CN117228110A - Cigarette small box packaging paper unbinding feeding system and unbinding feeding method - Google Patents

Abstract

A bundle-releasing and feeding system and a bundle-releasing and feeding method for small cigarette box packaging paper belong to the field of cigarette packaging equipment, the system comprises a bundle-releasing and feeding device for small cigarette box packaging paper, a six-axis mechanical arm and a plurality of brackets are arranged beside the system, the bundle-releasing and feeding device comprises a lifting fork, and the periphery of the highest point of the lifting fork is provided with: the right side is whole bundle of capsule wrapping paper conveyer belt, and the left side is binding paper overspeed device tensioner, and there is binding paper cutting device top, and the below has the location track, and the top is connected with mirror image "D" word actuating mechanism through lifter and its Zhou Taotong, and the lift fork lower extreme left side is fixed with the support frame, and the support frame below is provided with rotation type binding paper recovery mechanism, and this system carries the cigarette capsule wrapping paper of bundle automatically, gets rid of the binding paper automatically, realizes that the system is automatic, can reduce going on smoothly of workman's intensity of labour card production.

Description

Cigarette small box packaging paper unbinding feeding system and unbinding feeding method

Technical Field

The invention relates to a bundle-releasing feeding system and a bundle-releasing feeding method, in particular to a bundle-releasing feeding system and a bundle-releasing feeding method for small cigarette box packaging paper, and belongs to the field of cigarette packaging equipment.

Background

In cigarette production lines, automated packaging and automated feeding of cigarette packages has been achieved. In the vertical positioning rail 80 in fig. 2, the single Zhang Xiao box package paper suction device 90 arranged below the positioning rail 80, the single Zhang Xiao box package paper driving belt 91 driven to the right is arranged below the single Zhang Xiao box package paper suction device 90, in the cigarette box package paper feeding device, the bundling paper 72 is utilized in the middle of the bundle of the transported cigarette box packages 71, the cigarette box packages 71 need to be manually removed, continuously put into the vertical positioning rail 80 and continuously run, the using amount of the cigarette box packages is also large, the continuous transportation is required, the bundling paper is continuously removed, the continuous arrangement is critical, and the setting direction of the front and back surfaces and the packaging paper is easily reversed during manual transportation, and the unmatched with an automatic packaging folding machine is caused to cause an alarm and stop phenomenon, so the cigarette box package paper unbinding feeding system is very necessary, but how to use the structure of the existing equipment to automatically feed and the bundling paper cutting device in a limited space is a great challenge.

Disclosure of Invention

Aiming at the problems that the existing cigarette small box packaging paper feeding device needs to carry and remove binding paper manually, and the reverse of the directions of the front and back surfaces and the packaging paper easily occurs in the setting process, and equipment alarm and even production stopping are often caused, the invention provides a cigarette small box packaging paper unbinding feeding system and an unbinding feeding method.

The utility model provides a cigarette capsule wrapping paper bale breaking feed system, includes the single Zhang Xiao box wrapping paper suction means, the single Zhang Xiao box wrapping paper drive belt that erects the location track that sets up, location track below set up, cigarette capsule wrapping paper bale breaking feed system includes that cigarette capsule wrapping paper bale breaking feedway, cigarette capsule wrapping paper bale breaking feedway include whole bundle capsule wrapping paper drive belt, six mechanical hands towards whole bundle capsule wrapping paper drive belt transport to whole bundle capsule wrapping paper, six mechanical hands are provided with a plurality of brackets by side, cigarette capsule wrapping paper bale breaking feedway includes the lift fork, lift fork highest point week is provided with: the right side and the lifting fork horizontal fork are provided with a whole bundle of small box packaging paper conveying belt on the same horizontal plane, the side of the whole bundle of small box packaging paper conveying belt is provided with an in-place sensor, the left side of the whole bundle of small box packaging paper conveying belt is provided with a bundling paper tensioning device, and the bundling paper tensioning device comprises a tensioning suction head arranged on one side close to the lifting fork; the automatic bundling machine is characterized in that a bundling paper cutting device is arranged right above the bundling paper cutting device, a movable cutting knife is arranged on the bundling paper cutting device, a positioning rail is arranged below the bundling paper cutting device, a material level sensor is arranged beside the positioning rail, the uppermost part of a lifting fork is connected with a mirror image D-shaped driving mechanism of a mirror image D-shaped movement track through a lifting rod and a sleeve on the periphery of the lifting fork, the lifting rod is arranged in the sleeve in a sliding lifting manner, the upper end of the sleeve is fixed in the mirror image D-shaped driving mechanism, a supporting frame is fixed on the left side of the lower end of the lifting fork, a rotary bundling paper recycling mechanism is arranged below the supporting frame, and a controller is arranged in a bundling feeding system;

furthermore, the lifting fork is of an L-shaped structure, a two-fork structure in the horizontal direction is arranged below the lifting fork, the left side of the lifting fork is fixed on the lifting rod, and the gap interval between the horizontal forks of the two-fork structure is larger than the width of binding paper;

further, the paper bundling tensioning device is arranged above the supporting frame and comprises an air cylinder, the end part of an air cylinder rod of the air cylinder is provided with a tensioning suction head, the height of the tensioning suction head is higher than the vertical edge at the left side of the lifting fork and lower than the height of the whole bundle of small box packaging paper on the lifting fork, and the paper bundling of the whole bundle of small box packaging paper on the lifting fork is positioned in the travel range of the air cylinder of the paper bundling device;

further, the paper bundling cutting device comprises a rodless cylinder, a moving groove which is communicated with the inside and the outside is arranged below or on the side surface of the rodless cylinder, the length direction of the moving groove is consistent with that of the rodless cylinder, a linkage piece is moved in the moving groove, a moving table is arranged on the outer side of the linkage piece, and a moving cutting knife which faces to paper bundling is arranged on the moving table;

further, the mirror image "D" driving mechanism comprises a first rotating shaft component and a second rotating shaft component, the first rotating shaft component comprises a first rotating shaft component and the second rotating shaft component, the second rotating shaft component comprises a second rotating shaft component, the first rotating shaft and the second rotating shaft are arranged in parallel in the horizontal direction, the left end of the first rotating shaft is connected with a driving motor through a transmission mechanism, a track drum is arranged on the first rotating shaft, the axle center of the track drum is consistent with that of the first rotating shaft, the periphery of the track drum is provided with an omega-shaped groove type track which is connected end to end, a sliding pin sliding along the track is arranged in the track, the sliding pin is fixed at one end of a connecting rod, the other end of the connecting rod is connected with a sliding block, the sliding block is arranged on the periphery of the rotating shaft in a sliding manner, a lifting gear is arranged in the sliding block, the lifting gear is horizontally arranged on the second rotating shaft, the sliding block is simultaneously fixed with the upper end of a sleeve, a lifting rod is arranged in the vertical direction in a sliding manner, the lifting rod is in a shaft-shaped rack, the end of the lifting gear is meshed with the lifting gear, one end of the first rotating shaft is provided with a track disc, the track disc side face of the track is provided with a deformation ring track, the deformation ring track is in the groove which is in the head-tail-to-tail-connected, the right end tooth is fixed, the end tooth is meshed with the sector tooth, the sector tooth is meshed with the sector tooth, and the sector tooth is arranged on the sector tooth, and the sector tooth and the sliding pin and the sector tooth is sliding pin is driven towards the sector tooth D and the sector tooth and the sliding pin in the sector tooth in the sliding pin when the sector tooth is along the sector tooth and the sliding pin when the sliding pin and the sliding D is along the sector tooth is along the direction and the track and the sliding D is set in the direction and the sliding along the direction and the sliding D;

further, the paper binding recovery mechanism comprises a rotary cylinder, a rotary rod is fixed on a rotary shaft of the rotary cylinder, a paper binding suction nozzle is arranged at the end part of the rotary rod, an inclined sliding plate is arranged at the lower left part of the rotary cylinder, a recovery box is arranged below the inclined sliding plate, and the paper binding suction disk rotates to and fro between a gap of the two-fork structure and the upper part of the inclined sliding plate;

further, a positioning sensor is arranged beside the lifting fork, a feeding sensor is arranged beside the whole bundle of small box packaging paper conveying belt,

further, the lifting gear is in spline connection with the second rotating shaft;

further, the end part of the six-axis manipulator is provided with a sucker and a recognition device, and the recognition device is provided with a special recognition system;

further, a rotary switch is arranged at one right end part of the rotating shaft, and the closing position of the rotary switch is consistent with the stop position of the highest point of the lifting fork.

The method for unpacking and feeding the cigarette packet packaging paper comprises the following steps of:

1) After the equipment is started, the six-axis robot sequentially conveys a plurality of whole bundles of small box packaging paper to a whole bundle of small box packaging paper conveying belt;

2) The whole bundle of small box packaging paper conveyor belt pushes the whole bundle of small box packaging paper at the forefront end to a two-fork structure in the horizontal direction of the lifting fork, and the in-place sensor detects that the whole bundle of small box packaging paper reaches the horizontal fork;

3) The tensioning cylinder of the binding paper tensioning device drives the tensioning sucker to be close to the binding paper, and the binding paper is adsorbed to be reversed, so that the binding paper is tensioned;

4) Moving a movable cutter on the binding paper cutting device to cut the binding paper;

5) The mirror image D-shaped driving mechanism drives the lifting fork to descend along the positioning track, the unpacked small box packaging paper is placed in the track and moves transversely to the left, and the lifting fork ascends to return to the starting position according to the mirror image D-shaped circular arc track after leaving the positioning track;

6) Repeating the actions 1) -5), and stacking the small box packaging papers which are stacked and unbuckled in the positioning track;

7) After the small boxes of packaging paper which are fully unbuckled are piled up in the track, waiting;

8) And (3) continuing the actions of 1) to 5) after the small boxes of packaging paper stacked and unbinding in the positioning track descend to the material level sensor.

The invention has the positive effects that: through setting up six manipulators beside cigarette capsule wrapping paper bale breaking feedway to utilize the sucking disc of manipulator tip to hold the cigarette capsule wrapping paper of bundle and carry to whole bundle capsule wrapping paper conveyer belt, and the thrust that can utilize whole bundle capsule wrapping paper conveyer belt, the whole bundle capsule wrapping paper of forefront propelling movement to "L" structure on the lift fork, after the sensor that takes one's place that sets up next to the lift fork detects, the paper tensioning device cylinder that sets up and tie up support frame top will stretch to the paper, the tensioning suction disc head that cylinder pole tip set up will hold the paper left side and remove, make the paper be in the tensioning state, under this state, the paper cutting device that the lift fork set up just above can drive the mobile station and set up on it

The paper-bundling recovery mechanism is driven by the D-shaped driving mechanism to descend to the movable cutter to cut the paper-bundling, so that the paper-bundling is cut off, and the paper-bundling recovery mechanism is arranged below the supporting frame, and can utilize the rotary air cylinder to drive the arm and the suction nozzle arranged at the end part to rotate below the gap between the forks of the two-fork structure, so that the paper-bundling is sucked away, and the gap between the forks of the two-fork structure is larger than the width of the paper-bundling, so that the paper-bundling is not pressed on the two forks; the mirror image D-shaped surging track of the lifting fork is synthesized by arranging a first rotating shaft component and a second rotating shaft component in a mirror image D-shaped driving mechanism and connecting the first rotating shaft component and the second rotating shaft component through a connecting rod and sector teeth, wherein the first rotating shaft and the second rotating shaft which are parallel to each other can be driven by a motor connected with the first rotating shaft through a transmission mechanism to rotate, an omega-shaped groove track connected end to end is arranged on the periphery of the track drum through a track drum which is coaxially arranged on the first rotating shaft, the sliding block can be driven to move left and right in the axial direction of the second rotating shaft through the connecting rod and a sliding pin in the rotating process of the first rotating shaft, the lifting fork can move left and right to realize the consent of the whole bundle of small box packaging paper conveyor belt to the horizontal plane and the horizontal withdrawal action from the positioning track, the lifting gear is arranged on the second rotating shaft through a spline shaft, and the axial rack is meshed with the lifting gear, the lifting gear can realize axial sliding and rotating at the same time when the rotating shaft II rotates, the lifting gear can drive the lifting rod with the shaft-shaped rack to lift during rotation, thereby realizing lifting of the lifting fork, the fan-shaped teeth are arranged at the two ends of the rotating shaft, the rear ends of the fan-shaped teeth are provided with the floating pins, the floating pins can move in the deformation ring track of the track disc at one end of the rotating shaft, the intermittent rotation of the rotating shaft II can be realized through the fan-shaped teeth in the rotating process of the rotating shaft I, the mirror image D-shaped track movement can be finally realized through the combination of the movement of the rotating shaft I and the movement of the rotating shaft II, thus realizing the vertical reduction of the load of the upgrading fork, returning during idle load, horizontally withdrawing from the positioning track after descending, returning to the initial position after ascending, and repeatedly lifting the lifting fork, and continuously conveying the unpacked cigarette small box packaging paper into the positioning track, therefore, the single Zhang Xiangyan small box packaging paper can be quickly sucked from the positioning rail by utilizing the single Zhang Xiangyan small box packaging paper suction device, is placed on the single cigarette small box packaging paper transmission belt below and is sent to the cigarette small box folding production line, and the bundled cigarette small box packaging paper can be automatically conveyed by utilizing the system to automatically remove the bundling paper, so that the system automation is realized, the labor intensity of workers is reduced, the setting errors of the cigarette small box packaging paper are reduced, the alarm halt is reduced, and the smooth production is ensured.

Drawings

Fig. 1 is an overall floor plan of the present invention.

Fig. 2 is a schematic front view of a feeding device for unbinding cigarette packet wrapper.

Fig. 3 is a schematic view of a binding paper side binding paper cutting device.

Fig. 4 is a schematic top view of an L-shaped fork.

Fig. 5 is a schematic top view of a mirrored "D" drive mechanism.

Fig. 6 is a schematic view of the structure of the sector teeth and deformed ring tracks in the track disk.

Fig. 7 is a schematic top view of the binding tensioner.

Fig. 8 is a schematic front view of the binding paper recovery mechanism.

Description of the reference numerals: the bundling paper cutting device 10, the rodless cylinder 11, the moving table 12, the moving cutter 13, the moving slot 14, the lifting fork 20, the vertical side 21, the horizontal fork 22, the positioning sensor 23, the rotating shaft first component 30, the rotating shaft first 30a, the rail drum 32, the omega-shaped groove rail 33a, the sliding pin 33b, the rail disc 34, the deforming ring rail 34a, the connecting rod 35, the sliding block 36, the lifting gear 37, the lifting rod 38, the sleeve 38a, the shaft-shaped rack 38b, the limiting wheel 39, the limiting switch 39a, the rotating shaft second component 40, the rotating shaft second 40a, the end tooth 41, the sector tooth 42, the traveling pin 43a, the housing 44, the supporting frame 45, the driving motor 46, the tensioning device 50, the tensioning cylinder 51, the tensioning rod 52, the tensioning suction head 53, the bundling paper recovery mechanism 60, the rotating cylinder 61, the rotating rod 62, the bundling paper suction nozzle 63, the mounting plate 64, the home position 65, the suction position 66, the discard position 67, the recovery box 68, the tilting slide 69, the whole bundle of small box wrapper 70, the small box wrapper 71, the bundling paper 72, the positioning sensor 73, the positioning rail 80, the positioning sensor Shan Zhangxiao, the charge level sensor 5790, the six-level sensor housing sensor 5790, the bundle carrier 100, the bundle carrier 500, the mechanical carrier 500, the bundle carrier sensor and the bundle carrier device.

Detailed Description

The specific technical scheme of the invention is further described in detail below with reference to the accompanying drawings and reference numerals. In the following description, the left and right positions are indicated in the directions of the drawings, and the cigarette packet wrapping paper described below is a hard packet wrapping paper, and may be referred to as a wrapping sheet.

Fig. 1 is a schematic front view of an overall plan view of a cigarette packet package paper unbinding and feeding system, fig. 2 is a schematic front view of a cigarette packet package paper unbinding and feeding device 200, including a positioning rail 80 vertically arranged, a single Zhang Xiao packet package paper sucking device 90 arranged below the positioning rail 80, and a single Zhang Xiao packet package paper driving belt, wherein the cigarette packet package paper unbinding and feeding system includes a cigarette packet package paper unbinding and feeding device 200, the cigarette packet package paper unbinding and feeding device 200 includes a whole bundle of packet package paper driving belt 70, a six-axis manipulator 100 for transporting the whole bundle of packet package paper to the whole bundle of packet package paper by the whole bundle of packet package paper driving belt 70, a plurality of brackets are arranged beside the six-axis manipulator 100, in the embodiment, the bracket one 300, the bracket two 400 and the bracket three 500 are included, the cigarette packet package paper unbinding and feeding device 200 includes a lifting fork 20, and the highest point periphery of the lifting fork 20 is provided with: the right side is provided with a whole bundle of small box packing paper conveying belt 70, the whole bundle of small box packing paper conveying belt 70 and the horizontal fork 22 of the lifting fork 20 are arranged on the same horizontal plane, an in-place sensor 73 is arranged beside the whole bundle of small box packing paper conveying belt, the left side is provided with a binding paper tensioning device 50, the binding paper tensioning device 50 comprises a tensioning suction head 53 arranged at the end part of a tensioning rod 52 close to one side of the lifting fork 20, a binding paper cutting device 10 is arranged right above the tensioning rod, a movable cutting knife 13 is arranged on the binding paper cutting device 10, a positioning track 80 is arranged below the movable cutting knife, a material level sensor 81 is arranged beside the positioning track 80, a mirror image D-shaped driving mechanism of a mirror image D-shaped movement track is connected right above the lifting fork 20 through a left lifting rod 38, the lifting rod 38 is arranged in a sleeve 38a in a sliding mode, the upper end of the sleeve 38a is fixed in the mirror image D-shaped driving mechanism, a support frame 45 is fixed on the left side of the lower end of the lifting fork 20, a rotary binding paper recovery mechanism 60 is arranged below the support frame 45, and a controller is arranged in a unbinding system.

In this embodiment, the positioning rail 80 is in the prior art, four corners of the cigarette packet packaging paper 71 with a rectangular structure of the positioning rail 80 are relatively provided with angle steel, the inner corners of the angle steel are relatively provided with the inner corners of the cigarette packet packaging paper 71 with 90 degrees, the bottom is provided with a narrow supporting edge, the cigarette packet packaging paper 71 is conveniently sucked and pulled out from the middle position below, and the upper part is in a splayed structure, so that the cigarette packet packaging paper 71 is conveniently placed in a direction frame formed by the four corners.

Fig. 3 is a schematic view of a binding paper cutting device 10 on one side of binding paper, the binding paper cutting device 10 includes a rodless cylinder 11, a moving slot 14 communicating with the inside and the outside is provided below or on the side surface of the rodless cylinder 11, the length direction of the moving slot 14 is consistent with the length direction of the rodless cylinder 11, an interlocking member moves in the moving slot 14, a moving table 12 is provided on the outer side of the interlocking member, a moving cutter 13 facing the binding paper 72 is provided on the moving table 12, in an embodiment, the moving slot 14 and the moving table 12 are positioned on the side surface of the rodless cylinder 11, and the moving cutter 13 is below the moving table.

Fig. 4 is a schematic top view of an "L" shaped lifting fork 20, the lifting fork 20 has an "L" shaped structure, the lifting fork 21 has a vertical side, the lifting rod 38 is fixed on the vertical side 21, the lower part of the vertical side 21 has a two-fork structure in the horizontal direction, the left side is fixed on the lifting rod 38, and the gap spacing between the horizontal forks 22 of the two-fork structure is larger than the width of the binding paper 72.

Fig. 5 is a schematic top view structure of a mirror image "D" driving mechanism, fig. 6 is a schematic top view structure of sector teeth 42 and a deformation ring track 34a in a track disc 34, the mirror image "D" driving mechanism is composed of a first rotating shaft component 30 and a second rotating shaft component 40, and is arranged in a housing 44, the first rotating shaft component 30 includes a first rotating shaft 30a, the second rotating shaft component 40 includes a second rotating shaft component 40a, the first rotating shaft 30a and the second rotating shaft component 40a are arranged in parallel in a horizontal direction, but the first rotating shaft and the second rotating shaft are located in an inclined plane, the left end of the first rotating shaft 30a is connected with a driving motor 46 through a transmission mechanism, a limit wheel 39 is arranged at the end of the first rotating shaft 30a, a limit switch 39a is arranged on the circumference of the limit wheel 39, the limit switch 39a is used for feeding back the end of a mirror image "D" stroke, whether the mirror image "D" is continuously operated, depending on the detection result of the level switch, the first rotating shaft 30a is provided with a track drum 32, the axle center of the track drum 32 is consistent with that of the first rotating shaft 30a, the periphery of the track drum 32 is provided with an omega-shaped groove track 33a which is connected end to end, a sliding pin 33b which slides along the track is arranged in the track, the sliding pin 33b is fixed at one end of a connecting rod 35, the other end of the connecting rod 35 is connected with a sliding block 36, the sliding block 36 is arranged on the periphery of the second rotating shaft 40a in a sliding way, a lifting gear 37 is arranged in the sliding block 36, the lifting gear 37 is horizontally and slidingly arranged on the second rotating shaft 40a, the upper end of a sleeve 38a is simultaneously fixed on the sliding block 36, a lifting rod 38 is slidingly arranged in the vertical direction in the sleeve 38a, the end part of the lifting rod 38 is a shaft-shaped rack 38b, the shaft-shaped rack 38b is processed into a rack structure at the upper half part of the circumference-shaped lifting rod 38, the opposite part of the rack is in a circular arc structure, the shaft-shaped rack 38b is meshed with the lifting gear 37, the one end of pivot one 30a is provided with track dish 34, track dish 34 side is provided with deformation ring track 34a, deformation ring track 34a is the recess of head and the tail intercommunication, the right-hand member of pivot two 40a is fixed with end tooth 41, the meshing has fan-shaped tooth 42 on the end tooth 41, set up the traveling pin 43a towards track disc on the fan-shaped tooth 42, traveling pin 43a slides in the recess, when pivot one 30a rotates, slide pin 33b slides along "omega" track, drive slider 36, sleeve 38a and lifter 38 slides in the left and right directions, pivot one 30a drives pivot two 40a clearance rotation through fan-shaped tooth 42, the lifter 38 that sets up on pivot two 40a lifts when fan-shaped tooth 42 rotates, make lift fork 20 follow mirror image "D" font orbit and remove.

Fig. 7 is a schematic top view of the binding tensioner 50. The paper binding tensioning device 50 is arranged above the supporting frame 45, the paper binding tensioning device 50 comprises a tensioning cylinder 51, a tensioning suction head 53 is arranged at the end part of a tensioning rod 52 of the tensioning cylinder 51, the height of the tensioning suction head 53 is higher than the vertical edge on the left side of the lifting fork 20 and lower than the height of the whole bundle of small box wrapping paper on the lifting fork 20, and the paper binding 72 of the whole bundle of small box wrapping paper on the lifting fork 20 is located in the travel range of the paper binding tensioning device 50.

In this embodiment, the tensioning cylinder 51 is a double-rod cylinder, and the middle of the tensioning cylinder 51 is a lifting rod 38 and a sleeve 38a at the periphery thereof.

Fig. 8 is a schematic front view of a paper bundle recycling mechanism, the paper bundle recycling mechanism 60 is mounted below a supporting frame by using a mounting plate 64, the paper bundle recycling mechanism 60 comprises a rotary cylinder 61, a paper bundle suction nozzle 63 is arranged at the end part of a rotary rod 62 of the rotary cylinder 61, an inclined slide plate 69 is arranged at the lower left side of the rotary cylinder 61, a recycling box 68 is arranged below the inclined slide plate 69, the paper bundle suction nozzle 63 of the paper bundle recycling mechanism 60 rotates to and fro between a gap of a two-fork structure and the upper side of the inclined slide plate 69, the paper bundle recycling mechanism 60 comprises an original position 65, a suction position 66 and a waste position 67, when the paper bundle 72 needs to be sucked, the paper bundle 72 rotates from the original position 65 to the suction position 66 to suck the paper bundle 72, vacuum is released when the paper bundle 72 reversely rotates to the waste position 67, the paper bundle 72 is placed on the inclined slide plate 69, and the paper bundle 72 falls into a recycling box 68 body along the inclined slide plate 69.

The lifting fork 20 is provided with a positioning sensor 23 beside, the whole bundle of small box packaging paper conveying belt 70 is provided with a feeding sensor beside, and the lifting gear 37 is in spline connection with the second rotating shaft 40 a.

The end part of the retaining manipulator is provided with a sucker and a recognition device, and the recognition device is provided with a special recognition system;

the right end of the first rotating shaft 30a is provided with a rotary switch, and the closing position of the rotary switch is consistent with the stopping position of the highest point of the lifting fork 20.

The method for unpacking and feeding the cigarette packet packaging paper comprises the following steps of:

1) After the equipment is started, the six-axis robot sequentially conveys a plurality of whole bundles of small box packaging papers to a whole bundle of small box packaging paper conveying belt 70;

2) The whole bundle of small box packing paper conveyor belt 70 pushes the whole bundle of small box packing paper at the forefront to a two-fork structure of the lifting fork 20 in the horizontal direction, and the in-place sensor 23 detects that the whole bundle of small box packing paper reaches the horizontal fork 22;

3) The tensioning cylinder 51 of the binding paper tensioning device 50 drives the tensioning sucker to approach the binding paper 72, and the binding paper 72 is sucked to back up to tension the binding paper 72;

4) The movable cutter 13 on the paper bundle cutting device 10 moves to cut the paper bundle 72;

5) The mirror image D-shaped driving mechanism drives the lifting fork 20 to vertically descend along the positioning track 80, the unpacked cigarette small box packaging paper 71 is placed in the positioning track 80 and then transversely moves leftwards, the lifting fork 20 ascends to return to the starting position after leaving the positioning track 80, the movement track returned to the starting position after leaving the positioning track 80 is of an arc structure, and the whole movement track is in the mirror image D shape;

6) Repeating the above 1) -5), stacking the bundle of the unpacked small box wrappers in the positioning track 80;

7) After the small boxes of packaging paper which are fully unbuckled are piled up in the track, waiting;

8) After the stacked and unbuckled small boxes of packaging paper in the positioning track 80 are lowered to the level sensor 81, the actions 1) to 5) are continued.

The invention has the positive effects that: by arranging a six-axis mechanical arm 100 beside a cigarette packet package feeding device 200, sucking a bundle of cigarette packet package 71 onto a whole bundle of packet package paper conveying belt 70 by using a sucker at the end part of the mechanical arm, pushing the whole bundle of packet package paper at the forefront onto a lifting fork 20 with an L-shaped structure by using the pushing force of the whole bundle of packet package paper conveying belt 70, when a positioning sensor 23 arranged beside the lifting fork 20 detects that a cylinder of a bundling device 50 above a bundling support frame 45 stretches to bundling paper 72, a tensioning suction disc head arranged at the end part of the cylinder rod can suck the bundling paper 72 to move left side of the bundling paper 72, so that the bundling paper 72 is in a tensioning state, in this state, a bundling paper cutting device 10 is arranged above the lifting fork 20, a bundling paper suction nozzle cutting device 13 is driven to cut the bundling paper 72, a bundling paper 72 cutting mechanism 60 arranged below the support frame 45 can be driven by using a rotating cylinder 61 to rotate an arm and a bundling paper 63 arranged at the end part to a fork lower clearance between two fork structures, and the bundling paper 72 can not be pressed on the two fork structures, and the bundling paper 72 can not be pressed between the two fork structures; the mirror image D-shaped surging track of the lifting fork 20 is synthesized by arranging a first rotating shaft component 30 and a second rotating shaft component 40 in a mirror image D-shaped driving mechanism and connecting the first rotating shaft component 30 and the second rotating shaft component 40 through a connecting rod 35 and a sector tooth 42, wherein the first rotating shaft 30a and the second rotating shaft component 40a which are parallel to each other can be driven by a motor 46 connected on the first rotating shaft component 30a to rotate through a transmission mechanism, a coaxial track drum 32 is arranged on the rotating shaft along the upper side, an omega-shaped groove track 33a which is connected end to end is arranged on the periphery of the track drum 32, the sliding block 36 can be driven to move left and right along the axial direction of the second rotating shaft component 40a through the connecting rod 35 and a sliding pin 33b in the rotating process of the first rotating shaft component 30a, the lifting fork 20 can move left and right in the left direction, the lifting fork 20 can be moved to the horizontal direction of the whole bundle of small box packaging paper conveyor 70 to agree with the horizontal plane and horizontally withdraw from the positioning track 80, the lifting gear 37 is arranged on the rotating shaft component 40a through a spline shaft, the shaft-shaped rack 38b is meshed with the lifting gear 37, the lifting gear 37 can realize axial sliding and rotation at the same time when the rotating shaft II 40a rotates, the lifting rod 38 with the shaft-shaped rack 38b can be driven to lift during rotation, so that lifting of the lifting fork 20 is realized, the fan-shaped teeth 42 are arranged at the end part of the rotating shaft II 40a, the movable pins 43a are arranged at the rear ends of the fan-shaped teeth 42, the movable pins 43a are moved in the deformed ring track 34a of the track disc 34 at the end part of the rotating shaft I30 a, intermittent rotation of the rotating shaft II 40a can be realized through the fan-shaped teeth 42 during rotation of the rotating shaft I30 a, mirror image D-shaped track movement is finally realized through the combination of the movement of the rotating shaft I30 a and the rotating shaft II 40a, thus realizing vertical reduction of the load of the upgrading fork, return at no load, horizontal withdrawal of the positioning track 80 after lifting and return to the initial position, the unbinding cigarette packet packaging paper 71 can be continuously conveyed into the positioning rail 80 through repeated lifting of the lifting fork 20, so that the single Zhang Xiangyan packet packaging paper 71 can be quickly sucked from the positioning rail 80 by utilizing the single Zhang Xiangyan packet packaging paper 71 suction device, placed on the single cigarette packet packaging paper conveyor belt 91 below and conveyed into a cigarette packet folding production line.

Claims (10)

1. The utility model provides a cigarette capsule wrapping paper bale breaking feeding system, includes the locating rail of erectting the setting, single Zhang Xiao box wrapping paper suction means, single Zhang Xiao box wrapping paper drive belt that locating rail below set up, its characterized in that: the cigarette small box packing paper unbinding and feeding system comprises a cigarette small box packing paper unbinding and feeding device and a cigarette small box packing paper unbinding and feeding device, wherein the cigarette small box packing paper unbinding and feeding device comprises a whole bundle of small box packing paper conveying belt, six-axis mechanical arms for conveying the whole bundle of small box packing paper to the whole bundle of small box packing paper conveying belt are arranged beside the six-axis mechanical arms, a plurality of brackets are arranged beside the six-axis mechanical arms, the cigarette small box packing paper unbinding and feeding device comprises a lifting fork, and the periphery of the highest point of the lifting fork is provided with: the right side and the lifting fork horizontal fork are provided with a whole bundle of small box packaging paper conveying belt on the same horizontal plane, the side of the whole bundle of small box packaging paper conveying belt is provided with an in-place sensor, the left side of the whole bundle of small box packaging paper conveying belt is provided with a bundling paper tensioning device, and the bundling paper tensioning device comprises a tensioning suction head arranged on one side close to the lifting fork; the automatic bundling machine is characterized in that a bundling paper cutting device is arranged right above the bundling paper cutting device, a movable cutting knife is arranged on the bundling paper cutting device, a positioning rail is arranged below the bundling paper cutting device, a material level sensor is arranged beside the positioning rail, a mirror image D-shaped driving mechanism for mirror image D-shaped movement tracks is connected to the uppermost part of a lifting fork through a lifting rod and a sleeve arranged on the periphery of the lifting rod, the lifting rod is arranged in the sleeve in a sliding lifting manner, the upper end of the sleeve is fixed in the mirror image D-shaped driving mechanism, a supporting frame is fixed on the left side of the lower end of the lifting fork, a rotary bundling paper recycling mechanism is arranged below the supporting frame, and a controller is arranged in a bundling feeding system.

2. A cigarette packet wrapper unbinding feed system according to claim 1, wherein: the lifting fork is of an L-shaped structure, a two-fork structure in the horizontal direction is arranged below the lifting fork, the left side of the lifting fork is fixed on the lifting rod, and the gap distance between the horizontal forks of the two-fork structure is larger than the width of binding paper.

3. A cigarette packet wrapper unbinding feed system according to claim 1, wherein: the paper bundling tensioning device is arranged above the supporting frame and comprises a cylinder, a tensioning suction head is arranged at the end part of a cylinder rod of the cylinder, the tensioning suction head is higher than the left vertical edge of the lifting fork and lower than the whole bundle of small box packaging paper on the lifting fork, and the paper bundling of the whole bundle of small box packaging paper on the lifting fork is located in the travel range of the cylinder of the paper bundling device.

4. A cigarette packet wrapper unbinding feed system according to claim 1, wherein: the paper bundling cutting device comprises a rodless cylinder, a movable groove communicated with the inside and the outside is arranged below or on the side face of the rodless cylinder, the length direction of the movable groove is consistent with that of the rodless cylinder, a linkage piece is arranged in the movable groove, a movable table is arranged on the outer side of the linkage piece, and a movable cutting knife facing to paper bundling is arranged on the movable table.

5. A cigarette packet wrapper unbinding feed system according to claim 1, wherein: the mirror image D-shaped driving mechanism comprises a first rotating shaft component and a second rotating shaft component, the first rotating shaft component comprises a first rotating shaft component and a second rotating shaft component, the second rotating shaft component comprises a second rotating shaft component, the first rotating shaft and the second rotating shaft are arranged in parallel in the horizontal direction, the left end of the first rotating shaft is connected with a driving motor through a transmission mechanism, a track drum is arranged on the first rotating shaft, the axis center of the track drum is consistent with that of the first rotating shaft, an omega-shaped groove track connected end to end is arranged on the periphery of the track drum, a sliding pin sliding along the track is arranged in the track, the sliding pin is fixed at one end of a connecting rod, the other end of the connecting rod is connected with a sliding block, the sliding block is horizontally arranged on the periphery of the rotating shaft in a sliding manner, a sliding gear is arranged in the sliding block, the sliding gear is horizontally arranged on the second rotating shaft, a sleeve upper end is simultaneously fixed on the sliding block, a lifting rod is vertically arranged in the sliding manner, the lifting rod end is a shaft-shaped rack, the shaft-shaped rack is meshed with the sliding gear, one end of the rotating shaft is provided with a track disc, the track disc is arranged on one end of the rotating shaft, the track is provided with a deformation ring track is arranged on the side surface of the track, the groove communicated end to end, the right end of the second rotating shaft is fixedly provided with a sector-shaped groove track, a sector-shaped track tooth, the sector-shaped track is meshed with the sector-shaped track, a sector-shaped track and a sector-shaped tooth is arranged on the track and the sliding pin, when the sector-shaped track is arranged in the sector-shaped track and the sliding pin is along the sector-shaped track and the sector-shaped track and the track is set in the direction.

6. A cigarette packet wrapper unbinding feed system according to claim 1, wherein: the paper binding recovery mechanism comprises a rotary cylinder, a rotary rod is fixed on a rotary shaft of the rotary cylinder, a paper binding suction nozzle is arranged at the end part of the rotary rod, an inclined sliding plate is arranged at the lower left part of the rotary cylinder, a recovery box is arranged below the inclined sliding plate, and the paper binding suction disc rotates to and fro between a gap of the two-fork structure and the upper part of the inclined sliding plate.

7. A cigarette packet wrapper unbinding feed system according to claim 1, wherein: a positioning sensor is arranged beside the lifting fork, a feeding sensor is arranged beside the whole bundle of small box packaging paper conveying belt,

a cigarette packet wrapper unbinding feed system according to claim 4, wherein: the sliding gear is in spline connection with the second rotating shaft.

8. A cigarette packet wrapper unbinding feed system according to claim 1, wherein: the six-axis manipulator end is provided with a sucker and a recognition device, and the recognition device is provided with a special recognition system.

9. A cigarette packet wrapper unbinding feed system according to claim 4, wherein: and a rotary switch is arranged at the right end part of the rotating shaft, and the closing position of the rotary switch is consistent with the stop position of the highest point of the lifting fork.

10. A method of unbinding and feeding cigarette packet wrappers, using a system for unbinding and feeding cigarette packet wrappers according to any one of claims 1-7, characterized in that: the method for unbinding and feeding the cigarette small box packaging paper comprises the following steps:

1) After the equipment is started, the six-axis robot sequentially conveys a plurality of whole bundles of small box packaging paper to a whole bundle of small box packaging paper conveying belt;

2) The whole bundle of small box packaging paper conveyor belt pushes the whole bundle of small box packaging paper at the forefront end to a two-fork structure in the horizontal direction of the lifting fork, and the in-place sensor detects that the whole bundle of small box packaging paper reaches the horizontal fork;

3) The tensioning cylinder of the binding paper tensioning device drives the tensioning sucker to be close to the binding paper, and the binding paper is adsorbed to be reversed, so that the binding paper is tensioned;

4) Moving a movable cutter on the binding paper cutting device to cut the binding paper;

5) The mirror image D-shaped driving mechanism drives the lifting fork to descend along the positioning track, the unpacked small box packaging paper is placed in the track and moves transversely to the left, and the lifting fork ascends to return to the starting position according to the mirror image D-shaped circular arc track after leaving the positioning track;

6) Repeating the actions 1) -5), and stacking the small cigarette box wrapping paper which is stacked and unbuckled in the positioning track;

7) After the small boxes of packaging paper which are fully unbuckled are piled up in the track, waiting;

8) And (3) continuing the actions of 1) to 5) after the small boxes of packaging paper stacked and unbinding in the positioning track descend to the material level sensor.