CN114803541A - Automatic feeding system of redrying formula robot - Google Patents
Automatic feeding system of redrying formula robot Download PDFInfo
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- CN114803541A CN114803541A CN202210412019.1A CN202210412019A CN114803541A CN 114803541 A CN114803541 A CN 114803541A CN 202210412019 A CN202210412019 A CN 202210412019A CN 114803541 A CN114803541 A CN 114803541A
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- automatic feeding
- robot
- tobacco
- weighing device
- cigarette
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- 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
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/02—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially horizontal transit otherwise than by bridge
- B65G63/022—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially horizontal transit otherwise than by bridge for articles
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- A—HUMAN NECESSITIES
- A24—TOBACCO; CIGARS; CIGARETTES; SIMULATED SMOKING DEVICES; SMOKERS' REQUISITES
- A24B—MANUFACTURE OR PREPARATION OF TOBACCO FOR SMOKING OR CHEWING; TOBACCO; SNUFF
- A24B3/00—Preparing tobacco in the factory
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
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Abstract
本发明涉及烟叶生产加工技术领域，特别涉及一种复烤配方机器人自动投料系统。本发明的复烤配方机器人自动投料系统包括装烟烟框、烟框运输设备、称重装置、自动投料机器人、烟叶抓取机构和输送线，所述装烟烟框堆放于仓储区，所述自动投料机器人设置于所述称重装置侧方，其机械手臂与所述烟叶抓取机构连接，所述输送线设置于所述称重装置一侧，所述烟框运输设备用于在所述仓储区和称重装置之间往返，并将所述装烟烟框转运放置于所述称重装置上，所述自动投料机器人用于操作所述烟叶抓取机构在所述称重装置处的装烟烟框中抓取烟叶，并放置于所述输送线上。优点：作业过程自动化运行，大量节省了人力成本，提高了作业效率及标准。
The invention relates to the technical field of production and processing of tobacco leaves, in particular to a robot automatic feeding system for redrying recipes. The automatic feeding system of the redrying recipe robot of the present invention includes a cigarette holder, a cigarette frame transportation device, a weighing device, an automatic feeding robot, a tobacco leaf grabbing mechanism and a conveying line. The cigarette holder is stacked in the storage area, and the The automatic feeding robot is arranged on the side of the weighing device, and its mechanical arm is connected with the tobacco leaf grabbing mechanism. The conveying line is arranged on one side of the weighing device. The storage area and the weighing device go back and forth, and the cigarette box is transferred and placed on the weighing device, and the automatic feeding robot is used to operate the tobacco leaf grabbing mechanism at the weighing device. Tobacco leaves are grabbed from the cigarette box and placed on the conveying line. Advantages: The automatic operation of the operation process saves a lot of labor costs and improves the operation efficiency and standards.
Description
Technical Field
The invention relates to the technical field of tobacco production and processing, in particular to an automatic feeding system of a redrying formula robot.
Background
With the international progress of threshing and redrying industries, with the comprehensive popularization of Chinese cigarettes in the national tobacco monopoly, and with the requirement of tobacco industries on threshing and redrying refined production and processing, the feeding mode of the formula threshing box type logistics system is a trend selected by the whole redrying enterprise, and a new thought and direction are provided for the selection of threshing and redrying formula threshing and feeding modes in future.
So that the industry can more comprehensively know various feeding processing modes of threshing and redrying. So as to realize the automatic and accurate formula production of the tobacco material and the effective feeding mode of the product quality tracing. The advantages and disadvantages of the threshing and redrying enterprises for realizing various feeding modes of the threshing and redrying of the formula are analyzed from the aspect of control of formula feeding, the modes for realizing the threshing and feeding of the formula are summarized and summarized, and suggestions are provided for the processing technology of the formula feeding mode of the threshing and redrying enterprises in the same line, so that the uniformity and the accuracy of raw tobacco mixing materials, the quality of finished tobacco strips and the processing flexibility and the efficiency of a production line can be greatly improved.
At present, in the tobacco leaf formula feeding, the existing tobacco leaf feeding mode is that manual tobacco taking is carried out and placed on a batching belt line, personnel are likely to be affected by subjective factors such as environment and psychology during operation, the tobacco leaf weight in unit time is placed differently, and meanwhile, due to some artificial leading factors, the feeding efficiency is low, the tobacco leaf formula quality is relatively low, and the quality grade of a final tobacco product is affected. Meanwhile, the manual feeding of the tobacco leaves consumes a large amount of manpower and financial resources, is low in efficiency, consumes time and labor, and is not beneficial to the large-scale production of the feeding of the tobacco leaf formula.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic feeding system of a redrying formula robot, and effectively overcomes the defects of the prior art.
The technical scheme for solving the technical problems is as follows:
the utility model provides an automatic material system of throwing of redrying prescription robot, including dress cigarette frame, cigarette frame transportation equipment, weighing device, throw material robot automatically, tobacco leaf snatchs mechanism and transfer chain, above-mentioned dress cigarette frame is stacked in the warehouse district, above-mentioned throw material robot set up in above-mentioned weighing device side, its robotic arm snatchs the mechanism with above-mentioned tobacco leaf and is connected, above-mentioned transfer chain sets up in above-mentioned weighing device one side, above-mentioned cigarette frame transportation equipment is used for reciprocating between above-mentioned warehouse district and weighing device, and transfer above-mentioned dress cigarette frame and place on above-mentioned weighing device, above-mentioned throw material robot automatically is used for operating above-mentioned tobacco leaf snatchs the mechanism and snatchs the tobacco leaf in the dress cigarette frame of above-mentioned weighing device department, and place on above-mentioned transfer line.
On the basis of the technical scheme, the invention can be further improved as follows.
The automatic feeding device comprises a weighing device, and is characterized by further comprising a control system, wherein the control system comprises a controller and a robot D vision system which is interconnected with the controller, the robot D vision system comprises a camera, the camera is erected above the weighing device through a support, and the automatic feeding robot is connected with the controller.
Further, the weighing device is an electronic weighing platform, and the electronic weighing platform is connected with the controller.
Furthermore, a slope lapped with the upper surface of the weighing device is arranged on the side of the weighing device, and the slope is used for the walking of the cigarette frame conveying equipment.
Further, above-mentioned cigarette frame transportation equipment is transport AGV, should transport AGV and above-mentioned controller wireless connection.
Further, the conveying line is a belt conveyor.
Further, the tobacco leaf grabbing mechanism is a robot gripper clamp.
The invention has the beneficial effects that: reasonable in design, the operation process automation moves, has saved the human cost in a large number, has improved operating efficiency and standard.
Drawings
FIG. 1 is a schematic structural diagram of an automatic feeding system of a redrying formula robot according to the present invention;
FIG. 2 is a schematic structural diagram of some other embodiments of a tobacco gripping mechanism in an automatic feeding system of a redrying formula robot according to the present invention;
fig. 3 is a schematic structural view of the tobacco gripping assembly according to the embodiment of fig. 2.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a cigarette containing frame; 2. a tobacco frame transport device; 3. an automatic feeding robot; 5. a conveying line; 6. a weighing device; 7. a tobacco leaf grabbing mechanism; 8. a camera;
71. a mounting frame; 72. a first lifting mechanism; 73. a tobacco leaf grasping assembly; 74. a two-dimensional moving assembly; 75. a smoke supporting plate; 721. mounting a plate; 722. a first lifting cylinder; 723. a guide post; 724. a guide slide rail; 725. a slide base; 731. a carrier plate; 732. a clamping jaw; 733. a drive mechanism; 741. a horizontal translation module; 742. a vertical lifting module; 751. a limiting part; 7331. a telescoping device; 7332. a rotating shaft; 7333. a connecting rod.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example (b): as shown in fig. 1, the automatic feeding system of the redrying formula robot of this embodiment includes a tobacco containing frame 1, a tobacco frame transporting device 2, a weighing device 6, an automatic feeding robot 3, a tobacco leaf grasping mechanism 7 and a conveying line 5, wherein the tobacco containing frame 1 is stacked in a storage area, the automatic feeding robot 3 is disposed at a side of the weighing device 6, a mechanical arm of the automatic feeding robot is connected with the tobacco leaf grasping mechanism 7, the conveying line 5 is disposed at one side of the weighing device 6, the tobacco frame transporting device 2 is configured to reciprocate between the storage area and the weighing device 6 and transfer and place the tobacco containing frame 1 on the weighing device 6, and the automatic feeding robot 3 is configured to operate the tobacco leaf grasping mechanism 7 to grasp tobacco leaves in the tobacco containing frame 1 at the weighing device 6 and place the tobacco leaves on the conveying line 5.
In this embodiment, the tobacco loading frame 1 is mainly used for loading tobacco leaves, and the weight of the tobacco is about 400-600 KG. Tobacco frame transportation equipment 2 mainly used dress cigarette frame 1 transport and dress cigarette frame 1 transport of prepareeing material, every tobacco frame transportation equipment 2 once can carry a dress cigarette frame 1, carry dress cigarette frame 1 and weigh on the weighing device 6, automatic feeding robot 3 control tobacco leaf snatchs mechanism 7 and snatchs the tobacco leaf in dress cigarette frame 1, place the tobacco leaf on transfer chain 5 after snatching from dress cigarette frame 1 again, the full automatization action that the tobacco leaf snatched and placed has wholly been realized, realize the production line mode of less humanization even unmanned. It should be noted that: in the tobacco grabbing process, the weighing device 6 monitors the weight of the tobacco leaves in the tobacco containing frame 1 in real time (the difference value between the total weight after grabbing every time and the weight weighed last time can obtain the quantity of the tobacco leaves grabbed this time), so that the placing uniformity of the tobacco leaves is judged.
The operation flow is as follows:
1) the cigarette frame conveying equipment 2 conveys the cigarette frame 1 filled with cigarettes to a weighing device 6;
2) the automatic feeding robot 3 controls the tobacco leaf grabbing mechanism 7 to grab tobacco leaves from the tobacco leaf loading frame 1 and then place the tobacco leaves on the tobacco leaf conveying line 5, and the weighing device 6 monitors the weight of the grabbed tobacco leaves in real time and feeds weight change information back to operators.
The whole system has reasonable design, the operation process runs automatically, the labor cost is greatly saved, and the operation efficiency and the standard are improved
As a preferred embodiment, the automatic feeding device further comprises a control system, the control system comprises a controller and a robot 3D vision system interconnected with the controller, the robot 3D vision system comprises a camera 8, the camera 8 is erected above the weighing device 6 through a bracket, and the automatic feeding robot 3 is connected with the controller.
In the above embodiment, the whole system is connected to the control system, that is, the weighing device 6, the tobacco frame transporting device 2, and the automatic feeding robot 3 are respectively connected to the control system, the whole control system records the weight change of the weighing device 6, and at the same time, controls the operation of the automatic feeding robot 3 and the tobacco leaf grasping mechanism 7, and controls the automatic transportation and supplement of the tobacco frame transporting device 2, so as to realize full-automatic operation, and improve the operation efficiency, specifically, the camera 8 of the 3D vision system can detect the tobacco leaf change (picture generation) in the tobacco frame 1 on the weighing device 6, and feed back the tobacco leaf change to the 3D vision system, and process and analyze the image, and feed back the tobacco leaf change to the control system, and the control system controls the operation of the automatic feeding robot 3 according to the feedback information, so that the tobacco leaf grasping mechanism 7 grasps the tobacco leaf in the corresponding area in the tobacco frame 1, of course, if the tobacco holding frame 1 finishes the tobacco grabbing, the control system controls the tobacco holding frame transporting equipment 2 to move the empty tobacco holding frame 1 according to the information fed back by the 3D vision system, and transports the tobacco holding frame 1 filled with the tobacco from the storage area to the weighing device 6 for replenishment.
It should be added that: the control system is a control system commonly used by robots, is widely applied to the intelligent warehouse logistics industry, and can be used for flexibly configuring models and parameters according to actual requirements, and the specific principle of the control system is not described herein again.
The following are specifically mentioned: the 3D vision system is the prior art, and is widely applied to intelligent production equipment, and only the model and parameters are flexibly configured according to actual requirements, and the specific principle thereof is not described herein again.
In a preferred embodiment, the weighing device 6 is an electronic weighing platform, and the electronic weighing platform is connected to the controller.
In the above embodiment, the weighing device 6 adopts a conventional electronic weighing platform, which can display weight change information on a display screen in real time, feed back the information to the control system, record the information, control the grasping amount in the grasping process, and ensure the uniformity of grasping tobacco leaves and the consistency of weight each time.
In a preferred embodiment, a slope (indicated by a in the figure) overlapping the upper surface of the weighing device 6 is provided at a side of the weighing device 6, and the slope is used for the movement of the cigarette frame transporting device 2.
In the above embodiment, the design of slope makes things convenient for cigarette frame transportation equipment 2 to move on it to the transport that will adorn cigarette frame 1 is smooth and easy.
In this embodiment, above-mentioned cigarette frame transportation equipment 2 adopts prior art's transport AGV, and this transport AGV and above-mentioned controller wireless connection realize intelligent, automatic operation, and this transport AGV is prior art, and the wide application is in intelligent production facility (storage trade is many especially), according to actual demand nimble configuration model and parameter can, its concrete principle does not have here to be repeated.
In this embodiment, the conveying line 5 is a conventional belt conveyor, and the model and the parameters may be flexibly configured according to actual requirements, and the specific principle is not described herein again.
In this embodiment, the tobacco gripping mechanism 7 adopts an existing robot gripper clamp, such as two-jaw, four-jaw, and multi-gripper clamps, and the model and parameters can be flexibly configured according to actual requirements, and the specific principle thereof is not described herein.
Of course, the tobacco gripping mechanism 7 according to the present embodiment may also adopt the following structural design:
as shown in fig. 2 and 3, the tobacco leaf grasping mechanism 7 includes a mounting frame 71, a first lifting mechanism 72, a tobacco leaf grasping assembly 73, a two-dimensional moving assembly 74 and a tobacco supporting plate 75, the mounting frame 71 is used for being connected with a robot, the first lifting mechanism 72 is assembled on the mounting frame 71, the tobacco leaf grasping assembly 73 is positioned below the mounting frame 71 and is in transmission connection with the first lifting mechanism 72, the two-dimensional moving assembly 74 is assembled on the mounting frame 71, the tobacco supporting plate 75 is positioned below the mounting frame 71 and is in transmission connection with the two-dimensional moving assembly 74, and the two-dimensional moving assembly 74 is used for driving the tobacco supporting plate 75 to move up and down and horizontally move between two ends below the mounting frame 71.
The grabbing process is as follows:
the mounting frame 71 is connected with the automatic feeding robot 3, the whole mechanism is driven to move in a space area between the tobacco containing frame 1 and the conveying line 5 by the automatic feeding robot 3, specifically, when tobacco leaves are grabbed, the automatic feeding robot 3 moves the whole device to the position above the tobacco containing frame 1, the tobacco supporting plate 75 is located at one end of the mounting frame 71 (namely, located on the side of the tobacco grabbing component 73), when the tobacco leaves are grabbed, the first lifting mechanism 72 drives the whole tobacco grabbing component 73 to move downwards to be close to the tobacco leaves, then the tobacco leaves with standard weight are grabbed by the tobacco grabbing component 73, then the first lifting mechanism 72 is lifted to return, meanwhile, the two-dimensional moving component 74 drives the tobacco supporting plate 75 to move downwards to the side lower part of the tobacco leaves firstly, then the tobacco leaves are moved transversely to the lower part of the tobacco leaves, finally the tobacco supporting plate 75 is driven to move upwards to support the tobacco leaves from the lower part, finally, the automatic feeding robot 3 drives the whole device to move to the position above the conveying line 5 to lower part for tobacco leaves to operate the tobacco leaves Specifically, the lowering process: the tobacco supporting plate 75 is driven by the two-dimensional moving assembly 74 to move to the side of the tobacco grabbing assembly 73, then the first lifting mechanism 72 moves downwards to enable the tobacco grabbing assembly 73 to be close to the conveying surface of the conveying line 5, then the tobacco grabbing assembly 73 is opened, and tobacco leaves fall and are placed on the conveying line 5.
In a preferred embodiment, both sides of the cigarette supporting plate 75 are respectively bent upward to form a stopper 751.
In the above embodiment, hold in the palm cigarette board 75 global design for the frid structure of "U" type, rely on spacing portion 751 of both sides can wrap up the tobacco leaf from both sides, the effectual tobacco leaf that prevents is grabbing the back and transferring the condition that the in-process appears the tobacco leaf and drops to transferring.
In a preferred embodiment, the two-dimensional moving assembly 74 includes a horizontal translation module 741 and a vertical lifting module 742, the horizontal translation module 741 is mounted to a lower end of the mounting bracket 71, the vertical lifting module 742 is connected to a driving end of the horizontal translation module 741, the vertical lifting module 742 is connected to an upper end of the smoke supporting plate 75, the horizontal translation module 741 is configured to drive the vertical lifting module 742 and the smoke supporting plate 75 to translate between two ends below the mounting bracket 71, and the vertical lifting module 742 is configured to drive the smoke supporting plate 75 to move up and down.
In the above embodiment, the driving end of the horizontal translation module 741 drives the vertical lifting module 742 to move between two ends of the mounting frame 71, the vertical lifting module 742 drives the whole tobacco supporting plate 75 to lift and adjust, and the two modules are matched with each other, so that the tobacco supporting plate 75 can be well driven to move below and laterally of the tobacco grabbing component 73.
More specifically, the horizontal translation module 741 is a rodless cylinder horizontally mounted to the lower end of the mounting bracket 71, and the slider constitutes the driving end thereof, and the vertical lifting module 742 is a guide cylinder vertically mounted to the lower end of the slider of the rodless cylinder, and the telescopic end of the guide cylinder faces downward and is connected to the upper end of the smoke supporting plate 75.
In the above embodiment, the horizontal translation module 741 is a conventional rodless cylinder, and is stably and compactly assembled with the mounting frame 71, and the vertical lifting module 742 is a conventional cylinder, and when the horizontal translation module is used, the cylinders are all connected to the control system for automatic control.
In this embodiment, the mounting bracket 71 may be a conventional flat plate member, which facilitates the stable mounting and matching of other components.
As a preferred embodiment, as shown in fig. 2, the tobacco gripping assembly 73 includes a support plate 731, a plurality of pairs of clamping jaws 732 and a driving mechanism 733, the support plate 731 is drivingly connected to the first lifting mechanism 72, the plurality of pairs of clamping jaws 732 are spaced apart from each other along the extending direction of the two ends of the mounting frame 71, the clamping jaws 732 are arc-shaped jaws, each pair of clamping jaws 732 are symmetrically distributed on two sides of the support plate 731, the arc-shaped openings are relatively close to each other, the upper end of each pair of clamping jaws 732 is rotatably connected to the lateral ends of the support plate 731, the lower ends of the clamping jaws 732 extend below two sides of the support plate 731, the driving mechanism 733 is assembled on the support plate 731 and is connected to the upper end of each pair of clamping jaws 732, and the driving mechanism 733 is configured to synchronously rotate and open and close the plurality of pairs of clamping jaws 732.
In the above embodiment, the driving mechanism 733 drives the pairs of clamping jaws 732 to operate synchronously, specifically: the two jaws 732 in each pair of jaws 732 rotate relatively closer (closer) or farther (farther) to achieve a gripping or releasing action, and the multiple pairs of jaws 732 make the gripping range of the whole tobacco gripping assembly 73 wide and the efficiency high.
More specifically, the driving mechanism 733 includes at least two telescoping devices 7331, two rotating shafts 7332, and at least two pairs of connecting rods 7333, the telescoping devices 7331 are respectively mounted on the upper end of the carrier plate 731, the two rotating shafts 7332 are respectively horizontally disposed on the upper portions of the two sides of the carrier plate 731, the rotating shafts 7332 extend toward the two ends of the mounting frame 71, the upper ends of the clamping jaws 732 are respectively provided with extending portions, the extending portions are respectively provided with through holes for the rotating shafts 7332 to pass through, the rotating shafts 7332 respectively pass through the through holes of the extending portions on the upper ends of the clamping jaws 732 on the same side, at least two pairs of connecting rods 7333 are in one-to-one correspondence with at least two telescoping devices 7331, one end of each pair of connecting rods 7333 is movably connected with the corresponding telescoping end of the telescoping device 7331, the other ends of the two connecting rods are movably connected with the two rotating shafts 7332, the telescoping devices 7331 are used for driving one end of each pair of connecting rods 7333 connected therewith to move up and down, so that the other end of each pair of the connecting rods 7333 drives the two rotating shafts 7332 to rotate in opposite directions synchronously, and further drives each pair of the clamping jaws 732 to rotate to open and close.
In the above embodiment, the two telescopic devices 7331 synchronously drive the two pairs of connecting rods 7333 to move up and down with the respective connected ends, so that the two rotating shafts 7332 can be driven to rotate reversely by the connecting rods 7333, the multiple pairs of clamping jaws 732 can be driven to open and close in the process of the reverse rotation of the two rotating shafts 7332, the whole design is very reasonable and ingenious, and the good grabbing and releasing of the tobacco leaves can be realized.
In the above embodiment, the telescopic device 7331 may be implemented by a conventional clamping jaw cylinder, the upper end of the carrier plate 731 is provided with columns corresponding to the telescopic devices 7331 one to one, the clamping jaw cylinder is vertically fixed to the corresponding column, the end of the piston rod of the clamping jaw cylinder is movably connected to one end of each pair of the connecting rods 7333, and the telescopic device 7331 is fixed to the carrier plate 731 through the column, so that the installation is firmer and more compact.
It needs to be added that: the piston rod of the clamping jaw cylinder faces downwards and is connected with a fisheye joint, and one end of each pair of connecting rods 7333 penetrates through a hole of the fisheye joint through a pin shaft and is connected with the fisheye joint in a rotating mode.
As a preferred embodiment, the first lifting mechanism 72 includes a mounting plate 721 and a first lifting cylinder 722, the mounting plate 721 is parallel and spaced apart from the mounting frame 71, the first lifting cylinder 722 is vertically mounted on the upper end of the mounting plate 721, and a piston rod of the first lifting cylinder passes through the mounting plate 721 and is in transmission connection with the upper end of the mounting plate 731.
In the above embodiment, the first lifting mechanism 72 has a simple structure and design, and is assembled with the carrier plate 731 compactly and stably.
As a preferred embodiment, the first lifting mechanism 72 further includes two guiding pillars 723, the two guiding pillars 723 are respectively vertically disposed at intervals at the upper end of the carrier plate 731, and the upper ends of the two guiding pillars 723 respectively pass through the hole locations adapted to the mounting plate 721, guiding sliding rails 724 are vertically disposed on the guiding pillars 723, and sliding seats 725 slidably connected to the guiding sliding rails 724 are correspondingly disposed at the upper ends of the mounting plate 721.
In the above embodiment, in the process that the first lifting mechanism 72 drives the carrier plate 731 to move up and down, the guide rail 724 on the guide post 723 can slide up and down along the slide seat 725 at the upper end of the mounting plate 721, so as to play a role in guiding the carrier plate 731 to lift up and down, thereby preventing the carrier plate 731 from being laterally deviated or tilted due to external interference in the process of lifting up and down, and further improving the operation precision of the whole tobacco leaf grabbing assembly 73.
In this embodiment, at least two sets of the first lifting mechanisms 72 are disposed between two sides of the mounting frame 71 at intervals, and at least two sets of the tobacco leaf grabbing components 73 are disposed and are in transmission connection with at least two sets of the first lifting mechanisms 72 in a one-to-one correspondence manner.
In the above embodiment, the tobacco gripping assembly 73 is configured with at least two groups in the whole tobacco gripping mechanism 7, so that high-efficiency operation can be realized, and it should be noted that: the two sides of the tobacco supporting plate 75 cover the width of the two sides of the tobacco leaves grabbed by the tobacco grabbing components 73, so that one-time grabbing operation is ensured, good supporting and lifting effects can be provided for the grabbed tobacco leaves, and the tobacco leaves are prevented from dropping in the grabbing and moving processes.
It should be added that: in the whole tobacco leaf grabbing mechanism 7, the involved power elements, such as the two-dimensional moving assembly 74 (the horizontal translation module 741 and the vertical lifting module 742), the first lifting cylinder 722 and the clamping jaw cylinder (the telescopic device 7331) are all connected into a control system (a controller), so as to realize automatic operation.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (7)
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| CN202210412019.1A CN114803541A (en) | 2022-04-19 | 2022-04-19 | Automatic feeding system of redrying formula robot |
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| CN202210412019.1A CN114803541A (en) | 2022-04-19 | 2022-04-19 | Automatic feeding system of redrying formula robot |
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| CN112978350A (en) * | 2021-02-01 | 2021-06-18 | 天昌国际烟草有限公司 | Tobacco leaf grabbing device and method |
| CN214802252U (en) * | 2021-05-20 | 2021-11-23 | 北京紫东科技有限公司 | Automatic tobacco leaf feeding device based on truss manipulator |
| CN114162637A (en) * | 2022-02-11 | 2022-03-11 | 上海启迪睿视智能科技有限公司 | Tobacco leaf feeding system and method |
| CN217349887U (en) * | 2022-04-19 | 2022-09-02 | 中烟物流技术有限责任公司 | Automatic feeding system of redrying formula robot |
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2022
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| US4095606A (en) * | 1976-08-23 | 1978-06-20 | T & F Industries, Inc. | Method for carrying flexible goods such as tobacco |
| CN109941738A (en) * | 2019-04-23 | 2019-06-28 | 云南昆船烟草设备有限公司 | A kind of device and method that tobacco pile is thin layer |
| CN111109637A (en) * | 2020-02-28 | 2020-05-08 | 南华大学 | Tobacco leaf redrying mechanized feeding system and feeding method |
| CN111358033A (en) * | 2020-02-28 | 2020-07-03 | 南华大学 | Semi-automatic feeding system and method for redrying tobacco leaves |
| CN112978350A (en) * | 2021-02-01 | 2021-06-18 | 天昌国际烟草有限公司 | Tobacco leaf grabbing device and method |
| CN214802252U (en) * | 2021-05-20 | 2021-11-23 | 北京紫东科技有限公司 | Automatic tobacco leaf feeding device based on truss manipulator |
| CN114162637A (en) * | 2022-02-11 | 2022-03-11 | 上海启迪睿视智能科技有限公司 | Tobacco leaf feeding system and method |
| CN217349887U (en) * | 2022-04-19 | 2022-09-02 | 中烟物流技术有限责任公司 | Automatic feeding system of redrying formula robot |
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