Design and Implementation of Prefabricated Box Flexible Loading System Based on Cooperative Robot

At present, the packaging of heterosexual cigarettes in cigarette factories is mainly achieved by manual methods. Manual packaging of special-shaped cigarette products has high labor cost, low production efficiency and uneven quality, which can not meet the market demand for special-shaped cigarette products. With the maturity of Industry 4.0 technology, the application of collaborative robots in industrial production is more and more extensive, especially in the field of heterogeneous cigarette production. At present, the common packaging forms of heterogeneous cigarette products have heaven and earth open, double open, flat push and so on. Using the high flexibility of cooperative robots, the problem of changing the packaging action of e-cigarette products can be well solved. Based on the packaging process of Hongtashan (Fengzhong branch) and Yuxi (Jade Xiaozhi) cigarette products, a non-open and easy to expand preformed strip packing system was designed by using cooperative robot as the actuator and visual inspection system. Through the analysis and optimization of the timing rhythm, the packaging molding speed of 12 pieces/minute (120 packages/minute) was achieved, and the product quality qualified rate reached 100%. The design and development of an open and easy to expand preformed strip box filling system meet the requirements of use.