CN110844159A - Automatic special-shaped box cigarette equipment and operation method thereof - Google Patents
Automatic special-shaped box cigarette equipment and operation method thereof Download PDFInfo
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- CN110844159A CN110844159A CN201911249964.9A CN201911249964A CN110844159A CN 110844159 A CN110844159 A CN 110844159A CN 201911249964 A CN201911249964 A CN 201911249964A CN 110844159 A CN110844159 A CN 110844159A
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- cigarette
- plate
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- case
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- 235000019504 cigarettes Nutrition 0.000 title claims abstract description 579
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 115
- 238000003825 pressing Methods 0.000 claims description 17
- 238000007664 blowing Methods 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 8
- 229910001369 Brass Inorganic materials 0.000 claims description 7
- 239000010951 brass Substances 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 239000002655 kraft paper Substances 0.000 claims description 4
- 239000002775 capsule Substances 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000000779 smoke Substances 0.000 description 12
- 230000008569 process Effects 0.000 description 5
- 241000208125 Nicotiana Species 0.000 description 1
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000000123 paper Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000000391 smoking effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
- B65B19/02—Packaging cigarettes
- B65B19/04—Arranging, feeding, or orientating the cigarettes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
- B65B19/02—Packaging cigarettes
- B65B19/12—Inserting the cigarettes, or wrapped groups thereof, into preformed containers
- B65B19/14—Inserting the cigarettes, or wrapped groups thereof, into preformed containers into pocket boxes, e.g. boxes of rectangular form closed at one end by a flap adapted to be inserted into a slot in the body
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Wrapping Of Specific Fragile Articles (AREA)
Abstract
The invention relates to automatic special-shaped box cigarette packaging equipment and an operation method thereof, and the automatic special-shaped box cigarette packaging equipment comprises a cigarette feeding streamline, a cigarette feeding box streamline, a six-axis manipulator, a clamping mechanism and a cigarette case positioning mechanism, wherein a plurality of cigarette containing mold boxes are arranged on the cigarette feeding branch line, a plurality of cigarettes are contained in the cigarette containing mold boxes, the cigarette feeding box streamline comprises a conveying belt, a support and a conveying mechanism driving the conveying belt to operate, a cigarette case is arranged on the conveying belt, at least one cigarette filling station is arranged on the support, the six-axis manipulator is provided with the clamping mechanism, the clamping mechanism comprises a cigarette clamping mechanism and a cigarette protecting mechanism, the cigarette case positioning mechanism fixes the cigarette case, the six-axis manipulator drives the cigarette clamping mechanism to clamp the cigarettes in the cigarette containing mold boxes and extract the cigarettes outwards, the cigarette protecting mechanism protects the extracted cigarettes, and the six-axis manipulator utilizes the cigarette clamping mechanism. The invention has the advantages of high production efficiency, good product quality stability and reduced labor cost.
Description
Technical Field
The invention relates to cigarette packaging equipment, in particular to automatic special-shaped boxed cigarette packaging equipment and an operation method thereof.
Background
At present, in order to carry out brand innovation, part of cigarette enterprises in the tobacco industry make special-shaped cigarette case packaging products of respective brands. However, in the actual production process, since the special-shaped cigarette case is a pre-formed cigarette case and is vertically opened, when packing cigarettes in the case, workers need to open the upper cover and the lower cover of the cigarette case, open the lining paper for decoration, and put 20 cigarettes arranged in the cigarette case into the special-shaped cigarette case lightly, so that the mechanical continuous production cannot be carried out. Dress cigarette through the manual work, the unable long-time work of manual work on the one hand causes dress cigarette inefficiency, finally leads to production efficiency to reduce, and on the other hand needs to hire a large amount of manpowers, makes the cost of labor increase, and then has increased manufacturing cost.
Disclosure of Invention
In order to overcome the defects, the invention provides automatic special-shaped box cigarette packaging equipment which mainly comprises a cigarette feeding streamline, a cigarette feeding box streamline, a six-axis manipulator, a clamping mechanism and a cigarette box positioning mechanism, wherein the full-automatic special-shaped cigarette packaging process of cigarettes is completed by utilizing the hand-proof function of the six-axis manipulator and matching with the clamping mechanism, the cigarette box positioning mechanism and the like.
The technical scheme adopted by the invention for solving the technical problem is as follows:
an automatic special-shaped cigarette packaging device comprises a cigarette feeding streamline, a cigarette feeding box streamline, six mechanical arms, a clamping mechanism and a cigarette case positioning mechanism, wherein a plurality of cigarette loading mold boxes are arranged on the cigarette feeding branch line, a plurality of cigarettes are arranged in the cigarette loading mold boxes, the cigarette feeding streamline comprises a conveying belt, a support and a conveying mechanism for driving the conveying belt to operate, a plurality of locking plates and a cigarette pushing box plate connected with the locking plates are arranged on the conveying belt, the cigarette case is placed on the conveying belt after being opened and is abutted against the cigarette pushing box plate, at least one cigarette filling station is arranged on the support, the cigarette case positioning mechanism and the six mechanical arms are arranged on the station, the clamping mechanism is arranged on the six mechanical arms, the clamping mechanism comprises a cigarette clamping mechanism and a cigarette protecting mechanism, when the empty cigarette case is conveyed to the station by the cigarette feeding box streamline, the cigarette case is fixed by the cigarette case positioning mechanism, the cigarette feeding streamline stops operating after the empty cigarette is conveyed to a position corresponding to the cigarette case, the six-axis manipulator drives the cigarette clamping mechanism to clamp and take out the cigarettes in the cigarette containing mold box, the cigarette protecting mechanism protects the taken-out cigarettes, and finally the six-axis manipulator utilizes the cigarette clamping mechanism to place the cigarettes in the cigarette box fixed by the cigarette box positioning mechanism.
Preferably, a plurality of cigarette case positioning strips are arranged on two sides of the support, the cigarette case positioning mechanism is connected to the support and comprises a support plate, the support plate is connected to the support in a sliding mode and can move up and down along the support under the driving of the down-pressing air cylinder to compress or loosen the cigarette case, a cigarette case positioning block, an upper cover plate, a cigarette case protecting side plate, a small suction pocket plate and an air blowing block are fixedly arranged on the support plate, and the cigarette case positioning block is connected with a telescopic air cylinder.
Preferably, the support plate is located above the support, the pushing cylinder is fixed to one side of the support, the pushing cylinder is connected with the support plate, a vertical linear slide rail is fixedly arranged on the other side of the support, the support plate is connected to the linear slide rail in a sliding mode through a fixing plate, the support is provided with a guide post, and the support plate is sleeved on the guide post through a linear bearing.
Preferably, a material sensor is fixedly arranged on the support, the material sensor and the pressing cylinder are positioned on the same side of the support, the pressing cover plate is positioned above the support and connected to one end of the support plate, and the small suction bag plate and the air blowing block are positioned above the support plate and fixedly connected with the support plate.
Preferably, press from both sides cigarette mechanism and protect cigarette mechanism to be fixed in six manipulators through the connecting plate, press from both sides cigarette mechanism including being fixed in the cigarette cylinder of clamp on the connecting plate, press from both sides upper and lower both ends of cigarette cylinder and connect upper clamping plate and lower plate respectively, thereby this presss from both sides cigarette cylinder can drive upper clamping plate and lower plate and carry out the run-back and press from both sides tightly or loosen a cigarette.
Preferably, one side of lower plate is fixed and is equipped with the cigarette pushing plate, and the fixed cigarette piece that leads that is equipped with two on this lower plate is equipped with the fore-set on leading the lower plate in the cigarette piece outside, the lower plate is equipped with the mounting groove, is equipped with the brass bush in this mounting groove, is equipped with outstanding guide bar in the lower plate in the brass bush, be equipped with two adjusting screw on the upper plate.
Preferably, protect cigarette mechanism and protect cigarette cylinder including last cigarette cylinder and both sides, on protect the cigarette cylinder and be fixed in the connecting plate through backup pad and cylinder fixed plate, should go up to protect on the cigarette cylinder to connect and protect the cigarette board and should go up to protect the cigarette cylinder and can drive and protect the cigarette board and carry out the up-and-down motion, on the cigarette cylinder was protected through the fixed strip to both sides was fixed in last protecting the cigarette board, the both sides of this cigarette cylinder are protected to both sides and are connected the side and protect cigarette sheet metal and this both sides and protect cigarette cylinder and can drive two side and protect the cigarette sheet metal and carry out reverse motion.
Preferably, the cigarette protection mechanism is located above the clamping mechanism, two ends of the supporting plate are respectively and fixedly connected with the connecting plate and the air cylinder fixing plate, and the side cigarette protection thin plate is connected with the cigarette protection air cylinders on two sides through the fixing strips.
Preferably, the six-axis manipulator comprises a mounting base, a first joint component, a first support arm, a second joint component, a second support arm and a third joint component which are sequentially connected, and the third joint component is connected with the clamping mechanism.
Preferably, the cigarette case comprises an upper cover body and a lower case body which are connected with each other, and kraft paper and small pockets are arranged on the lower case body.
The invention also provides an operation method of the automatic special-shaped boxed cigarette equipment, which comprises the following steps:
the method comprises the following steps: feeding cigarettes and cigarette cases: the cigarette feeding streamline sends the cigarettes to a cigarette filling station, 20 cigarettes are filled in each cigarette filling mold box, the cigarette feeding branch line stops running, the cigarette case feeding streamline sends the cigarette case to the cigarette feeding branch line, the telescopic cylinder drives the cigarette case positioning block to extend out to block the cigarette case, and the cigarette feeding streamline stops running;
step two: cigarette case positioning: the periphery of the cigarette case is respectively positioned by a cigarette case positioning block, two cigarette case positioning strips and a cigarette pushing case plate, a downward pressing cylinder drives a support plate to move downward and press a lower case body of the cigarette case, meanwhile, a cover plate is pressed to press an upper cover body of the cigarette case, after the air blowing plate blows air opposite to the cigarette case to blow air on a small pocket, the small pocket sucking plate sucks air to suck the small pocket;
step three: clamping cigarettes: the six-axis manipulator moves the clamping mechanism to the cigarette position of the cigarette conveying streamline, an upper clamping plate and a lower clamping plate of the cigarette clamping mechanism are respectively positioned at the upper side and the lower side of a cigarette, and the cigarette clamping cylinder drives the upper clamping plate and the lower clamping plate to move relatively to clamp 20 cigarettes;
step four: taking cigarettes: the six-axis manipulator moves to draw the cigarettes outwards, when a small part of the cigarettes at the head of the cigarettes is drawn into the mold box, the upper smoke protection cylinder drives the upper smoke protection plate to move downwards to protect the upper parts of the cigarettes, then the two side smoke protection cylinders drive the two side smoke protection thin plates to move relatively to protect the two sides of the cigarettes, and then the six-axis manipulator moves to continue to draw the cigarettes out of the mold box;
step five: cigarette loading: the six-axis manipulator drives the clamped cigarettes to move to a cigarette case of a filling station, a cigarette placing path is matched with a simulated hand of the six-axis manipulator, the head of each cigarette is placed into a small pocket of the cigarette case, the filter tip end of each cigarette is leaned against a side plate of the cigarette protecting case, the cigarette clamping cylinder drives the upper clamping plate and the lower clamping plate to move back to loosen the cigarettes, the cigarette protecting cylinders on two sides drive the side cigarette protecting thin plates to move back to loosen the cigarettes, and the six-axis manipulator moves upwards and drives the upper cigarette protecting cylinder to retract upwards;
step six: arranging cigarettes: the six-axis manipulator moves the cigarette pushing plate to the position of a filter tip of a cigarette, the six-axis manipulator pushes the cigarette into the cigarette box completely by using the cigarette pushing plate, then the six-axis manipulator moves to the cigarette pressing position, and the lower clamping plate presses the filter tip to press the cigarette in order; and finally, the six-axis manipulator moves to a cigarette grabbing position, the support plate moves upwards to loosen the cigarette case, the cigarette case is conveyed to the next station under the drive of a cigarette conveying box streamline, and the six-axis manipulator repeats the actions of the first step, the second step and the third step.
The invention has the beneficial effects that: the invention mainly comprises a cigarette feeding streamline, a cigarette feeding box streamline, six-axis manipulators, a clamping mechanism and a cigarette case positioning mechanism, wherein the cigarettes and the cigarette cases are respectively fed to a cigarette filling station through the cigarette feeding streamline and the cigarette feeding box streamline, twenty cigarettes are filled in a cigarette filling mold box, the cigarette case positioning mechanism downwards fixes the cigarette cases on the cigarette feeding box streamline, then the clamping mechanism is fed to the cigarettes by the six-axis manipulators, the twenty cigarettes are simultaneously clamped and drawn out of the cigarette filling mold box by the clamping mechanism connected with the six-axis manipulators, then the two sides and the upper parts of the cigarettes are tightly pressed and protected by the cigarette protecting mechanism, the clamping mechanism which clamps the cigarettes is fed to the cigarette cases by the six-axis manipulators, the cigarettes are placed in the cigarette cases, the clamping mechanism loosens the cigarettes, after the clamping mechanism is moved to the corresponding position, the cigarettes are completely pushed into the cigarette cases by the clamping mechanism and the cigarettes are tidied, the cigarette full-automatic loading device has the advantages of compact structure, high action repetition precision, high production efficiency and good product quality stability compared with the existing cigarette loading process by people, and labor cost is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view taken at A in FIG. 1;
FIG. 3 is an enlarged view at B in FIG. 2;
FIG. 4 is a schematic structural view of a six-axis robot according to the present invention;
fig. 5 is an exploded view of the gripping mechanism of the present invention;
FIG. 6 is an exploded view of the present invention;
FIG. 7 is a front perspective view of the present invention;
FIG. 8 is a rear perspective view of the present invention;
in the figure: 10-cigarette feeding flow line, 11-cigarette containing mold box, 12-cigarette, 20-cigarette feeding flow line, 21-conveying belt, 22-support, 23-cigarette box positioning bar, 24-cigarette pushing box plate, 25-locking plate, 26-conveying mechanism, 30-six-shaft mechanical arm, 31-mounting seat, 32-first joint component, 33-first support arm, 34-second joint component, 35-second support arm, 36-third joint component, 40-clamping mechanism, 41-cigarette clamping mechanism, 42-connecting plate, 43-cigarette clamping cylinder, 44-upper clamping plate, 45-lower clamping plate, 46-top column, 47-cigarette guide block, 48-cigarette pushing plate, 49-guide rod, 51-brass bush, 52-adjusting screw, 60-smoke protection mechanism, 61-support plate, 62-cylinder fixing plate, 63-upper smoke protection cylinder, 64-upper smoke protection plate, 65-two-side smoke protection cylinder, 66-side smoke protection thin plate, 70-cigarette case positioning mechanism, 71-cigarette case positioning block, 72-support plate, 73-lower air cylinder, 74-linear bearing, 75-linear slide rail, 76-guide column, 77-air blowing block, 78-fixing plate, 79-small-mouth cigarette case plate, 81-upper cover plate, 82-material sensor, 83-cigarette case protecting side plate, 90-cigarette case, 91-upper cover body, 92-lower case body, 93-kraft paper and 94-small pocket.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Example (b): as shown in fig. 1-8, an automatic special-shaped cigarette packaging device comprises a cigarette feeding streamline 10, a cigarette feeding streamline 20, a six-axis manipulator 30, a clamping mechanism 40 and a cigarette case positioning mechanism 70, wherein the cigarette feeding streamline 10 is provided with a plurality of cigarette containing mold cases 11, a plurality of cigarettes 12 are arranged in the cigarette containing mold cases 11, the cigarette feeding streamline 20 comprises a conveying belt 21, a support 22 and a conveying mechanism 26 for driving the conveying belt to operate, the conveying belt 21 is provided with a plurality of locking plates 25 and cigarette pushing case plates 24 connected with the locking plates, after being opened, a cigarette case 90 is placed on the conveying belt and is abutted against the cigarette pushing case plates 24, the support 22 is provided with at least one cigarette filling station, the station is provided with the cigarette case positioning mechanism 70 and the six-axis manipulator 30, the six-axis manipulator 30 is provided with the clamping mechanism 40, the clamping mechanism 40 comprises a cigarette clamping mechanism 41 and a cigarette protecting mechanism 60, when sending empty cigarette case 90 to this station when sending cigarette case streamline 20, cigarette case positioning mechanism 70 is fixed with cigarette case 90, send a cigarette streamline 10 to send cigarette to the position back stop motion that corresponds with the cigarette case, six-axis manipulator 30 drives and presss from both sides cigarette mechanism 41 clamp and get the cigarette in the dress cigarette diaphragm capsule 11 and outwards extract, should protect the cigarette that cigarette mechanism 60 will take out and strut, and this six-axis manipulator utilizes to press from both sides cigarette mechanism 41 and packs into the cigarette case 90 by cigarette case positioning mechanism is fixed at last. Be equipped with two cigarette filling station in this embodiment, be equipped with two six manipulators and cigarette case positioning mechanism correspondingly, six manipulators and send cigarette tributary line to be located the both sides that send the cigarette box streamline respectively, send a cigarette streamline 10 also to include conveyer belt, support and conveying mechanism, on the dress cigarette diaphragm capsule is fixed in the conveyer belt, send a cigarette streamline and send the cigarette box streamline to be the assembly line commonly used, do not describe here in detail. The cigarette feeding line is provided with a cigarette containing mold box 11 at certain intervals, the cigarette pushing box plate is correspondingly arranged on the cigarette feeding line at certain intervals, and an opened cigarette case 90 is arranged beside each cigarette pushing box plate. The invention mainly comprises a cigarette feeding streamline 10, a cigarette feeding box streamline 20, a six-axis manipulator 30, a clamping mechanism 40 and a cigarette case positioning mechanism 70, wherein the cigarettes and the cigarette cases are respectively fed to a cigarette filling station through the cigarette feeding streamline and the cigarette feeding box streamline, twenty cigarettes 12 are filled in a cigarette filling mold box 11, the cigarette case positioning mechanism 70 descends to fix the cigarette cases on the cigarette feeding box streamline, then the clamping mechanism 40 is used for feeding the cigarettes to the cigarette positions, the clamping mechanism connected with the six-axis manipulator is used for clamping the twenty cigarettes and extracting the cigarette filling mold box at the same time, then the cigarette protecting mechanism 60 is used for compressing and protecting the two sides and the upper part of the cigarettes, the clamping mechanism clamping the cigarettes is used for feeding the cigarettes to the cigarette cases by the six-axis manipulator 30, the clamping mechanism is used for loosening the cigarettes, the six-axis manipulator 30 moves the clamping mechanism to the corresponding position, then the cigarettes are completely pushed into the cigarette case 90 by the clamping mechanism and are tidied, the cigarette full-automatic loading device has the advantages of compact structure, high action repetition precision, high production efficiency and good product quality stability compared with the existing cigarette loading process by people, and labor cost is reduced.
As shown in fig. 1, 6 and 7, a plurality of cigarette case positioning strips 23 are disposed on two sides of the support 22, the cigarette case positioning mechanism 70 is connected to the support 22, the cigarette case positioning mechanism 70 includes a support plate 72, the support plate 72 is slidably connected to the support 22, the support plate 72 can move up and down along the support under the driving of a down-pressure cylinder 73 to press or release a cigarette case 90, a cigarette case positioning block 71, an upper cover plate 81, a cigarette case protecting side plate 83, a small smoking pocket plate 79 and an air blowing block 77 are fixedly disposed on the support plate 72, and a telescopic cylinder is connected to the cigarette case positioning block 71. When the cigarette case 90 is transported to a cigarette filling station, the material sensor 82 senses the cigarette case and feeds back the cigarette case to the controller, the controller controls the telescopic cylinder to drive the cigarette case positioning block 71 to extend out to block the cigarette case, the cigarette case feeding flow line 20 stops running, the periphery of the cigarette case 90 is respectively positioned by the cigarette case positioning block 71, the two cigarette case positioning strips 23 and the cigarette pushing case plate 24, the pressing-down cylinder 73 drives the support plate 72 to move downwards and press the lower case body 92 of the cigarette case, the pressing-up cover plate 81 presses the upper cover body 91 of the cigarette case, after the blowing plate 77 blows air to the cigarette case to blow the small pocket 94, the small suction pocket plate 79 sucks air to suck the small pocket, the cigarette 12 is convenient to be filled, and the blowing plate and the small suction pocket plate 79 are connected with the air pumping and.
The carrier plate 72 is located above the support 22, the down-pressure cylinder 73 is fixed on one side of the support, the down-pressure cylinder 73 is connected to the carrier plate 72, a vertical linear slide rail 75 is fixed on the other side of the support, the carrier plate 72 is slidably connected to the linear slide rail through a fixing plate 78, the support 22 is provided with a guide post 76, and the carrier plate 72 is sleeved on the guide post 76 through a linear bearing 74. The fixing plate 78 is an L-shaped structure, and has a sliding slot, through which the fixing plate is slidably connected to the linear slide, so that when the lower air cylinder 73 drives the carrier plate 72 to move up and down, the carrier plate smoothly moves under the guidance of the linear slide and the guide post 76. The support 22 is fixedly provided with a material sensor 82, the material sensor 82 and the lower air cylinder are positioned on the same side of the support, the upper cover plate 81 is positioned above the support and connected to one end of the support, and the small suction pocket plate 79 and the air blowing block 77 are positioned above the support and fixedly connected with the support.
As shown in fig. 3 and 4, the cigarette clamping mechanism 41 and the cigarette protecting mechanism 60 are fixed on the six-axis manipulator 30 through the connecting plate 42, the cigarette clamping mechanism 41 includes a cigarette clamping cylinder 43 fixed on the connecting plate 42, the upper end and the lower end of the cigarette clamping cylinder 43 are respectively connected with an upper clamping plate 44 and a lower clamping plate 45, and the cigarette clamping cylinder 43 can drive the upper clamping plate and the lower clamping plate to perform reverse operation so as to clamp or loosen the cigarettes 12. The reverse operation means that the upper clamping plate and the lower clamping plate move close to or away from each other, when the upper clamping plate and the lower clamping plate move towards the cigarette direction, the cigarettes can be clamped from the upper side and the lower side of the cigarettes respectively, and when the upper clamping plate and the lower clamping plate move towards the cigarette direction, the cigarettes are loosened.
The fixed cigarette piece 48 that is equipped with in one side of lower plate 45, the fixed cigarette piece 47 that leads that is equipped with two on this lower plate is equipped with fore-set 46 on leading the lower plate in the cigarette piece outside, the lower plate is equipped with the mounting groove, is equipped with brass bush 51 in this mounting groove, is equipped with outstanding guide bar 49 in the lower plate in the brass bush, be equipped with two adjusting screw 52 on the upper plate 44, when pressing from both sides the cigarette, the cigarette is located between two cigarette pieces 47 of leading of lower plate, and adjusting screw 52 on the upper plate 44 cooperatees with two fore-set 46 on the lower plate, guarantees the relative position of upper and lower plate. Protect cigarette mechanism 60 including last protection cigarette cylinder 63 and both sides and protect cigarette cylinder 65, on protecting the cigarette cylinder and being fixed in connecting plate 42 through backup pad 61 and cylinder fixed plate 62, should go up to protect on the cigarette cylinder 63 and connect and protect cigarette 64 and should go up to protect the cigarette cylinder and can drive and protect the cigarette 64 and carry out the up-and-down motion, both sides protect on cigarette cylinder 65 is fixed in last protection cigarette 64 through the fixed strip, and the both sides of this both sides protect cigarette cylinder 65 are connected the side and are protected cigarette sheet metal 66 and this both sides and protect the cigarette cylinder and can drive two sides and protect the cigarette sheet metal and carry out the reverse motion. The smoke protection mechanism 60 is located above the clamping mechanism 40, the two ends of the supporting plate 61 are respectively and fixedly connected with the connecting plate 42 and the cylinder fixing plate 62, and the side smoke protection thin plate 66 is connected to the two side smoke protection cylinders 65 through fixing strips.
When a cigarette is clamped by the cigarette clamping mechanism 41, the six-axis manipulator moves to draw the cigarette outwards, when a small part of the cigarette is drawn to the head of the cigarette and remains in the mould box, the upper cigarette protection cylinder 63 drives the upper cigarette protection plate to move downwards to protect the upper part of the cigarette, then the two side cigarette protection cylinders drive the two side cigarette protection thin plates to move relatively to protect the two sides of the cigarette, and then the six-axis manipulator continues to move to draw the cigarette out of the mould box; the six-axis manipulator drives the clamped cigarettes to move to a filling station, a cigarette clamping cylinder 43 is matched with a hand-simulated cigarette placing path of the six-axis manipulator, the head of each cigarette is placed into a small pocket of a cigarette case, the filter tip end of each cigarette is leaned against a side plate 83 of the cigarette protection case, the cigarette clamping cylinder 43 drives an upper clamping plate and a lower clamping plate to move back to loosen the cigarettes, cigarette protection cylinders 65 on two sides drive side cigarette protection thin plates to move back to loosen the cigarettes, the six-axis manipulator moves upwards and drives the upper cigarette protection plate to retract upwards at the same time, the six-axis manipulator moves a cigarette pushing plate 48 to the filter tip of each cigarette, the six-axis manipulator completely pushes the cigarettes into the cigarette case by using the cigarette pushing plate 48, then the manipulator moves to a cigarette pressing position, and presses the filter tip; the six-axis manipulator moves to the cigarette grabbing position again, the support plate 72 moves upwards to loosen the cigarette case, the cigarette case is conveyed away under the driving of the cigarette conveying case streamline 20, and the six-axis manipulator starts the next cigarette grabbing and cigarette loading actions.
As shown in fig. 4, the six-axis robot 30 includes a mounting base 31, a first joint assembly 32, a first arm 33, a second joint assembly 34, a second arm 35 and a third joint assembly 36 connected in sequence, the third joint assembly 36 is connected to a gripping mechanism 40, and the six-axis robot is a common technique in the art and will not be described in detail. As shown in fig. 8, the cigarette case 90 includes an upper cover 91 and a lower case 92 connected to each other, the lower case is provided with kraft paper 93 and a small pocket 94, and the upper cover and the lower case of the cigarette case are vertically opened, which is different from a conventional flip-top type cigarette case, which is an embodiment of a special-shaped cigarette case, but a special-shaped cigarette case of other conventional structure may be adopted.
The operation process of the invention is as follows: the method comprises the following steps:
the method comprises the following steps: feeding cigarettes and cigarette cases: the cigarette feeding flow line 10 is used for feeding the cigarettes 12 to a cigarette filling station, 20 cigarettes are filled in each cigarette filling mold box, the cigarette feeding branch line stops running, the cigarette case feeding flow line 20 is used for feeding the cigarette case 90 to the cigarette feeding station, the telescopic cylinder drives the cigarette case positioning block 71 to extend out to block the cigarette case, and the cigarette feeding flow line 20 stops running;
step two: cigarette case positioning: the periphery of the cigarette case 90 is respectively positioned by the cigarette case positioning block 71, the two cigarette case positioning strips 23 and the cigarette pushing case plate 24, the downward pressing air cylinder 73 drives the carrier plate 72 to move downward and press the lower case body 92 of the cigarette case, meanwhile, the upper cover plate 81 is pressed and the upper cover body 91 of the cigarette case is pressed, after the air blowing plate 77 blows air to the cigarette case to blow air to the small pocket 94, the small sucking pocket plate 79 sucks air to suck the small pocket;
step three: clamping cigarettes: the six-axis manipulator 30 moves the clamping mechanism 40 to the position of the cigarette 12 of the cigarette feeding branch line, an upper clamping plate 44 and a lower clamping plate 45 of the cigarette clamping mechanism are respectively positioned at the upper side and the lower side of the cigarette, and the cigarette clamping cylinder drives the upper clamping plate and the lower clamping plate to move relatively to clamp 20 cigarettes;
step four: taking cigarettes: the six-axis manipulator 30 moves to draw the cigarettes 12 outwards, when a small part of the cigarettes are drawn out to the head part of the cigarettes in the mold box, the upper cigarette protection cylinder 63 drives the upper cigarette protection plate 64 to move downwards to protect the upper parts of the cigarettes, then the two side cigarette protection cylinders 65 drive the two side cigarette protection thin plates 66 to move relatively to protect the two sides of the cigarettes, and then the six-axis manipulator 30 moves to continue to draw the cigarettes out of the mold box;
step five: cigarette loading: the six-axis manipulator 30 drives the clamped cigarettes to move to the cigarette case 90 of the filling station, the cigarette path is placed by matching the humanoid hand of the six-axis manipulator, the heads of the cigarettes are placed into small pockets 94 of the cigarette case, meanwhile, the filter tips of the cigarettes 12 lean against the side plates 83 of the cigarette protection case, the cigarette clamping cylinder 43 drives the upper clamping plate 44 and the lower clamping plate 45 to move back to loosen the cigarettes, the cigarette protection cylinders 65 on the two sides drive the side cigarette protection thin plates to move back to release the cigarettes, and the six-axis manipulator moves upwards and drives the upper cigarette protection plate to retract upwards;
step six: arranging cigarettes: the six-axis manipulator 30 moves the cigarette pushing plate 48 to the position of the filter tip of the cigarette, the six-axis manipulator utilizes the cigarette pushing plate 48 to push the cigarette into the cigarette box completely, then the six-axis manipulator moves to the cigarette pressing position, and the lower clamping plate 45 is used for pressing the filter tip to press the cigarette in order; finally, the six-axis manipulator moves to the cigarette grabbing position, the support plate 72 moves upwards to loosen the cigarette case, the cigarette case is conveyed to the next station under the driving of the cigarette conveying box streamline 20, and the six-axis manipulator 30 repeats the actions of the first step, the second step and the third step.
It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides an automatic special-shaped box cigarette equipment which characterized in that: comprises a cigarette feeding streamline (10), a cigarette feeding box streamline (20), a six-axis manipulator (30), a clamping mechanism (40) and a cigarette case positioning mechanism (70), wherein the cigarette feeding streamline (10) is provided with a plurality of cigarette loading mould boxes (11), a plurality of cigarettes (12) are arranged in the cigarette loading mould boxes (11), the cigarette feeding streamline (20) comprises a conveying belt (21), a support (22) and a conveying mechanism (26) for driving the conveying belt to operate, the conveying belt (21) is provided with a plurality of locking plates (25) and a cigarette pushing box plate (24) connected with the locking plates, a cigarette case (90) is arranged on the conveying belt after being opened and is abutted against the cigarette pushing box plate (24), the support (22) is at least provided with a cigarette filling station, the station is provided with the cigarette case positioning mechanism (70) and the six-axis manipulator (30), the six-axis manipulator (30) is provided with the clamping mechanism (40), press from both sides mechanism (40) and send empty cigarette case (90) to this station including pressing from both sides cigarette mechanism (41) and protecting cigarette mechanism (60), when sending cigarette case streamline (20), cigarette case positioning mechanism (70) are fixed with cigarette case (90), send a cigarette streamline (10) to send the cigarette to the position back stop motion that corresponds with the cigarette case, six manipulators (30) drive press from both sides cigarette mechanism (41) and press from both sides the cigarette that presss from both sides in dress cigarette diaphragm capsule (11) and outwards extract, should protect cigarette mechanism (60) and protect the cigarette of taking out, and finally this six manipulators utilize to press from both sides cigarette mechanism (41) and pack into the cigarette by cigarette case positioning mechanism fixed cigarette case (90).
2. The automatic special-shaped boxed cigarette equipment according to claim 1, characterized in that: support (22) both sides are equipped with a plurality of cigarette case location strip (23), cigarette case positioning mechanism (70) are connected in support (22), and this cigarette case positioning mechanism (70) includes support plate (72), this support plate (72) sliding connection in support (22), this support plate (72) can follow the support up-and-down motion and compress tightly or loosen cigarette case (90) under the drive of air cylinder (73) down, fixed cigarette case locating piece (71), upper cover plate (81), protect cigarette case sideboard (83), inhale small pocket board (79) and blow block (77) of being equipped with on support plate (72), connect telescopic cylinder on cigarette case locating piece (71).
3. The automatic special-shaped boxed cigarette equipment according to claim 2, characterized in that: the support plate (72) is located above the support (22), the downward-pressing air cylinder (73) is fixed to one side of the support, the downward-pressing air cylinder (73) is connected with the support plate (72), a vertical linear sliding rail (75) is fixedly arranged on the other side of the support, the support plate (72) is connected to the linear sliding rail in a sliding mode through a fixing plate (78), the support (22) is provided with a guide column (76), and the support plate (72) is sleeved on the guide column (76) through a linear bearing (74).
4. The automatic special-shaped boxed cigarette equipment according to claim 3, characterized in that: the material sensor (82) is fixedly arranged on the support (22), the material sensor (82) and the lower air cylinder are positioned on the same side of the support, the upper cover plate (81) is positioned above the support and connected to one end of the support, and the small suction bag plate (79) and the air blowing block (77) are positioned above the support and fixedly connected with the support.
5. The automatic special-shaped boxed cigarette equipment according to claim 1, characterized in that: press from both sides cigarette mechanism (41) and protect cigarette mechanism (60) to be fixed in six manipulators (30) through connecting plate (42), press from both sides cigarette mechanism (41) including being fixed in the cigarette cylinder (43) of clamp on connecting plate (42), press from both sides upper and lower both ends of cigarette cylinder (43) and connect upper clamping plate (44) and lower clamping plate (45) respectively, thereby this presss from both sides cigarette cylinder (43) and can drive upper clamping plate and lower clamping plate and carry out the run-back and press from both sides tightly or loosen a cigarette (12).
6. The automatic special-shaped boxed cigarette equipment according to claim 5, characterized in that: the cigarette pushing plate is characterized in that a cigarette pushing plate (48) is fixedly arranged on one side of the lower clamp plate (45), two cigarette guiding blocks (47) are fixedly arranged on the lower clamp plate, ejection posts (46) are arranged on the lower clamp plate on the outer side of the cigarette guiding blocks, a mounting groove is formed in the lower clamp plate, a brass bushing (51) is arranged in the mounting groove, a guide rod (49) protruding out of the lower clamp plate is arranged in the brass bushing, and two adjusting screws (52) are arranged on the upper clamp plate (44).
7. The automatic special-shaped boxed cigarette equipment according to claim 5, characterized in that: protect cigarette mechanism (60) including last protection cigarette cylinder (63) and both sides protection cigarette cylinder (65), on protecting the cigarette cylinder and being fixed in connecting plate (42) through backup pad (61) and cylinder fixed plate (62), should go up on protecting cigarette cylinder (63) and connect and protect cigarette board (64) and should go up to protect the cigarette cylinder and can drive and protect the cigarette board and carry out the up-and-down motion, both sides protect cigarette cylinder (65) to be fixed in on protecting cigarette board (64) through the fixed strip, and the both sides of this both sides protection cigarette cylinder (65) are connected the side and are protected cigarette sheet metal (66) and this both sides and are protected cigarette cylinder and can drive two sides and protect the cigarette sheet metal and carry out the reverse motion.
8. The automatic special-shaped boxed cigarette equipment according to claim 7, characterized in that: protect cigarette mechanism (60) to be located and press from both sides the top of getting mechanism (40), the both ends of backup pad (61) are fixed connection connecting plate (42) and cylinder fixed plate (62) respectively, side protects cigarette sheet metal (66) and connects in both sides and protects cigarette cylinder (65) through the fixed strip.
9. The automatic special-shaped boxed cigarette equipment according to claim 1, characterized in that: six manipulator (30) are including connecting gradually mount pad (31), first joint subassembly (32), first support arm (33), second joint subassembly (34), second support arm (35) and third joint subassembly (36), mechanism (40) is got to third joint subassembly (36) connection clamp, cigarette case (90) are including interconnect's last lid (91) and lower box (92), be equipped with kraft paper (93) and small-mouth bag (94) down on the box.
10. A method of operating an automatic profile box cigarette device according to any one of claims 1 to 9, characterized in that: the method comprises the following steps:
the method comprises the following steps: feeding cigarettes and cigarette cases: the cigarette feeding streamline (10) sends the cigarettes (12) to a cigarette filling station, 20 cigarettes are filled in each cigarette filling mold box, the cigarette feeding branch line stops running, meanwhile, the cigarette box feeding streamline (20) also sends the cigarette box (90) to the cigarette feeding branch line, the telescopic cylinder drives the cigarette box positioning block (71) to extend out to block the cigarette box, and meanwhile, the cigarette feeding streamline (20) stops running;
step two: cigarette case positioning: the periphery of the cigarette case (90) is respectively positioned by a cigarette case positioning block (71), two cigarette case positioning strips (23) and a cigarette pushing case plate (24), a downward pressing cylinder (73) drives a support plate (72) to move downwards and press a lower case body (92) of the cigarette case, meanwhile, a pressing cover plate (81) presses an upper cover body (91) of the cigarette case, an air blowing plate (77) blows air towards the cigarette case to blow air in a small pocket (94), and an air sucking small pocket plate (79) sucks air to suck the small pocket;
step three: clamping cigarettes: the six-axis manipulator (30) moves the clamping mechanism (40) to the position of the cigarette (12) of the cigarette conveying streamline, an upper clamping plate (44) and a lower clamping plate (45) of the cigarette clamping mechanism are respectively positioned at the upper side and the lower side of the cigarette, and the cigarette clamping cylinder drives the upper clamping plate and the lower clamping plate to move relatively to clamp 20 cigarettes;
step four: taking cigarettes: the six-axis manipulator (30) moves to draw the cigarettes (12) outwards, when a small part of the cigarettes at the head is still in the mould box, the upper cigarette protection cylinder (63) drives the upper cigarette protection plate (64) to move downwards to protect the upper part of the cigarettes, then the two side cigarette protection cylinders (65) drive the two side cigarette protection thin plates (66) to move relatively to protect the two sides of the cigarettes, and then the six-axis manipulator (30) moves to continuously draw the cigarettes out of the mould box;
step five: cigarette loading: the six-axis manipulator (30) drives the clamped cigarettes to move to a cigarette case (90) of a filling station, a cigarette placing path is matched with a humanoid hand of the six-axis manipulator, the head of each cigarette is placed into a small pocket (94) of the cigarette case, meanwhile, the filter tip end of each cigarette (12) leans against a cigarette protecting case side plate (83), a cigarette clamping cylinder (43) drives an upper clamping plate (44) and a lower clamping plate (45) to move back to release the cigarettes, cigarette protecting cylinders (65) on two sides drive side cigarette protecting thin plates to move back to release the cigarettes, and the six-axis manipulator moves upwards and drives the upper cigarette protecting plate to retract upwards;
step six: arranging cigarettes: the six-axis manipulator (30) moves the cigarette pushing plate (48) to the filter tip of the cigarette, the six-axis manipulator pushes the cigarette into the cigarette box completely by using the cigarette pushing plate (48), then the six-axis manipulator moves to the cigarette pressing position, and the lower clamping plate (45) is used for pressing the filter tip to press the cigarette neatly; and finally, the six-axis manipulator moves to a cigarette grabbing position, the support plate (72) moves upwards to loosen the cigarette case, the cigarette case is conveyed to the next station under the driving of the cigarette conveying box streamline (20), and the six-axis manipulator (30) repeats the actions of the first step, the second step and the third step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911249964.9A CN110844159A (en) | 2019-12-09 | 2019-12-09 | Automatic special-shaped box cigarette equipment and operation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911249964.9A CN110844159A (en) | 2019-12-09 | 2019-12-09 | Automatic special-shaped box cigarette equipment and operation method thereof |
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| Publication Number | Publication Date |
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| CN110844159A true CN110844159A (en) | 2020-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911249964.9A Pending CN110844159A (en) | 2019-12-09 | 2019-12-09 | Automatic special-shaped box cigarette equipment and operation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111591511A (en) * | 2020-04-26 | 2020-08-28 | 蒋晓瑜 | Automatic gauze mask packagine machine |
| CN111700303A (en) * | 2020-07-06 | 2020-09-25 | 上海烟草机械有限责任公司 | Cigarette automatic feeding device |
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| US1755659A (en) * | 1926-09-08 | 1930-04-22 | Molins Walter Everett | Packing machinery |
| CN104229180A (en) * | 2014-08-29 | 2014-12-24 | 北京天申正祥科技有限公司 | Full open type cigarette multi-path cartoning equipment |
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