CN105691782B - A kind of automatic opening method of smoke box and equipment - Google Patents

Abstract

The invention discloses a device and method for automatic unpacking of cigarette boxes. The device includes a transport track for transporting cigarette pack cartons, and an inner plastic bag cutting machine is provided in the middle section of the transport track; the inner plastic bag cutting machine is provided with four cutting knives, They are respectively installed on four knife holders, and the cutting knives are driven by a rotating cylinder; a static weighing device is installed at the end of the conveying track, and a cigarette package removing device is installed on one side of the static weighing device. The invention adds an inner plastic bag cutting machine to cut and grab the inner plastic bag, so that the whole unpacking process is more perfect; after the unpacking is completed, a static weighing device is added to detect the weight of the cigarette pack, and unqualified The cigarette packs are removed to ensure the production quality of the cigarette packs and improve the quality control level.

Description

A method and device for automatically opening a cigarette box

technical field

The invention belongs to the technical field of tobacco production, in particular to a method and equipment for automatically opening a cigarette case.

Background technique

In the tobacco thread processing technology, the first process is to unpack the re-roasted tobacco carton packs, and take out the threshed and re-roasted tobacco from the cigarette box. Existing cigarette box is made up of upper cardboard, upper kraft paper, liner plastic bag, lower cardboard, lower kraft paper, inner carton, outer carton and strapping. At present, in the automatic box opening system of the tobacco industry, there are some special devices or robots for automatically opening cigarette boxes, but there are still shortcomings such as redundant design layout and incomplete functions.

The invention with the patent application number 200410079603.1 discloses an automatic unpacking equipment for cigarette packs and cartons with an unpacking jig. Take the outer carton, take the upper liner of the carton, turn over the cigarette pack carton, take off the inner carton, take the lower liner of the carton, and transport the cigarettes. In the overall process, there is no cutting process for the lined plastic bag, and the process is not complete. At the same time, there is no inspection process for the taken out cigarettes, so the quality of the cigarettes cannot be guaranteed.

Contents of the invention

The first object of the present invention is to provide an automatic cigarette case unpacking device that has a complete structure and can weigh the cigarettes and reject unqualified cigarettes.

The second object of the present invention is to provide a method for automatically unpacking the cigarette box which has compact layout, high efficiency and can weigh and detect the cigarettes.

In order to achieve the first objective, the technical solution of the present invention is: an automatic unpacking device for cigarette boxes, including a transport track for transporting cigarette packs and cartons, and a strap cutting robot and a strap shredder are installed on the side of the entrance of the transport track The middle section of the conveying track is provided with a feed shuttle track perpendicular to it, a feed shuttle machine is provided on the feed shuttle track, and an inner plastic bag cutting machine is provided at the end of the feed shuttle track; four inner plastic bag cutting machines are provided on the inner plastic bag cutting machine The cutting knives are respectively installed on four knife holders, and the two knife holders located in the direction of the feeding shuttle track can be lifted up and down. The cutting knife is driven by a rotating cylinder; there is a box-grabbing robot on one side of the feeding shuttle track, and the conveying track There is a cigarette bale turning machine on the top, and behind the cigarette bale turning machine is a discharge shuttle track perpendicular to the conveying track. One side of the device is equipped with a cigarette bag rejecting device.

Further, the strap cutting robot is provided with a swing arm, and a cutting jig is installed at the end of the swing arm, and the cutting jig includes a band cutting claw assembly and a visual positioning system.

Further, the strapping belt shredder is composed of four parts: a V-shaped guide groove, a pressing device, a winding device and a shearing device; the pressing device is located on one side of the V-shaped guide groove, and the pressing bar is located above the V-shaped guide groove , The winding device and the shearing device are located under the V-shaped guide groove.

Further, the feed shuttle track is composed of a belt and a belt conveyor, and the feed shuttle track is provided with a cigarette pack entry and exit station, a robot work station and an inner plastic bag cutting station, and the inner plastic bag cutting machine is located inside the cutting machine. On the plastic bag station; on the feeding shuttle, there are proximity switches for confirming in place and limit travel switches.

Further, a box-grabbing fixture is installed at the end of the box-grabbing robot, and the box-grabbing fixture includes four claws, two of which are movable claws arranged side by side, and the other two are fixed claws, which are opposite to the position of the movable claws , arranged side by side, the entire fixture is in a concave shape.

In order to achieve the second purpose, the technical solution of the present invention is: a method for automatically unpacking a cigarette case, comprising the following steps:

1) The cigarette pack is placed on the conveying track, and is transported to the tape cutting station by the roller conveyor, and the cigarette pack lifting device will standardize the cigarette pack and lift it up;

2) The visual positioning system at the front end of the robot's swing arm starts to identify the strapping outside the cigarette box and accurately locates it;

3) According to the positioning information in step 2), the strap cutting robot cuts off the straps outside the smoke box, and sends the straps to the strap shredder with a clamp for crushing;

4) The cigarette pack lifting device puts down the cigarette pack, and the cigarette pack is sent to the first cigarette pack entry and exit station through the conveying track, and the cigarette pack is transported to the feed shuttle car on the discharge shuttle track through the lifting of the jacking cylinder superior;

5) The feed shuttle car moves along the discharge shuttle track to the upper station of the robot, and the carton grabbing robot quickly grabs the outer carton, and sends the outer carton to the carton folding stacker for folding and stacking;

6) The box-grabbing robot clamps the inner carton together with the cigarette box inside it, lifts it to a certain height, and switches the air pressure of the clamping cylinder on the box-grabbing fixture to low pressure; the plastic bag of cigarettes in the box is under the action of gravity Slowly and gently slide down to the feeding shuttle; the grabbing robot quickly grabs the inner carton and sends it to the carton folding stacker for folding and stacking;

7) The feeding shuttle car moves along the discharging shuttle track to the inner plastic bag cutting station, and the inner plastic bag cutting machine cuts the inner plastic into upper, lower the next two parts;

8) The feed shuttle car moves back to the upper station of the robot along the discharge shuttle track, and the box-grabbing robot uses the box-grabbing fixture to grab the upper cardboard kraft paper and the upper half of the inner plastic bag of the cigarette pack, and send them to the waste bin;

9) The first visual recognition system installed on the side of the robot's work station recognizes and judges whether there are plastic bags left on the upper part of the cigarette pack, and the box-grabbing robot grabs it again until there is no plastic bag left;

10) The feeding shuttle car moves back to the first cigarette pack entry and exit station along the discharge shuttle track, and the cigarette packs are transported to the cigarette box turning machine, which turns the cigarette box 180 degrees and then transports the cigarette box to the exit on the material shuttle;

11) The discharge shuttle car moves along the discharge shuttle track to the lower station of the robot operation, and the box-grabbing robot uses the box-grabbing fixture to grab the lower cardboard kraft paper and the lower half of the inner plastic bag of the cigarette pack, and send them to the waste bin;

12) The second visual recognition system installed on the side of the lower station of the robot recognizes and judges whether there is any plastic bag remaining in the lower part of the cigarette pack, and the box grabbing robot grabs it again until there is no plastic bag left;

13) The discharge shuttle car moves back to the second cigarette pack entry and exit station along the discharge shuttle track, and the cigarette packs are transported to the static weighing device for weighing, and the weight is judged to be qualified or not, and the total weight of the cigarette packs is accumulated;

14) The unpacking of the qualified cigarette packs in step 13) is completed, and the next step is carried out, and the unqualified cigarette packs are transported to the cigarette pack rejecting device for subsequent corresponding removal operations.

The overall layout of the present invention is reasonable and compact, and there are only cutting and binding robots and box grabbing robots in the whole process. Compared with the existing automatic box opening system, the number of robots used is greatly reduced, the use efficiency of robots is improved, and the investment scale is reduced; at the same time, the number of robots used is increased. The inner plastic bag cutting machine is used to cut and grab the inner plastic bag to make the whole unpacking process more perfect; after the unpacking is completed, a static weighing device is added to detect the weight of the cigarette pack and reject the unqualified cigarette pack , To ensure the production quality of cigarette packs and improve the quality control level.

Description of drawings

Below in conjunction with accompanying drawing and embodiment of the present invention will be described in further detail

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is the working schematic diagram of the present invention;

Fig. 4 is the structural representation of inner plastic bag cutting machine of the present invention;

Fig. 5 is the bottom view of the inner plastic bag cutting machine of the present invention;

Fig. 6 is the structural representation of strapping belt shredder of the present invention;

Fig. 7 is the structural representation of grab box clamp of the present invention;

Fig. 8 is the side view of grab box fixture of the present invention;

Fig. 9 is a flowchart of the present invention.

The marks in the figure are: conveyor track 1, strap cutting robot 2, swing arm 21, cutting fixture 22, visual positioning system 23, strap shredder 3, V-shaped guide groove 31, pressing device 32, winding device 33 , feeding shuttle track 4, feeding shuttle machine 5, inner plastic bag cutting machine 6, cutting knife 61, knife holder 62, box grabbing robot 7, box grabbing fixture 71, claw finger 72, movable claw finger 721, fixed claw finger 722. Cigarette packet turning machine 8, discharge shuttle track 9, discharge shuttle machine 10, static weighing device 11, cigarette packet rejecting device 12, carton folding stacker 13, cigarette packet jacking device 14, first visual recognition System 15, second visual recognition system 16, tape cutting station 91, first cigarette pack entry and exit station 92, robot operation upper station 93, inner plastic bag cutting station 94, second cigarette pack entry and exit station 95, robot Work station 96.

Detailed ways

See attached picture. The cigarette box automatic unpacking equipment in this embodiment includes a conveying track 1, which is composed of a roller conveyor, and is used to transport cigarette packs and cartons; one side of the cutting station 91 at the entrance of the conveying track is provided with a cutting and binding robot 2 And strapping scraper 3; cutting strapping robot is provided with swing arm 21, and cutting fixture 22 is installed at the end of swinging arm, and cutting fixture comprises cutting claw assembly and vision positioning system 23; Strap and clamp the strap and send it to the strap shredder; the visual positioning system is used to locate the strap outside the cigarette box; the strap shredder consists of a V-shaped guide groove 31, a pressing device 32, and a winding device 33 It consists of four parts with the shearing device; the pressing device is located on one side of the V-shaped guide groove, the pressing rod is located above the V-shaped guide groove, and the winding device and the shearing device are located below the V-shaped guide groove. The strapping shredder is used to cut the strapping scraps cut by the strapping robot into a strapping section with a length of about 30cm~40cm for collection and transportation.

The middle section of the conveying track in this embodiment is provided with a feed shuttle track 4 perpendicular to it, the first cigarette package entry and exit station 92 at the intersection of the transport track and the feed shuttle track, and a feed shuttle machine 5 is provided on the feed shuttle track, The feed shuttle machine 5 is driven by a frequency converter, can move on the feed shuttle track, and is positioned by an encoder; there is a robot working station 93 in the middle of the feed shuttle track, and a plastic bag cutting station 94 at the end; The in-position confirmation proximity switch is installed on the feeding shuttle, which is used to redundantly confirm that the feeding shuttle actually arrives at each station; the limit travel switch is also installed on the feeding shuttle, which triggers the limit travel when the shuttle exceeds the normal travel range When switching, it will be emergency stopped.

The end of the feeding shuttle track in this embodiment is provided with an inner plastic bag cutting machine 6, which is located on the inner plastic bag cutting station, and is used to cut the inner plastic into upper and lower sides along the middle horizontal direction of the inner plastic bag cigarette package. , and the lower two parts; the inner plastic bag cutting machine is provided with four cutting knives 61, which are installed on four knife rests 62 respectively, and the two knife rests located in the direction of the feeding shuttle track can be lifted and lowered, and the four knife rests front and back The direction is floating, which can not only adapt to the position shifted cigarette packs, but also can adapt to the angle shifted cigarette packs, which improves the reliability of cutting bags; the cutting knife part is driven by a rodless cylinder, and the structure is compact; the cutting knife enters and exits Driven by a rotary cylinder, the rotary cylinder has a certain degree of elasticity, which can control the cutter to closely fit the surface of the cigarette pack, improving the reliability of cutting the bag. The cutter is driven by the rotary cylinder.

One side of the feeding shuttle track in this embodiment is provided with a box-grabbing robot 7, and a box-grabbing fixture 71 is installed at the end of the box-grabbing robot 7, which is used to grab the outer packaging of cigarette packs—cartons, cardboard and inner plastic bags; The fixture includes four claws 72, two of which are movable claws 721, arranged side by side, and the other two are fixed claws 722, arranged side by side with the movable claws face to face, the entire clamp is concave, and is formed by the inner side of the concave The two outer sides respectively form three working surfaces for grasping cartons, grasping cardboards and grasping plastic bags.

The conveying track of the present embodiment is provided with a cigarette pack turning machine 8, which is used to turn up and down the cigarette case that has taken the upper packaging, so that the box grabbing robot takes away the lower packing of the cigarette pack; the cigarette pack turning machine is mainly composed of the main machine. The rotary table, two belt conveyors, synchronous lifting mechanism, and side stopper mechanism are composed of four parts; the main rotary table is driven by a frequency conversion motor, and the belt conveyor is driven by an ordinary motor; the two belt conveyors of the turning machine and the side stopper mechanism The boards form a three-sided closed space to ensure that the tobacco leaves do not spill out of the turning machine during the turning process of the cigarette pack; after turning over each time, the turning machine can continue the next work without turning it back again. The rear of the cigarette packet turning machine is provided with a discharge shuttle track 9 perpendicular to the conveying track 1, and a discharge shuttle 10 is arranged on the discharge shuttle track; There is a cigarette packet rejecting device 12 . The present embodiment is also provided with a carton folding stacker 13, which is used to pile up the inner and outer cartons grabbed from the cigarette pack, so that the forklift can fork away.

The method for automatically unpacking the cigarette box described in this embodiment includes the following steps:

1) The cigarette pack is placed on the conveying track 1, and is transported to the strip cutting station 91 by the roller conveyor, and the cigarette pack lifting device 14 straightens and lifts the cigarette pack;

2) The visual positioning system 23 at the front end of the swing arm of the strap cutting robot 2 starts to recognize the strap outside the cigarette box and accurately locates it;

3) According to the positioning information in step 2), the strap cutting robot 2 cuts off the straps outside the cigarette box, and sends the straps to the strap shredder 3 with the clamp 22 for crushing;

4) The cigarette pack lifting device 14 puts down the cigarette pack, and the cigarette pack is sent to the first cigarette pack entry and exit station 92 through the conveying track 1, and the cigarette pack is transported to the discharge shuttle track 4 through the lifting and lowering of the jacking cylinder. On the feeding shuttle car 5;

5) The feed shuttle car 5 moves along the discharge shuttle track to the upper station 93 of the robot operation, and the grabbing robot 7 quickly grabs the outer carton, and sends the outer carton to the carton folding stacker 13 for folding and stacking;

6) The box-grabbing robot 7 clamps and lifts the inner carton together with the cigarette box inside it to a certain height, and switches the air pressure of the clamping cylinder on the box-grabbing fixture 71 to low pressure; Under the action, it slides slowly and gently onto the feeding shuttle car 5; the carton grabbing robot 7 quickly grabs the inner carton, and sends it to the carton folding stacker 13 for folding and stacking;

7) The feeding shuttle car 5 moves along the discharging shuttle track 4 to the inner plastic bag cutting station 94, and the inner plastic bag cutting machine 6 cuts the inner plastic bag cigarette package along the middle horizontal direction along the four sides of the inner plastic bag through the cutting knife 61. Cut the plastic into upper and lower parts;

8) The feeding shuttle car 5 moves back to the robot operation upper station 93 along the discharging shuttle track 4, and the box-grabbing robot 7 uses the box-grabbing fixture 71 to grab the upper cardboard kraft paper and the upper half of the inner plastic bag of the cigarette pack, and send to the waste bin;

9) The first visual recognition system 15 installed on the side of the robot work station 93 recognizes and judges whether there are plastic bags remaining on the upper part of the cigarette pack, and the box-grabbing robot 7 grabs it again until there is no plastic bag left;

10) The feeding shuttle car 5 moves back to the first cigarette pack entry and exit station 92 along the discharge shuttle track 4, and the cigarette packs are transported to the cigarette case turning machine 8, which turns the cigarette case 180 degrees and The smoke box is transported to the discharge shuttle car 10;

11) The discharge shuttle car 10 moves along the discharge shuttle track 9 to the lower station 96 of the robot operation, and the box-grabbing robot 7 uses the box-grasping fixture 71 to grab the lower cardboard kraft paper and the lower half of the inner plastic bag of the cigarette pack, and send them to waste bin;

12) The second visual recognition system 16 installed on the side of the lower station 96 of the robot operation recognizes and judges whether there is any plastic bag remaining in the lower part of the cigarette pack, and the box-grabbing robot 7 grabs it again until there is no plastic bag left;

13) The discharge shuttle car 10 moves along the discharge shuttle track 9 back to the second cigarette pack entry and exit station 95, and the cigarette packs are transported to the static weighing device 11 for weighing, and judge whether the weight is qualified or not, and the cigarette packs cumulative weight;

14) The unpacking of the qualified cigarette packs in step 13) is completed, and the next step is carried out, and the unqualified cigarette packs are transported to the cigarette pack rejecting device 12 for subsequent corresponding rejecting operations.

Claims (5)

1. An automatic unpacking device for cigarette boxes, comprising a conveyor track for transporting cigarette pack cartons, a strapping strap cutting robot and a strapping strap shredder are provided on one side of the conveyor rail entrance; it is characterized in that: the middle section of the conveyor rail is provided with a The vertical feeding shuttle track is provided with a feeding shuttle machine, and the end of the feeding shuttle track is provided with an inner plastic bag cutting machine; the inner plastic bag cutting machine is provided with four cutting knives, which are respectively installed on four On the first tool holder, the two tool holders located in the direction of the feeding shuttle track can be lifted up and down, and the cutting knife is driven by a rotating cylinder; there is a box grabbing robot on the side of the feeding shuttle track, and a cigarette packet turning machine on the delivery track. There is a discharge shuttle track perpendicular to the conveying track at the rear of the cigarette bale turning machine, and a discharge shuttle is set on the discharge shuttle track; a static weighing device is installed at the end of the conveying track, and a cigarette pack removal device is installed on one side of the static weighing device. device; the strap cutting robot is provided with a swing arm, and a cutting fixture is installed at the end of the swing arm, and the cutting fixture includes a cutting claw assembly and a visual positioning system; the feeding shuttle track is provided with a robot working station and a robot The first and second visual recognition systems are respectively installed on the lower station of the operation, the upper station and the lower station of the robot operation. 2. A device for automatically unpacking cigarette cases as claimed in claim 1, characterized in that: said strap shredder consists of four parts: a V-shaped guide groove, a pressing device, a winding device and a shearing device; The pressing device is located on one side of the V-shaped guide groove, the pressing rod is located above the V-shaped guide groove, and the winding device and the shearing device are located below the V-shaped guide groove. 3. A device for automatically unpacking cigarette cases as claimed in claim 1, characterized in that: the feed shuttle track is composed of a belt and a belt conveyor, and the feed shuttle track is provided with a cigarette pack entry and exit station, a robot The work station and the inner plastic bag cutting station, the inner plastic bag cutting machine is located on the inner plastic bag cutting station; the in-position confirmation proximity switch and the limit travel switch are installed on the feeding shuttle. 4. A device for automatically unpacking cigarette boxes as claimed in claim 1, characterized in that: a box-grabbing fixture is installed at the end of the box-grabbing robot, and the box-grabbing fixture includes four claw fingers, two of which are movable claws Fingers are arranged side by side, and the other two are fixed claws, which are opposite to the movable claws and arranged side by side. The entire fixture is in a concave shape. 5. A method for automatically unpacking a cigarette case utilizing the unpacking device of claim 1, comprising the following steps: 1) The cigarette pack is placed on the conveying track, and is transported to the tape cutting station by the roller conveyor, and the cigarette pack lifting device will standardize the cigarette pack and lift it up; 2) The visual positioning system at the front end of the robot's swing arm starts to identify the strapping outside the cigarette box and accurately locates it; 3) According to the positioning information in step 2), the strap cutting robot cuts off the straps outside the smoke box, and sends the straps to the strap shredder with a clamp for crushing; 4) The cigarette pack lifting device puts down the cigarette pack, and the cigarette pack is sent to the first cigarette pack entry and exit station through the conveying track, and the cigarette pack is transported to the feed shuttle car on the discharge shuttle track through the lifting of the jacking cylinder superior; 5) The feed shuttle car moves along the discharge shuttle track to the upper station of the robot, and the carton grabbing robot quickly grabs the outer carton, and sends the outer carton to the carton folding stacker for folding and stacking; 6) The box-grabbing robot clamps the inner carton together with the cigarette box inside it, lifts it to a certain height, and switches the air pressure of the clamping cylinder on the box-grabbing fixture to low pressure; the plastic bag of cigarettes in the box is under the action of gravity Slowly and gently slide down to the feeding shuttle; the grabbing robot quickly grabs the inner carton and sends it to the carton folding stacker for folding and stacking; 7) The feeding shuttle car moves along the discharging shuttle track to the inner plastic bag cutting station, and the inner plastic bag cutting machine cuts the inner plastic bag into upper and lower parts along the middle horizontal direction through the cutting knife on the four sides of the inner plastic bag cigarette package. , the next two parts; 8) The feed shuttle car moves back to the upper station of the robot along the discharge shuttle track, and the box-grabbing robot uses the box-grabbing fixture to grab the upper cardboard kraft paper and the upper half of the inner plastic bag of the cigarette pack, and send them to the waste bin; 9) The first visual recognition system installed on the side of the robot's work station recognizes and judges whether there are plastic bags left on the upper part of the cigarette pack, and the box-grabbing robot grabs it again until there is no plastic bag left; 10) The feeding shuttle car moves back to the first cigarette pack entry and exit station along the discharge shuttle track, and the cigarette packs are transported to the cigarette box turning machine, which turns the cigarette box 180 degrees and then transports the cigarette box to the exit on the material shuttle; 11) The discharge shuttle car moves along the discharge shuttle track to the lower station of the robot operation, and the box-grabbing robot uses the box-grabbing fixture to grab the lower cardboard kraft paper and the lower half of the inner plastic bag of the cigarette pack, and send them to the waste bin; 12) The second visual recognition system installed on the side of the lower station of the robot recognizes and judges whether there is any plastic bag remaining in the lower part of the cigarette pack, and the box grabbing robot grabs it again until there is no plastic bag left; 13) The discharge shuttle car moves back to the second cigarette pack entry and exit station along the discharge shuttle track, and the cigarette packs are transported to the static weighing device for weighing, and the weight is judged to be qualified or not, and the total weight of the cigarette packs is accumulated; 14) The unpacking of the qualified cigarette packs in step 13) is completed, and the next step is carried out, and the unqualified cigarette packs are transported to the cigarette pack rejecting device for subsequent corresponding removal operations.