CN105691782B - A kind of automatic opening method of smoke box and equipment - Google Patents
A kind of automatic opening method of smoke box and equipment Download PDFInfo
- Publication number
- CN105691782B CN105691782B CN201610217758.XA CN201610217758A CN105691782B CN 105691782 B CN105691782 B CN 105691782B CN 201610217758 A CN201610217758 A CN 201610217758A CN 105691782 B CN105691782 B CN 105691782B
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- Prior art keywords
- cigarette
- bag
- station
- shuttle
- smoke box
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Classifications
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- 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
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0025—Removing or cutting binding material, e.g. straps or bands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
-
- 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
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0008—Opening and emptying bags
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
The invention discloses a kind of automatic opening apparatus of smoke box and method, equipment includes the delivery track of conveying cardboard box for cigarette, and delivery track stage casing is equipped with inner plastic bag cutting machine；The inner plastic bag cutting machine is equipped with four cutter, is separately mounted on four knife rests, cutter are driven by rotary cylinder；Delivery track end is equipped with static weighing device, and static weighing device side is equipped with tobacco packet rejecting device.Invention increases inner plastic bag cutting machine to cut and capture inner lining plastic bag so that entirely unpacking process is more perfect；Increase static weighing device after the completion of unpacking, the weight of cigarette bag is detected, and underproof cigarette bag is rejected, ensure the quality of production of cigarette bag, improve quality control level.
Description
Technical field
The invention belongs to tobacco leaf production technical field, the automatic opening method of more particularly to a kind of smoke box and equipment.
Background technology
In tobacco processing line processing technology, first process is exactly to unpack to redried carton cigarette bag, will be through
The piece cigarette crossed after beating and double roasting takes out from smoke box.Existing smoke box by upper cardboard, upper brown paper, inner lining plastic bag, lower cardboard,
Lower brown paper, interior carton, outer carton and strapping composition.At present, during tobacco business unpacks system automatically, have some and open automatically
The special purpose device or robot of smoke box, but still suffer from the shortcomings of layout is miscellaneous, function is incomplete.
Number of patent application is automatic to disclose a kind of cardboard box for cigarette with drawing fixture in 200410079603.1 invention
Opening apparatus, overall Case opening operation include cardboard box for cigarette conveying and position, pack strapping detection and remove, receive and cut strapping, take off
Outer carton is taken, is taken and is padded on carton, overturn cardboard box for cigarette, de- take interior layer carton, take carton lower liner, conveying sheet cigarette etc. to walk
Suddenly.Cutting process is not carried out to inner lining plastic bag in integrated artistic, technique is sufficiently complete, while to the piece cigarette of taking-up not
There is any detection process, can not ensure the quality of piece cigarette.
The content of the invention
First purpose of the present invention is to provide for a kind of structural integrity, and can be weighed and rejected to piece cigarette does not conform to
The automatic opening apparatus of smoke box of lattice piece cigarette.
Second object of the present invention is to provide for a kind of compact in design, efficient, the cigarette for the detection that can weigh to piece cigarette
The automatic opening method of case.
To realize first purpose, the technical scheme is that：A kind of automatic opening apparatus of smoke box, including conveying cigarette bag
The delivery track of carton, delivery track inlet side are equipped with and cut strapping robot and strapping Material disintegrator；In delivery track
Section is equipped with charging shuttle rail normal thereto, and charging shuttle rail is equipped with charging shuttle machine, and charging shuttle rail end is set
There is inner plastic bag cutting machine；The inner plastic bag cutting machine is equipped with four cutter, is separately mounted on four knife rests, is located at
It can be lifted on two knife rests on charging shuttle rail direction, cutter are driven by rotary cylinder；Feed shuttle rail side
Equipped with Zhua Xiang robots, delivery track is equipped with cigarette bag tipper, and cigarette bag tipper rear goes out equipped with vertical with delivery track
Expect shuttle rail, discharging shuttle rail is equipped with discharging shuttle machine；Delivery track end is equipped with static weighing device, static weighing
Device side is equipped with tobacco packet rejecting device.
Further, the strapping robot that cuts is equipped with swing arm, and swing arm end is provided with cutting clamper, cutting clamper
Including cutting band claw assembly and vision positioning system.
Further, the strapping Material disintegrator is by V-arrangement guide groove, press-in device, coiler device and shear four
It is grouped into；Press-in device is located at V-arrangement guide groove side, and compression bar is located above V-arrangement guide groove, and coiler device and shear are located at
Below V-arrangement guide groove.
Further, the charging shuttle rail is made of belt and belt conveyor, and charging shuttle rail is equipped with cigarette
Bag passes in and out station, robot manipulating task station and cuts inner plastic bag station, and inner plastic bag cutting machine, which is located at, to be cut on inner plastic bag station；
It is provided with and is confirmed in place close to switch and pole limitation travel switch on charging shuttle.
Further, it is described grab case robot end and be provided with grab clamp tool, grab clamp tool and contain four pawls and refer to, wherein
Two refer to for movable claw, are arranged side by side, and another two refers to for fixed claw, and it is opposite to refer to position with movable claw, is arranged side by side, whole fixture
In concave shape.
To realize second purpose, the technical scheme is that：A kind of automatic opening method of smoke box, including following step
Suddenly：
1）Cigarette bag is placed on delivery track, is delivered to by roller conveyor and is cut band station, cigarette bag jacking apparatus is to cigarette bag
Into professional etiquette just, and jacked；
2）The vision positioning system for cutting strapping robot swinging arm front end starts to identify the strapping outside smoke box, and accurately fixed
Position；
3）According to step 2）Location information, cuts strapping robot and prescinds strapping outside smoke box, and will be tied up with fixture
Band is sent to progress particle at strapping Material disintegrator；
4）Cigarette bag jacking apparatus puts down cigarette bag, and cigarette bag is sent to the first cigarette bag by delivery track and passes in and out station, passes through
The lifting of jacking cylinder, cigarette coating are delivered on the charging shuttle in discharging shuttle rail；
5）Charging shuttle is moved to station on robot manipulating task along discharging shuttle rail, and Zhua Xiang robots quickly catch away outer
Carton, and outer carton is sent to carton and folds folding and stacking at piler；
6）Interior carton is clamped, lifts certain altitude by Zhua Xiang robots together with the smoke box in it, and will be grabbed and be pressed from both sides on clamp tool
The air pressure of tight cylinder switches to low pressure；Polybag cigarette bag in smoke box under gravity slowly shuttle by soft slide to charging
Che Shang；Interior carton is quickly caught away by Zhua Xiang robots, and send to carton to fold and folded and stacking at piler；
7）Charging shuttle is moved to along discharging shuttle rail and cuts inner plastic bag station, and inner plastic bag cutting machine passes through cutting
Interior plastics are cut into upper and lower two parts by knife in four sides of inner plastic bag cigarette bag along the direction of middle part level；
8）Charging shuttle moves back to station on robot manipulating task along discharging shuttle rail, and Zhua Xiang robots utilize and grab clamp
Tool catches away the upper cardboard brown paper of cigarette bag and upper half of inner plastic bag, send to ash can；
9）The First look identifying system of station side identifies, judges that cigarette wraps part whether there is on robot manipulating task
The polybag of remaining, Zhua Xiang robots capture again, up to no polybag remains；
10）Charging shuttle moves back to the first cigarette bag disengaging station along discharging shuttle rail, and cigarette coating is transported to smoke box and turns over
Smoke box will be delivered on discharging shuttle by Flight connections, smoke box tipper after smoke box upset 180 degree；
11）Discharging shuttle is moved to station under robot manipulating task along discharging shuttle rail, and Zhua Xiang robots utilize and grab case
Fixture catches away the lower cardboard brown paper of cigarette bag and lower half of inner plastic bag, send to ash can；
12）The second visual identifying system of station side identifies, judges that cigarette bag lower part has under robot manipulating task
Polybag without remaining, Zhua Xiang robots capture again, up to no polybag remains；
13）Discharging shuttle moves back to the second cigarette bag disengaging station along discharging shuttle rail, and cigarette coating is transported to static title
Refitting, which is put, weighs, and does the qualified or not judgement of weight, and cigarette bag gross weight adds up；
14）Step 13）In qualified cigarette bag unpack work and complete, carry out the next step, unqualified cigarette coating is delivered to
Tobacco packet rejecting device, carries out follow-up corresponding reject and operates.
Integral layout of the present invention is reasonable, compact, and whole process only cuts strapping robot and Zhua Xiang robots, compared to existing
Automatically unpacking system, robot usage quantity greatly reduce, and improve robot service efficiency, reduce scale of investment；Meanwhile increase
Inner plastic bag cutting machine is added to cut and capture inner lining plastic bag so that entirely unpacking process is more perfect；After the completion of unpacking
Increase static weighing device, the weight of cigarette bag is detected, and underproof cigarette bag is rejected, ensure the production matter of cigarette bag
Amount, improves quality control level.
Brief description of the drawings
It is described in further detail below in conjunction with attached drawing and embodiments of the present invention
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the operating diagram of the present invention；
Fig. 4 is the structure diagram of inner plastic bag cutting machine of the present invention；
Fig. 5 is the bottom view of inner plastic bag cutting machine of the present invention；
Fig. 6 is the structure diagram of strapping Material disintegrator of the present invention；
Fig. 7 is the structure diagram that the present invention grabs clamp tool；
Fig. 8 is the side view that the present invention grabs clamp tool；
Fig. 9 is the FB(flow block) of the present invention.
In figure mark for：Delivery track 1, cut strapping robot 2, swing arm 21, cutting clamper 22, vision positioning system
23rd, strapping Material disintegrator 3, V-arrangement guide groove 31, press-in device 32, coiler device 33, charging shuttle rail 4, charging shuttle machine
5th, inner plastic bag cutting machine 6, cutter 61, knife rest 62, Zhua Xiang robots 7, grab clamp tool 71, pawl refer to 72, movable claw refer to 721,
Fixed claw refers to 722, cigarette bag tipper 8, discharging shuttle rail 9, discharging shuttle machine 10, static weighing device 11, cigarette bag and rejects dress
12, carton is put to fold piler 13, cigarette bag jacking apparatus 14, First look identifying system 15, the second visual identifying system 16, cut
Band station 91, the first cigarette bag disengaging station 92, station 93 on robot manipulating task, cut inner plastic bag station 94, the disengaging of the second cigarette bag
Station 96 under station 95, robot manipulating task.
Embodiment
Referring to attached drawing.The automatic opening apparatus of smoke box in the present embodiment includes delivery track 1, and delivery track is conveyed by roller
Mechanism is into for conveying cardboard box for cigarette；Band station 91 side of cutting of delivery track inlet is equipped with and cuts strapping robot 2 and bundle
Band Material disintegrator 3；Cut strapping robot and be equipped with swing arm 21, swing arm end is provided with cutting clamper 22, and cutting clamper includes
Cut band claw assembly and vision positioning system 23；Cutting clamper is used to cut off the strapping outside smoke box and clamp strapping to be sent to bundle
On band Material disintegrator；Vision positioning system is used to position the strapping outside smoke box；Strapping Material disintegrator is by V-arrangement guide groove 31, pressure
Enter device 32, coiler device 33 and four part of shear composition；Press-in device is located at V-arrangement guide groove side, and compression bar is located at V-arrangement
Above guide groove, coiler device and shear are located at below V-arrangement guide groove.Strapping Material disintegrator is used to cut to tie up carrying machine
People cuts off the strapping particle to get off to the strapping section for being about 30cm ~ 40cm, to collect transport.
The delivery track stage casing of the present embodiment is equipped with charging shuttle rail 4 normal thereto, and delivery track shuttles with charging
The first cigarette bag passes in and out station 92 at traces cross, and charging shuttle rail is equipped with charging shuttle machine 5, and charging shuttle machine 5 is by frequency conversion
Device drives, and can be moved in charging shuttle rail, and positioned using encoder；Robot manipulating task is equipped among charging shuttle rail
Upper station 93, end are equipped with and cut inner plastic bag station 94；It is provided with and is confirmed in place close to switch, for redundancy on charging shuttle machine
Confirm that charging shuttle machine truly reaches each station；Pole limitation travel switch is also equipped with charging shuttle machine, when shuttle surmounts
Normal travel scope, will be by emergent stopping during trigger electrode limitation travel switch.
The charging shuttle rail end of the present embodiment is equipped with inner plastic bag cutting machine 6, positioned at cutting on inner plastic bag station,
For interior plastics to be cut into upper and lower two parts along the direction of middle part level in four sides of inner plastic bag cigarette bag；Interior plastics
Bag cutting machine is equipped with four cutter 61, is separately mounted on four knife rests 62, two on charging shuttle rail direction
It can be lifted on a knife rest, 4 knife rest anteroposterior directions are to float, and are not only adapted to the cigarette bag of position offset, while may be used also
To adapt to the cigarette bag of angle offset, the reliability for cutting bag is improved；Cutter component is driven by rodless cylinder, compact-sized；Cutter
Disengaging driven by rotary cylinder, rotary cylinder has certain elasticity, and cutter can be controlled tightly to be bonded the surface of cigarette bag, carried
The reliability cutter that height cuts bag are driven by rotary cylinder.
The present embodiment charging shuttle rail side is equipped with Zhua Xiang robots 7, and 7 end of Zhua Xiang robots, which is provided with, grabs clamp tool
71, for capturing the overpack of cigarette bag --- carton, cardboard and inner plastic bag；Clamp tool is grabbed to contain four pawls and refer to 72, its
In two refer to 721 for movable claw, accommodated side-by-side, another two refers to 722 for fixed claw, refers to face-to-face accommodated side-by-side with movable claw, whole
A fixture is in concave shape, and is separately constituted by the inner side of concave shape, two outsides and grab carton, grab cardboard, grab three works of polybag
Make face.
The delivery track of the present embodiment is equipped with cigarette bag tipper 8, for the smoke box for having taken upper packing material away to be turned over up and down
Turn, so that Zhua Xiang robots take the lower packing material of cigarette bag away；Cigarette bag tipper is mainly by main rotary disk, two belt conveyors, same
Walk elevating mechanism, four part of side stop mechanism composition；Main rotary disk is driven by variable-frequency motor, and belt conveyor is by common electric machine
Driving；Two belt conveyors of tipper and the baffle of side stop mechanism surround the space that a three side sealing closes, it is ensured that cigarette bag
Tobacco leaf does not trickle down tipper in switching process；Tipper after upset, comes without being flipped back to again every time, so that it may continues work next time
Make.Cigarette bag tipper rear is equipped with the discharging shuttle rail 9 vertical with delivery track 1, and discharging shuttle rail is worn equipped with discharging
Shuttle machine 10；Delivery track end is equipped with static weighing device 11, and static weighing device side is equipped with tobacco packet rejecting device 12.This reality
Apply example and be additionally provided with carton folding piler 13, rick for the inside and outside set carton captured will to be wrapped from cigarette, so as to fork truck
Fork is walked.
The automatic opening method of smoke box described in the present embodiment comprises the steps of：
1）Cigarette bag is placed on delivery track 1, is delivered to by roller conveyor and is cut band station 91, and cigarette bag jacking apparatus 14 is right
Cigarette bag just, and is jacked into professional etiquette；
2）The vision positioning system 23 for cutting 2 swing arm front end of strapping robot starts to identify the strapping outside smoke box, and essence
Determine position；
3）According to step 2）Location information, cuts strapping robot 2 and prescinds strapping outside smoke box, and will be tied with fixture 22
Band is sent to progress particle at strapping Material disintegrator 3；
4）Cigarette bag jacking apparatus 14 puts down cigarette bag, and cigarette bag is sent to the first cigarette bag by delivery track 1 and passes in and out station 92,
By the lifting of jacking cylinder, cigarette coating is delivered on the charging shuttle 5 in discharging shuttle rail 4；
5）Charging shuttle 5 is moved to station 93 on robot manipulating task along discharging shuttle rail, and Zhua Xiang robots 7 are quickly grabbed
Outer carton is walked, and outer carton is sent to carton and folds folding and stacking at piler 13；
6）Interior carton is clamped, lifts certain altitude by Zhua Xiang robots 7 together with the smoke box in it, and will be grabbed on clamp tool 71
The air pressure of clamping cylinder switches to low pressure；Polybag cigarette bag in smoke box under gravity slowly wear by soft slide to charging
On shuttle car 5；Interior carton is quickly caught away by Zhua Xiang robots 7, and send to carton to fold and folded and stacking at piler 13；
7）Charging shuttle 5 is moved to along discharging shuttle rail 4 and cuts inner plastic bag station 94, and inner plastic bag cutting machine 6 is logical
Cross cutter 61 and interior plastics are cut into upper and lower two parts along the direction of middle part level in four sides of inner plastic bag cigarette bag；
8）Charging shuttle 5 moves back to station 93 on robot manipulating task along discharging shuttle rail 4, and Zhua Xiang robots 7 utilize
Grab clamp tool 71 to catch away the upper cardboard brown paper of cigarette bag and upper half of inner plastic bag, send to ash can；
9）The First look identifying system 15 of 93 side of station identifies, judges that cigarette wraps part on robot manipulating task
The polybag of remaining is whether there is, Zhua Xiang robots 7 capture again, up to no polybag remains；
10）Charging shuttle 5 moves back to the first cigarette bag disengaging station 92 along discharging shuttle rail 4, and cigarette coating is transported to cigarette
At case tipper 8, smoke box will be delivered on discharging shuttle 10 by smoke box tipper 8 after smoke box upset 180 degree；
11）Discharging shuttle 10 is moved to station 96 under robot manipulating task, the profit of Zhua Xiang robots 7 along discharging shuttle rail 9
The lower cardboard brown paper of cigarette bag and lower half of inner plastic bag are caught away with clamp tool 71 is grabbed, sent to ash can；
12）The second visual identifying system 16 of 96 side of station identifies, judges Yan Bao lower parts under robot manipulating task
Divide the polybag for whetheing there is remaining, Zhua Xiang robots 7 capture again, up to no polybag remains；
13）Discharging shuttle 10 moves back to the second cigarette bag disengaging station 95 along discharging shuttle rail 9, and cigarette coating is transported to quiet
Weigh on state weighing device 11, and do the qualified or not judgement of weight, and cigarette bag gross weight adds up；
14）Step 13）In qualified cigarette bag unpack work and complete, carry out the next step, unqualified cigarette coating is delivered to
Tobacco packet rejecting device 12, carries out follow-up corresponding reject and operates.
Claims (5)
1. a kind of automatic opening apparatus of smoke box, includes the delivery track of conveying cardboard box for cigarette, delivery track inlet side is equipped with
Cut strapping robot and strapping Material disintegrator；It is characterized in that：Delivery track stage casing is equipped with charging shuttle rail normal thereto
Road, charging shuttle rail are equipped with charging shuttle machine, and charging shuttle rail end is equipped with inner plastic bag cutting machine；The interior plastics
Bag cutting machine is equipped with four cutter, is separately mounted on four knife rests, two knives on charging shuttle rail direction
It can be lifted on frame, cutter are driven by rotary cylinder；Charging shuttle rail side is equipped with Zhua Xiang robots, is set on delivery track
There is cigarette bag tipper, cigarette bag tipper rear is equipped with the discharging shuttle rail vertical with delivery track, is set in the shuttle rail that discharges
There is discharging shuttle machine；Delivery track end is equipped with static weighing device, and static weighing device side is equipped with tobacco packet rejecting device；Institute
Shu Ge strappings robot is equipped with swing arm, and swing arm end is provided with cutting clamper, and cutting clamper includes cutting band claw assembly and regards
Feel alignment system；The charging shuttle rail is made equipped with station under station on robot manipulating task and robot manipulating task, robot
First, second visual identifying system that station, lower station side are respectively equipped with industry.
A kind of 2. automatic opening apparatus of smoke box as claimed in claim 1, it is characterised in that：The strapping Material disintegrator is by V-arrangement
Guide groove, press-in device, coiler device and four part of shear composition；Press-in device is located at V-arrangement guide groove side, compression bar position
Above V-arrangement guide groove, coiler device and shear are located at below V-arrangement guide groove.
A kind of 3. automatic opening apparatus of smoke box as claimed in claim 1, it is characterised in that：The charging shuttle rail is by belt
Formed with belt conveyor, charging shuttle rail is equipped with cigarette bag disengaging station, robot manipulating task station and cuts inner plastic bag work
Position, inner plastic bag cutting machine, which is located at, to be cut on inner plastic bag station；It is provided with and is confirmed in place close to switch and pole on charging shuttle
Limitation travel switch.
A kind of 4. automatic opening apparatus of smoke box as claimed in claim 1, it is characterised in that：It is described to grab case robot end installation
Clamp tool is grabbed, clamp tool is grabbed and contains four pawls and refer to, two of which refers to for movable claw, is arranged side by side, and another two is fixed claw
Refer to, it is opposite to refer to position with movable claw, is arranged side by side, whole fixture is in concave shape.
5. a kind of automatic opening method of smoke box using opening apparatus described in claim 1, comprises the following steps：
1）Cigarette bag is placed on delivery track, is delivered to by roller conveyor and is cut band station, and cigarette bag jacking apparatus carries out cigarette bag
Rule just, and are jacked；
2）The vision positioning system for cutting strapping robot swinging arm front end starts to identify the strapping outside smoke box, and is accurately positioned；
3）According to step 2）Location information, cuts strapping robot and prescinds strapping outside smoke box, and is sent strapping with fixture
Particle is carried out to strapping Material disintegrator；
4）Cigarette bag jacking apparatus puts down cigarette bag, and cigarette bag is sent to the first cigarette bag by delivery track and passes in and out station, passes through jacking
The lifting of cylinder, cigarette coating are delivered on the charging shuttle in discharging shuttle rail；
5）Charging shuttle is moved to station on robot manipulating task along discharging shuttle rail, and outer paper is quickly caught away by Zhua Xiang robots
Case, and outer carton is sent to carton and folds folding and stacking at piler；
6）Interior carton is clamped, lifts certain altitude by Zhua Xiang robots together with the smoke box in it, and will be grabbed and be clamped gas on clamp tool
The air pressure of cylinder switches to low pressure；Slowly soft slide extremely feeds shuttle to polybag cigarette bag in smoke box under gravity
On；Interior carton is quickly caught away by Zhua Xiang robots, and send to carton to fold and folded and stacking at piler；
7）Charging shuttle is moved to along discharging shuttle rail and cuts inner plastic bag station, and inner plastic bag cutting machine is existed by cutter
Inner plastic bag is cut into upper and lower two parts by four sides of inner plastic bag cigarette bag along the direction of middle part level；
8）Charging shuttle moves back to station on robot manipulating task along discharging shuttle rail, Zhua Xiang robots using grab clamp tool will
The upper cardboard brown paper and upper half of inner plastic bag of cigarette bag are caught away, and are sent to ash can；
9）The First look identifying system of station side identifies, judges that cigarette wraps part whether there is remaining on robot manipulating task
Polybag, Zhua Xiang robots capture again, up to no polybag remains；
10）Charging shuttle moves back to the first cigarette bag disengaging station along discharging shuttle rail, and cigarette coating is transported to smoke box tipper
Smoke box will be delivered on discharging shuttle by place, smoke box tipper after smoke box upset 180 degree；
11）Discharging shuttle is moved to station under robot manipulating task along discharging shuttle rail, and Zhua Xiang robots have using clamp is grabbed
The lower cardboard brown paper of cigarette bag and lower half of inner plastic bag are caught away, sent to ash can；
12）Under robot manipulating task the second visual identifying system identification of station side, to judge cigarette bag lower part whether there is residual
The polybag deposited, Zhua Xiang robots capture again, up to no polybag remains；
13）Discharging shuttle moves back to the second cigarette bag disengaging station along discharging shuttle rail, and cigarette coating is transported to static weighing dress
Put and weigh, and do the qualified or not judgement of weight, and cigarette bag gross weight adds up；
14）Step 13）In qualified cigarette bag unpack work and complete, carry out the next step, unqualified cigarette coating is delivered to cigarette bag
Device for eliminating, carries out follow-up corresponding reject and operates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610217758.XA CN105691782B (en) | 2016-04-11 | 2016-04-11 | A kind of automatic opening method of smoke box and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610217758.XA CN105691782B (en) | 2016-04-11 | 2016-04-11 | A kind of automatic opening method of smoke box and equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105691782A CN105691782A (en) | 2016-06-22 |
| CN105691782B true CN105691782B (en) | 2018-04-13 |
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ID=56219661
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610217758.XA Active CN105691782B (en) | 2016-04-11 | 2016-04-11 | A kind of automatic opening method of smoke box and equipment |
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| CN110683321A (en) * | 2019-10-11 | 2020-01-14 | 龙岩烟草工业有限责任公司 | Tobacco bale detection system and tobacco bale detection method |
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