Unloading and storage device for raw tobacco bales based on machine vision

Abstract

The present invention discloses a raw tobacco bale unloading and storage device based on machine vision, including a feed conveyor line and an automatic palletizer arranged thereon, one end of the feed conveyor line is provided with a rotating conveyor line closely attached thereto, the rotating conveyor line is U-shaped, a support frame is provided between its horizontal ends, a crossbeam is slidably provided on the support frame, a visual positioning camera is provided at the midpoint of the crossbeam, sliding frames that can slide along the central axis of the crossbeam are provided on both sides of the visual positioning camera, a clamping assembly that can move up and down to clamp the bale is provided on the sliding frame, and a load-bearing conveyor line connected to the rotating conveyor line is provided below the clamping assembly. The beneficial effects of the present invention are mainly reflected in: the present invention realizes the quality and weight detection of raw tobacco bales one by one, greatly improves the degree of mastery and monitoring of the quality of raw tobacco, and provides reliable data support for tobacco storage safety, subsequent processing technology quality control and production scheduling.

Description

Technical Field

[0001] The invention relates to storage and framing equipment in the tobacco industry, and in particular to a machine vision-based unloading and storage device for raw tobacco and jute bags. Background Art

[0002] At present, the storage of raw tobacco in tobacco redrying enterprises is divided into two types: the more traditional and conservative manual unloading and sampling inspection method and the automatic unloading, inspection and sorting system of raw tobacco and tobacco packages.

[0003] The solutions and their shortcomings in each link of manual unloading and sampling inspection:

[0004] Manual unloading method: It requires a lot of manpower (about 6 to 10 people are needed to unload one truck). Since it is quite laborious to carry a pack of about 50KG of cigarette bales, the unloading workers usually throw the cigarette bales directly from the 4 to 5 meter high truck to the ground, and then the workers under the truck carry them away. This method directly leads to serious breakage of the original cigarette bales.

[0005] Chemical index sampling method of raw tobacco hemp bales before storage: Usually one sample is randomly selected for every 1,000 tobacco bales, and the chemical index is tested using a mobile chemical analyzer. The existing problems are: the chemical data detection time is long, the detection process requires the use of toxic chemical reagents, the sampling is not representative, the hardware equipment configuration is insufficient, the management means are relatively backward, and the level of informatization is not high. Due to the lack of fast, accurate and comprehensive metrological inspection methods, the test results of a randomly selected sample represent the chemical indicators of 1,000 pieces of tobacco leaves. The test data is not representative and cannot reflect the real situation. The measured data cannot accurately guide the blending ratio of raw tobacco in the subsequent processing links, which ultimately directly leads to the inability to meet the requirements of cigarette industry enterprises for the stability and homogenization of flue-cured tobacco raw materials.

[0006] The existing weighing method of raw tobacco bales: the sampling rate of the weight of the bales entering the warehouse is generally about 30%, that is, only about 30% of the raw tobacco bales in the whole truck are weighed, and the bales after unloading are piled on a cart, and 10 to 20 bales are weighed once. Disadvantages: poor sampling representativeness, the 30% sampling rate cannot represent the true weight of the whole truck of tobacco bales, the weight error introduced by weighing with a cart is large, and the weighing speed is slow and the efficiency is low.

[0007] In view of the above problems, it is urgent to develop a raw tobacco bale unloading and storage device based on machine vision. Summary of the invention

[0008] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a device for unloading and storing raw tobacco bales based on machine vision.

[0009] The purpose of the present invention is achieved through the following technical solutions:

[0010] A device for unloading and storing raw tobacco bales based on machine vision, comprising a feeding conveyor line and an automatic palletizer arranged thereon, wherein one end of the feeding conveyor line is provided with a rotating conveyor line closely attached thereto, the rotating conveyor line is U-shaped, and a support frame is provided between its horizontal ends, a crossbeam is slidably provided on the support frame, a visual positioning camera is provided at the midpoint of the crossbeam, sliding frames that can slide along the central axis of the crossbeam are provided on both sides of the visual positioning camera, a clamping assembly that can move up and down to clamp the bales is provided on the sliding frame, and a load-bearing conveyor line connected to the rotating conveyor line is provided below the clamping assembly.

[0011] Preferably, the clamping assembly includes a sliding block slidably arranged on the sliding frame, a bottom of the sliding block is fixedly provided with a bottom plate and flexible parts symmetrically arranged on both sides thereof, a grabbing part is fixedly provided at the bottom of each of the flexible parts, the flexible part includes a fixed seat fixedly provided on the bottom plate and a linear bearing coaxially fixedly provided on the fixed seat, a floating coupling matched with the linear bearing is provided in the linear bearing, a receiving end of the floating coupling extends into a receiving cavity of the fixed seat, and a diameter of the receiving end is larger than an inner diameter of a fixing ring fixedly provided on the bottom of the fixed seat and integrally formed with the fixed seat; a bearing cavity is also provided on the floating coupling, and a spring is configured to define the bearing cavity and the receiving cavity.

[0012] Preferably, the rotating conveyor line includes a U-shaped conveyor frame, on which a check weighing device is fixed. The check weighing device is close to the output end of the feed conveyor line, and rollers pivotally mounted on the conveyor frame are provided at both ends of the check weighing device.

[0013] Preferably, a detection component for detecting the nicotine value of the product in the sack is also provided between the rechecking weigher and the output end of the feeding conveyor line.

[0014] Preferably, a slide rail is fixedly provided on the longitudinal beam of the support frame, a sliding block matching the slide rail is provided on the sliding rail, the sliding block is fixedly connected to both ends of the cross beam, and a driving member capable of driving the sliding block to slide on the slide rail is provided on the cross beam.

[0015] Preferably, the visual positioning camera is fixed on the crossbeam through a connecting frame, and is an industrial CCD camera.

[0016] Preferably, the load-bearing conveyor line includes a load-bearing frame and a rotatable transmission belt wound around the load-bearing frame, and one end of the transmission end is connected to the rotating conveyor line through a burlap slide.

[0017] Preferably, the rotating conveyor line is in close contact with the two feeding conveyor lines, and its moving direction is spatially perpendicular to the moving direction of the feeding conveyor lines.

[0018] Preferably, the conveying direction of the rotating conveyor line is parallel to the conveying direction of the carrying conveyor line, and is spatially perpendicular to the conveying direction of the feeding conveyor line.

[0019] Preferably, a guardrail is fixedly provided on the side end of the load-bearing conveyor line away from the rotating conveyor line, and the distance between the guardrails is greater than the width of the truck.

[0020] The beneficial effects of the present invention are mainly reflected in:

[0021] 1. The present invention realizes the quality and weight detection of each raw tobacco bale. Compared with the traditional sampling detection method, it greatly improves the mastery and monitoring of the quality of raw tobacco, provides reliable data support for tobacco storage safety, subsequent processing technology quality control and production scheduling, and also has positive significance for the division of responsibilities when disputes arise between industrial and commercial handovers, and also provides a certain data base for the establishment of a tobacco quality traceability database;

[0022] 2. The grabbing parts cooperate with each other to grab the sack, and the flexible parts can drive the grabbing parts to adjust the micro distance up and down to prevent the grabbing parts from crushing the raw materials in the sack and ensure the qualified rate. At the same time, the device has a sophisticated structure and novel design. It realizes grabbing by machinery instead of manual grabbing, thereby improving the grabbing efficiency, and can be convenient for users to use, saving manpower for users;

[0023] 3. The gripping component can move in three axes and can reach any position for accurate and fast grasping. It has a high degree of automation and greatly improves work efficiency. At the same time, no manual operation is required, reducing work intensity;

[0024] 4. The present invention has a reasonable design, can be moved in multiple directions, reduces labor intensity and has high work efficiency. It is more conducive to improving the level of automation and information management, realizing automatic detection and statistical storage of raw cigarette quality data, while reducing labor intensity and improving the work efficiency of raw cigarette collection and storage. It has a wide range of applications and has good economic benefits after promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The technical solution of the present invention is further described below in conjunction with the accompanying drawings:

[0026] Figure 1 : A schematic structural diagram of a preferred embodiment of the present invention;

[0027] Figure 2 : Figure 1 A partial enlarged view of part A;

[0028] Figure 3 : A schematic diagram of the structure of a clamping assembly in a preferred embodiment of the present invention;

[0029] Figure 4: A three-dimensional diagram of a grabbing member in a preferred embodiment of the present invention;

[0030] Figure 5 : A three-dimensional diagram of a flexible member in a preferred embodiment of the present invention;

[0031] Figure 6 : Figure 5 sectional view of . DETAILED DESCRIPTION

[0032] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0035] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0036] like Figures 1 to 6As shown, the present invention discloses a device for unloading and storing raw tobacco bales based on machine vision, comprising two parallel feeding conveyor lines 1, on which an automatic palletizer 2 is fixed, and the automatic palletizer 2 can arrange the bales in the frame one by one on the feeding conveyor line 1 in an orderly and equidistant manner. In this preferred embodiment, there are two feeding conveyor lines 1, and of course, corresponding adjustments can be made according to actual needs, which all belong to the protection scope of the present invention and will not be described in detail here.

[0037] One end of the feed conveyor line 1 is provided with a rotating conveyor line 3 in close contact therewith, and the rotating conveyor line 3 includes a U-shaped conveyor frame 35, on which a verification weighing device 32 is fixed, and the verification weighing device 32 is close to the output end of the feed conveyor line 1, and both ends of the verification weighing device 32 are provided with rollers 33 pivotally arranged on the conveyor frame 35. The rollers 33 described in the present invention can be rollers with automatic power, or they can be driven by a driving source, such as adjacent rollers connected by a transmission belt, and any roller is connected to a driving motor by a connecting belt. Of course, it can also be a driving source of other structures, which all belong to the protection scope of the present invention and will not be described in detail here. Furthermore, a detection member 34 for detecting the nicotine value of the product in the sack 100 is also provided between the verification weighing device 32 and the output end of the feed conveyor line 1. The above design can detect the quality and weight of each raw tobacco bale. Compared with the traditional sampling detection method, it greatly improves the level of mastery and monitoring of the quality of raw tobacco, and provides reliable data support for tobacco storage safety, subsequent processing technology quality control and production scheduling. At the same time, it also has positive significance for the division of responsibilities when disputes arise between industrial and commercial handovers, and also provides a certain data basis for the establishment of a tobacco quality traceability database.

[0038] A support frame 4 is provided between the horizontal ends 31 of the rotating conveyor line 3 described in the present invention, a slide rail is fixedly provided on the longitudinal beam 42 of the support frame 4, a slider matching the slide rail is provided on the slide rail, the slider is fixedly connected to the two ends of the cross beam 41, and a driving member that can drive the slider to slide on the slide rail is provided on the cross beam 41. In this preferred embodiment, the driving member includes a servo motor fixedly provided on the cross beam, a driving gear is fixedly provided on the motor shaft of the servo motor, and the driving gear is meshed with a rack fixedly provided on the longitudinal beam 42. Of course, other driving members may also be used, all of which belong to the protection scope of the present invention and will not be described in detail.

[0039] Furthermore, a visual positioning camera 5 is provided at the midpoint of the crossbeam 41, and the visual positioning camera 5 is fixed on the crossbeam 41 through a connecting frame 51, and is an industrial CCD camera. The specific structure of the industrial CCD camera is prior art, and is not a design point of the present invention, and will not be described in detail here.

[0040] The visual positioning camera 5 is provided with a sliding frame 6 that can slide along the central axis of the beam 41 on both sides, and the sliding frame 6 is provided with a clamping component 7 that can move up and down to clamp the sack 100. The clamping component (7) includes a sliding block (79) slidably arranged on the sliding frame (6), and a bottom plate (71) and flexible members (72) symmetrically arranged on both sides thereof are fixedly provided at the bottom of the sliding block (79). In this embodiment, four flexible members 2 symmetrically arranged are provided on both sides of the bottom plate 1. Of course, different numbers of flexible members 2 can also be selected according to actual needs, and all belong to the protection scope of the present invention.

[0041] Another key point of the present invention is that a gripping member 3 is fixedly provided at the bottom of each flexible member 2, wherein the flexible member 2 comprises a fixed seat 21 fixedly provided on the bottom plate 1 and a linear bearing 22 fixedly provided on the fixed seat 21 and coaxial therewith, a floating coupling 23 matched therewith is provided in the linear bearing 22, a receiving end 231 of the floating coupling 23 extends and is placed in a receiving cavity 211 of the fixed seat 21, and the diameter of the receiving end 231 is larger than the inner diameter of a fixing ring 212 fixedly provided at the bottom of the fixed seat 21 and integrally formed therewith; a bearing cavity 232 is also provided on the floating coupling 23, and a spring 24 is configured and defined in the bearing cavity 232 and the receiving cavity 211. In the above structure, the floating coupling 23 can drive the gripping member 3 to adjust the micro-distance up and down along the central axis of the linear bearing 22 to prevent the gripping member from crushing the raw materials in the sack and ensure the qualified rate.

[0042] Furthermore, a spring bolt 26 threadedly connected to the bottom plate 1 is disposed in the accommodating cavity 211, and at least a portion of the spring bolt 26 extends into the bearing cavity 232, and the spring 24 is sleeved on the spring bolt 26. The spring bolt 26 can adjust the spring force of the spring 24 and guide the expansion and contraction of the spring 24.

[0043] In the present invention, the grabbing member 3 comprises a housing 31 fixedly connected to the floating coupling 23 through a connecting member 25, a supporting block 32 is fixedly arranged in the housing 31, a mounting seat 34 is pivotally arranged on the supporting block 32 through a rotating pin 33, and a hook 35 for grabbing the sack is fixedly arranged on the mounting seat 34. A connecting pin 36 is arranged on the mounting seat 34, and the connecting pin 36 at least partially extends outside the housing 31, and the connecting pin 36 extending outside the housing 31 is pivotally connected to the cylinder shaft of the telescopic cylinder 38 through a joint joint 37, and the telescopic cylinder 38 is pivotally arranged on the housing 31 through a connecting pin 39. The above structure is exquisite and novel in design, and the grabbing is realized by machinery, replacing manual grabbing, thereby improving the grabbing efficiency, and can be convenient for users to use, saving manpower for users.

[0044] The housing 31 is provided with a cover plate 311 which cooperates with the housing 31 to form a relatively sealed accommodation space. The cover plate 311 and the housing 31 are configured to define a fan-shaped slot 312 which matches the running track of the connecting pin 36. The setting of the cover plate 311 can play a protective role and protect the health of employees. The housing 31 is also fixed with a detection sensor for detecting the position of the hook 35.

[0045] The bottom plate 1 is provided with a visual collector 11, and the visual collector 11 is electrically connected to the telescopic cylinder 38. Optionally, the visual collector 11 is a CCD camera. In the above, the CCD camera at least includes an image sensor and an analog-to-digital conversion circuit. The image sensor is connected to the analog-to-digital conversion circuit. The analog-to-digital conversion circuit is provided with a communication interface. The image sensor converts the external light signal into an analog signal. The analog-to-digital conversion circuit converts the analog signal into a digital signal and transmits it to the processor. The CCD camera used in the present invention can meet the illumination requirements in an industrial manufacturing environment and has a high sensitivity. The system uses a communication interface for data transmission, which can effectively prevent interference from other signals and improve the stability of data transmission. At the same time, the CCD camera includes an optical lens connected to the fuselage, and the image sensor and the analog-to-digital converter are provided inside the fuselage. The optical lens gathers external light to the image sensor, which is conducive to the system to collect clear images.

[0046] In the present invention, a carrying conveyor line 8 connected to the rotating conveyor line 3 is provided below the clamping assembly 7, and the carrying conveyor line 8 includes a carrying frame 81 and a rotatable transmission belt 82 wound around the carrying frame 81, and one end of the transmission end 82 is connected to the rotating conveyor line 3 through a burlap slide. The conveying direction of the rotating conveyor line 3 is parallel to the conveying direction of the carrying conveyor line 8, and is vertical to the conveying direction of the feed conveyor line 1.

[0047] In addition, a guardrail 9 is fixedly provided at the side end of the carrying conveyor line 8 away from the rotating conveyor line 3, and the distance between the guardrails is greater than the width of the truck. The setting of the guardrail 9 can play a protective role and avoid damage to the human body caused by misoperation.

[0048] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0049] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for unloading and storing raw tobacco bales based on machine vision, comprising a feeding conveyor line (1) and an automatic palletizer (2) arranged thereon, characterized in that: One end of the feed conveyor line (1) is provided with a rotating conveyor line (3) in close contact therewith, the rotating conveyor line (3) is in a U shape, and a support frame (4) is provided between its horizontal ends (31), a crossbeam (41) is slidably provided on the support frame (4), a visual positioning camera (5) is provided at the midpoint of the crossbeam (41), both sides of the visual positioning camera (5) are provided with sliding frames (6) that can slide along the central axis of the crossbeam (41), the sliding frame (6) is provided with a clamping component (7) that can move up and down to clamp the sack (100), and a carrying conveyor line (8) connected to the rotating conveyor line (3) is provided below the clamping component (7); the clamping component (7) includes a sliding block (79) slidably provided on the sliding frame (6), a bottom plate (71) and flexible members (72) symmetrically provided on both sides of the sliding block (79), and each of the flexible members (72) is fixedly provided at the bottom There is a grasping member (73), the flexible member (72) comprises a fixed seat (721) fixed on the bottom plate (71) and a linear bearing (722) fixed on the fixed seat (721) and coaxial with the fixed seat, the linear bearing (722) is provided with a floating connecting shaft (723) matched with the linear bearing (722), the receiving end (7231) of the floating connecting shaft (723) extends and is placed in the receiving cavity (7211) of the fixed seat (721), and the receiving end (723 1) has a diameter that is larger than the inner diameter of a fixing ring (7212) fixedly mounted on the bottom of the fixing seat (721) and integrally formed therewith; the floating connecting shaft (723) is also provided with a bearing cavity (7232), and a spring (724) is configured and defined within the bearing cavity (7232) and the accommodating cavity (7211); the conveying direction of the horizontal end of the rotating conveyor line (3) is parallel to the conveying direction of the bearing conveyor line (8) and is spatially perpendicular to the conveying direction of the feeding conveyor line (1).

2. The unloading and storage device for raw tobacco bales based on machine vision according to claim 1 is characterized in that: The rotary conveyor line (3) comprises a U-shaped conveyor frame (35), on which a check weighing device (32) is fixedly arranged. The check weighing device (32) is close to the output end of the feed conveyor line (1), and rollers (33) pivotally arranged on the conveyor frame (35) are arranged at both ends of the check weighing device (32).

3. The unloading and storage device for raw tobacco bales based on machine vision according to claim 2 is characterized in that: A detection component (34) for detecting the nicotine value of the product in the sack (100) is also provided between the rechecking weigher (32) and the output end of the feeding conveyor line (1).

4. The unloading and storage device for raw tobacco bales based on machine vision according to claim 1 is characterized in that: A slide rail is fixedly provided on the longitudinal beam (42) of the support frame (4), a sliding block matching the slide rail is provided on the sliding rail, the sliding block is fixedly connected to both ends of the cross beam (41), and a driving member capable of driving the sliding block to slide on the slide rail is provided on the cross beam (41).

5. The unloading and storage device for raw tobacco bales based on machine vision according to claim 4 is characterized in that: The visual positioning camera (5) is fixed on the crossbeam (41) via a connecting frame (51) and is an industrial CCD camera.

6. The unloading and storage device for raw tobacco bales based on machine vision according to claim 5 is characterized in that: The bearing conveyor line (8) comprises a bearing frame (81) and a transmission belt (82) wound around the bearing frame (81) and capable of rotating. One end of the transmission belt (82) is connected to the rotating conveyor line (3) via a sack slide.

7. The unloading and storage device for raw tobacco bales based on machine vision according to claim 6 is characterized in that: The rotating conveyor line (3) is in close contact with the two feeding conveyor lines (1), and the movement direction of its horizontal end is spatially perpendicular to the movement direction of the feeding conveyor line (1).

8. The machine vision-based unloading and storage device for raw tobacco bales according to claim 7 is characterized in that: A guardrail (9) is fixedly provided on the side end of the load-bearing conveyor line (8) away from the rotating conveyor line (3), and the distance between the guardrails is greater than the width of the truck.

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