is connected with U-lag (50) by connecting element (54)；Door-plate (52) is connected with U-lag (50) by hinge combination (55)；On the basis of whole bulk adjuvant packaging paper recovering device is fixed on accordingly by L-shaped fixed plate (53) by screw (58)；Door lock combination (56) is made up of snap close (56-1), bridge piece (56-2) and screw (56-3), snap close (56-1) is fixed on door-plate (52) by screw (56-3), bridge piece (56-2) is fixed on U-lag (50) by screw (56-3), when door-plate (52) closes, snap close (56-1) fastens with bridge piece (56-2), is pinned by door-plate (52)；Handle (57) is fixed on door-plate (52) by screw (56-3)；

4.2) material of the bulk adjuvant packaging U-lag (50) of paper recovering device, cover plate (51) and door-plate (52) uses transparent acrylic；

4.3 according to claim 1.4, require 4.1 and require described in 4.2 that tobacco bale based on robot packs square adjuvant automatical feeding system, it is characterised in that: the taper gathering sill (49) of the handstand of bulk adjuvant packaging paper recovering device uses taper closing-in structure.

Tobacco bale based on robot the most according to claim 1 packs square adjuvant automatical feeding system, it is characterised in that in bulk adjuvant waste automatic-recovery device:

null5.1 pushers (61) are by plugboard (61-1)、Side connecting plate (61-2)、Middle connecting plate (61-3)、Big girth member (61-4)、Left side connector (61-5)、Cylinder connection piece (61-6)、Floating junction connecting plate (61-7)、Little girth member (61-8)、Right side connector (61-9) and screw (61-10) composition，Two plugboards (61-1) are connected with two side connecting plates (61-2) respectively by screw (61-10)，The side connecting plate (61-2) of the left and right sides、Big girth member (61-4)、Left side connector (61-5) and right side connector (61-9) are connected on the big girth member (61-4) of the left and right sides by screw (61-10)，Cylinder connection piece (61-6) and little girth member (61-8) are connected on left side connector (61-5) and right side connector (61-9) by screw (61-10)，Floating junction connecting plate (61-7) is connected on cylinder connection piece (61-6) by screw (61-10)；Splicing guide rail (62) is connected with splicing desktop (63) by screw (63-2)；Splicing desktop (63) is made up of desktop (63-1) and screw (63-2), and desktop (63-1) is connected in the square tube (64-5) of splicing table welding support (64) by screw (63-2)；Splicing table welding support (64) is welded by square tube (64-1), square tube (64-2), square tube (64-3), square tube (64-4), square tube (64-5), square tube (64-6), plug (64-7), closure plate (64-8) and cylinder gripper shoe (64-9)；Cylinder (65) is connected on cylinder supports plate (64-9) by screw (61-10)；Line slideway (66) is made up of guide rail (66-1), slide block (66-2) and screw (66-3), is fixed in the square tube (64-4) of splicing table welding support (64) by guide rail (66-1) by screw (66-3)；Floating junction (67) is made up of joint (67-1) and nut (67-2).

Tobacco bale based on robot the most according to claim 1 packs square adjuvant automatical feeding system, it is characterised in that detach in auxiliary body at bulk adjuvant wrapping paper:

6.1) cylinder body I V (21) described in, is made up of cylinder body and 2 piston rods, and two-piston rod end head is connected by a plate, and piston can be along cylinder body linear reciprocating motion；

6.2) the right pallet (19) described in, is a square plate, centre have meet support longitudinally through irregularly-shaped hole, laterally have level trough；

6.3) support (70) described in, is a " u "-shaped bending part, has installing hole bottom " u "-shaped, and the connecting plate for the piston termination with cylinder body I V (21) is connected.

Tobacco bale based on robot the most according to claim 1 packs square adjuvant automatical feeding system, it is characterised in that in baric systerm:

7.1) material-transporting system is connected with actuating device of atmospheric pressure (74) through the first four-way (95), the second threeway (78), the first threeway (77), filtering pressure reducing valve (76), compressor (75) with material handling and cutter diced system；

7.2) material-transporting system described in includes lifting on the left of material lifting gas circuit on the right side of gas circuit, material horizontal feed gas circuit, material, material supports gas circuit and gas circuit released by fault material, and each gas circuit connects and composes gas circuit by cylinder manifold I (82) and the first threeway (77), the second threeway (78) with driving means (74)；

7.3) material supports the pneumatic cylinder of gas circuit and is arranged on the right side of material on the pneumatic cylinder lifting gas circuit, lifts along with the lifting of pneumatic cylinder lifting gas circuit on the right side of material；

7.4) material left/right side lifting air routing electromagnet reversal valve (79), (94), two bidirectional speed governing valves (80), (93) and pneumatic cylinder (81), (92) are connected to form, gases at high pressure pass through pneumatic cylinder (81), (92), the slide block on pneumatic cylinder (81), (92) with material solenoid directional control valve (79), (94) and flow speed control valve (80), (93) control under do up and down or high low-speed motion；

7.5) material horizontal feed gas circuit is connected to form by a solenoid directional control valve (91), two bidirectional speed governing valves (90) and a pneumatic cylinder (89), gases at high pressure pass through pneumatic cylinder (89), and the slide block on pneumatic cylinder (89) does level or high low-speed motion with material under the control of solenoid directional control valve (91) and flow speed control valve (90)；

7.6) material support gas circuit is connected to form by a solenoid directional control valve (88), two bidirectional speed governing valves (87) and a pneumatic cylinder (86), gases at high pressure pass through pneumatic cylinder (86), and the slide block on pneumatic cylinder (86) raises under the control of solenoid directional control valve (88) and flow speed control valve (87) with material, regains or high low-speed motion；

7.7) fault material release gas circuit is connected to form by a solenoid directional control valve (83), two bidirectional speed governing valves (85) and a pneumatic cylinder (84), gases at high pressure pass through pneumatic cylinder (84), and pneumatic cylinder (84) pushes material under the control of solenoid directional control valve (83) and flow speed control valve (85) and does level or high, low speed motion；

7.8) materials conveying system described in includes that material separates cardboard carrying gas circuit, material handling gas circuit, each gas circuit is connected to form Guan Bi gas circuit by four-way (95) and driving means (74), each gas circuit is connected on robot arm by fixture, can take exercises along with robot arm, thus realize position material handling specified to system；

7.9) the cutter diced system described in includes that material package paper cutting gas circuit, material depression bar gas circuit and cutter are stretched gas circuit, each gas circuit is connected to form gas circuit by cylinder manifold II (100), the first four-way (95) with driving means (74), each gas circuit is connected on robot arm by fixture, it is possible to along with robot arm is taken exercises；

7.10) the stretch pneumatic cylinder of gas circuit of cutter is arranged in wrapping paper cutting gas circuit, along with the pneumatic cylinder of wrapping paper cutting gas circuit moves reciprocatingly back and forth；

7.11) material-transporting system, material handling system and the cutter diced system described in by increasing different executive components and can control element formation gas circuit, increases new operational motion, makes the expansible new function of equipment；

7.12) material described in separates cardboard carrying gas circuit and is connected to form by a vacuum generator (98) and one or more sucker (99), sucker (99) realizes separating the suction of cardboard, playing function by the control of vacuum generator (98), by robot, segmentation cardboard is being placed on the position specified；

7.13) the material handling gas circuit described in is connected to form gas circuit by a vacuum generator (96) and three suckers (97), sucker (97) realizes the suction of material, playing function by the control of vacuum generator (96), and material is being placed on the position specified by robot；

7.14) the material package paper cutting gas circuit described in is connected to form by a solenoid directional control valve (101), two bidirectional speed governing valves (102) and a pneumatic cylinder (103), gases at high pressure pass through pneumatic cylinder (103), pneumatic cylinder (103) moves reciprocatingly with cutter under the control of solenoid directional control valve (101) and flow speed control valve (102), thus realizes the cutting to wrapping paper；

7.15) gas circuit of stretching of the cutter described in is connected to form by a solenoid directional control valve (104), two bidirectional speed governing valves (105) and a pneumatic cylinder (106), gases at high pressure pass through pneumatic cylinder, and pneumatic cylinder (106) promotion cutter under the control of solenoid directional control valve (104) and flow speed control valve (105) does reciprocal telescopic movement；

7.16) the material depression bar gas circuit described in is connected to form by a solenoid directional control valve (107), two bidirectional speed governing valves (108) and two pneumatic cylinders (109), gases at high pressure pass through two pneumatic cylinders in parallel (109), (110), pneumatic cylinder (109), (110) promotion depression bar under the control of solenoid directional control valve (107) and flow speed control valve (108) does reciprocal telescopic movement, makes depression bar realize the compression to material and loosen.