基于机器人技术的烟箱坯自动供料系统设计  

Design of automatic cigarette case blank feeding system based on robot technology

作　　者：白波 王平 刘元 张明平 BAI Bo;WANG Ping;LIU Yuan;ZHANG Mingping(Shifang Cigarette Factory,China Tobacco Sichuan Industrial Co.,Ltd.,Shifang 618499,Sichuan,China;Shanghai Tobacco Machinery Co.,Ltd.,Shanghai 200100,China;Suzhou Jinchen Intelligent Technology Co.,Ltd.,Suzhou 215000,Jiangsu,China)

机构地区：[1]四川中烟工业有限责任公司什邡卷烟厂,四川省什邡市618499 [2]上海烟草机械有限责任公司,上海市200100 [3]苏州锦晨智能科技有限公司,江苏省苏州市215000

出　　处：《烟草科技》2025年第4期80-87,共8页Tobacco Science & Technology

基　　金：四川中烟工业有限责任公司什邡卷烟厂2023年科技项目“基于机器人技术嘴棒智能上料系统的研发与应用”(202313)。

摘　　要：为解决条烟装箱过程中,烟箱坯上料自动化程度不高、劳动强度大、操作繁琐等问题,设计了一种烟箱坯自动供料系统。系统主要由工业机器人、末端执行装置、扎带剪切与回收装置及视觉系统等组成,可以实现烟箱坯的转运和扎带的去除与回收。末端执行装置由夹爪、压板和海绵吸盘等组成,可以在工业机器人带动下抓取一捆烟箱坯并将其先后转移至扎带剪切工位和烟箱库;视觉系统由两台3D视觉相机组成,可以提高烟箱坯抓取操作和扎带剪切操作的准确性。为提高扎带剪切效果、延长刀具使用寿命,基于有限元分析确定了扎带剪切与回收装置中刀具的刀尖角度为30°。现场测试结果表明,自动供料系统的烟箱坯供料速度为20.7个/min,约为人工上料速度的1.8倍。该系统可为降低工人劳动强度和提高卷烟包装过程的自动化水平提供技术支持。To reduce the labor intensity of the cigarette case filling process,an automatic case blank feeding system was designed.The system mainly consists of an industrial robot,an end actuator,a strap cutting and reclaiming device and a vision system.The automatic feeding system is responsible for transferring the strapped blanks,cutting the strap and reclaiming the cut straps.The end actuator consists of clamps,a pressing plate and a sponge sucker,it sequentially picks up the bundled case blanks and transfers them to the strap cutting station and the cigarette case blank storage area under the operation of the industrial robot.The vision system has two 3D vision cameras,it is helpful for raising the accuracy of case blank picking and strap cutting.To optimize the strap cutting and prolong the service life of the cutting knife,the blade tip angle of the knife was set at 30°determined by finite element analysis.The results of the field test showed that the automatic feeding system achieved a feeding speed of 20.7 blanks per minute,approximately 1.8 times the manual feeding speed.This automatic feeding system provides technical support for reducing labor intensity and improving automation in cigarette packaging.

关 键 词：烟箱坯 自动供料 机器人 扎带剪切 末端执行装置 3D视觉相机 

分 类 号：TS434[农业科学—烟草工业]