An intelligent tobacco stem feeding system based on mobile vision technology

Abstract

The present invention relates to an intelligent tobacco stem feeding system based on mobile vision technology, which includes a dual-axis truss robot arranged in a specific area, a tobacco stem bale unloading and palletizing mechanism, a tobacco stem bale unpacking and discharging mechanism, a vision mobile mechanism, an empty tobacco stem bale recycling bin mechanism, and a feeding dust prevention mechanism; one end of the dual-axis truss robot is a cantilever beam structure, the tobacco stem bale unloading and palletizing mechanism is installed on the first motion axis of the dual-axis truss robot, and the tobacco stem bale discharging mechanism is installed on the second motion axis of the dual-axis truss robot; a vision mobile mechanism is installed above the dual-axis truss robot, and the feeding dust prevention mechanism is arranged at the feeding port of the tobacco stem conveyor. The intelligent system of this technical solution completely replaces manual operation, realizes all processes of transferring tobacco stem bales from the transport vehicle to the designated area, from the designated area to the tobacco stem conveyor, unpacking and discharging of tobacco stem bales, and recycling of empty tobacco stem bales, and truly realizes the automation and intelligence of tobacco stem feeding.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation and intelligence in cigarette production, and particularly relates to an intelligent tobacco stalk feeding system based on mobile vision technology. Background Art

[0002] Currently in the tobacco leaf processing workshop, the feeding of tobacco stalks is mostly completed manually: the tobacco stalk packages are transported by a transport vehicle to a designated area and stacked irregularly. A remote control is used to move the hook (currently three hooks) in the east-west and up-down directions. The operator uses the remote control to move the hook to the position where the tobacco stalk package needs to be opened, and manually hooks three bags of tobacco stalk packages with the three hooks respectively (the tobacco stalk packages in the north-south direction need to be pulled by the operator with the hook to this position for hooking). After the hooking is completed, when the remote control is used to move the tobacco stalk package to a position level with the dust removal hood, the operator fixes the tobacco stalk package with one hand and uses the other hand to operate the cutting knife to cut open the bottom of the tobacco stalk package, and then manually shakes it to make the tobacco stalks completely fall onto the conveyor belt (the same operation is performed for the other two tobacco stalk packages, but there is a process of rotating the hook to find the unopened tobacco stalk package in the middle). After the opening is completed, the empty tobacco stalk package is manually placed at the specified location.

[0003] In order to improve the overall automation level and achieve staff reduction and efficiency increase, on the premise of meeting the production process requirements, it is planned to use automated equipment and robots to achieve the automation of production. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent tobacco stalk feeding system based on mobile vision technology to solve the problem of full-process automation and intelligence from the transportation and unloading of tobacco stalk packages to the recycling of empty tobacco stalk packages.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] The technical solution of the intelligent tobacco stalk feeding system based on mobile vision technology mainly consists of a double-axis truss robot system, a mobile vision system, a tobacco stalk package unloading and palletizing mechanism, a tobacco stalk package breaking and discharging mechanism, a tobacco stalk package feeding dust prevention mechanism, an empty tobacco stalk package recycling barrel mechanism, a modified hoist, etc. In this solution, the double-axis truss robot can not only grab the package from the transport vehicle and place it in the designated area, but also grab the package from the designated area, open the package and convey it onto the conveyor belt, realizing overall automation; the original hoist can be reserved for backup after transformation to prevent equipment failure and can be manually operated by workers to ensure production; a set of mobile vision system completes the positioning of tobacco stalk packages on the transport vehicle, the positioning of tobacco stalk packages in the placement area, and the detection of sparks; the package is opened only when axis 2 moves above the funnel to ensure that the tobacco stalks will not spill.

[0007] The beneficial effects of the present invention are:

[0008] The intelligent system of this technical solution completely replaces manual operation, realizing all processes of transferring the tobacco stem bales from the transport vehicle to the designated area, from the designated area to the tobacco stem conveyor, as well as unpacking and discharging the tobacco stem bales and recycling the empty tobacco stem bales, truly achieving the automation and intelligence of tobacco stem feeding. Brief Description of the Drawings

[0009] Figure 1 It is the layout diagram of the intelligent tobacco stem feeding system based on mobile vision technology of the present invention;

[0010] Figure 2 It is the schematic diagram of the dual-axis truss robot;

[0011] Figure 3 It is the mechanism for unloading and stacking tobacco stem bales from the vehicle;

[0012] Figure 4 It is the cross universal joint mechanism;

[0013] Figure 5 It is the mechanism for unpacking and discharging tobacco stem bales;

[0014] Figure 6 It is the mechanism for slicing tobacco stem bales;

[0015] Figure 7 It is the hook rotation mechanism;

[0016] Figure 8 It is the visual moving mechanism;

[0017] Figure 9 It is the mechanism for recycling empty tobacco stem bales;

[0018] Figure 10 It is the dust prevention mechanism for feeding;

[0019] Figure 11 It is the modified hoist. Detailed Description of the Preferred Embodiment

[0020] The technical solution of the present invention will be described in detail below through embodiments. The following embodiments are only exemplary and can only be used to explain and illustrate the technical solution of the present invention, rather than being construed as a limitation to the technical solution of the present invention.

[0021] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings. These 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. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0022] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to" 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 directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0023] The technical solution of the present invention will be further described in detail through the following specific embodiments in conjunction with the drawings.

[0024] As Figures 1 to 11 shown, an intelligent tobacco stem feeding system based on mobile vision technology is characterized in that: the original fixed hoist 10 is transformed into a form with rolling wheels, a mobile track 11 is laid on the ground, a dual-axis truss robot 1 is erected in the designated placement area of the tobacco stem packages, a tobacco stem package unloading and palletizing mechanism 6 is installed on the first motion axis 2 of the dual-axis truss robot 1, and a tobacco stem package breaking and discharging mechanism 7 is installed on the second motion axis 3 of the dual-axis truss robot 1; one end of the dual-axis truss robot 1 is of a cantilever beam structure, and a tobacco stem package transport vehicle 5 is parked below it; a vision mobile mechanism 4 is installed above the dual-axis truss robot 1, and two vision cameras are installed on the vision mobile mechanism 4, one moving within the range of the tobacco stem package transport vehicle 5 and the designated placement area of the tobacco stem packages, and the other moving within the range of the designated placement area of the tobacco stem packages and the empty tobacco stem package recycling bin mechanism 9, so as to realize the synchronous operation of the two motion axes 2 and 3 of the dual-axis truss robot 1; a tobacco stem package feeding dust prevention mechanism 8 is erected at the feeding port of the tobacco stem conveyor 13 to prevent the leakage of materials and the flying of dust during the breaking and discharging process of the tobacco stem package breaking and discharging mechanism 7; the original dust exhaust pipe needs to be transformed at 12 so that there is a position for the transformed hoist 10 to park, ensuring the normal production of the intelligent tobacco stem feeding system based on mobile vision technology.

[0025] The structure of the double-axis truss robot 1 is as follows: The first cross beam 19 and the second cross beam 20 are respectively erected on 4 columns 14, and are fixedly connected to each other by two fixed longitudinal beams 21 and 22. In order to avoid the lateral movement of the first motion axis 2, the fixed connection position of the longitudinal beam 21 is approximately at the height of 1 / 3 of the column 14, and the fixed connection position of the longitudinal beam 22 is approximately at the height of 2 / 3 of the column 14; 2 columns 15 support the first cross beam 19 and the ground, and the 2 columns 15 are fixedly connected to each other by a short cross beam 16. A space is formed between the two columns 14 and the second cross beam 20 to reserve a moving space for the modified hoist 10; The first moving longitudinal beam 17 and the second moving longitudinal beam 18 are erected between the first cross beam 19 and the second cross beam 20. The first motion axis 2 is erected on the first moving longitudinal beam 17, the second motion axis 3 is erected on the second longitudinal beam 18, the tobacco stem bale unloading and palletizing mechanism 6 is installed at the end face of the first motion axis 2, and the tobacco stem bale breaking and unloading mechanism 7 is installed at the end face of the second motion axis 3; A drag chain 24 is installed on the first motion axis 2, a drag chain 25 is installed on the second motion axis 3, and a drag chain 23 is installed on the first cross beam 19 to ensure the safety and durability of the cables.

[0026] The structure of the tobacco stem bale unloading and palletizing mechanism 6 is as follows: The first motor 26 is fixedly installed at the upper end of the cross universal joint mechanism 28, and the first weighing sensor 27 is installed on the cross universal joint mechanism 28. The first motor 26 passes through and installs the first weighing sensor 27. The cross universal joint mechanism 28 is installed on the tobacco stem bale unloading and palletizing mechanism bracket 29. A displacement sensor 33 is fixedly installed on the tobacco stem bale unloading and palletizing mechanism bracket 29 to detect the relative distance between the tobacco stem bale unloading and palletizing mechanism and the tobacco stem bale; A first cylinder 30 is fixedly installed on the tobacco stem bale unloading and palletizing mechanism bracket 29 at the same time and is connected to the first link mechanism 31. The first link mechanism 31 is connected to the two jaws 32 of the tobacco stem bale unloading and palletizing mechanism. Through the expansion and contraction of the first cylinder 30, the first link mechanism 31 is driven to move to realize the clamping action of the two jaws 32 of the tobacco stem bale unloading and palletizing mechanism.

[0027] The structure of the cross universal joint mechanism 28 is as follows: The support member body (rolled steel) 34 is fixedly installed on the tobacco stem bale unloading and palletizing mechanism bracket 29. The first connecting member 38 is welded to the support member body 34. The first steering motor 39 is installed on the first connecting member 38. The first steering motor 39 is installed with a coupling 41 connected to the first rotating shaft 35. The first rotating shaft 35 is installed on the support member body 34 through bearings; The second rotating shaft 36 passes through and is fixedly connected to the first rotating shaft 35 and is installed on the support plate 37 through bearings. The second connecting member 40 is welded to the support plate 37. The second steering motor is installed on the second connecting member 40. The second steering motor is installed with a coupling connected to the second rotating shaft 36.

[0028] The structure of the tobacco stem bale bursting and discharging mechanism 7 is as follows: The second cylinder 43 is fixedly installed on the tobacco stem bale bursting and discharging mechanism bracket 42 and passes through the second weighing sensor 44. The second weighing sensor 44 is fixedly installed on the tobacco stem bale bursting and discharging mechanism bracket 42 and is fixedly connected to the second motion axis of the truss robot. The second cylinder 43 is connected to the second link mechanism 45, and the second cylinder 43 drives the second link mechanism 45 to realize the clamping of the jaws 46 of the tobacco stem bale bursting and discharging mechanism; One end of the first connecting rod 47 is fixedly installed on the tobacco stem bale bursting and discharging mechanism bracket 42, and the other end is fixedly connected to the tobacco stem bale cutting mechanism 48; The first fixing plate 49 is fixedly installed on the tobacco stem bale bursting and discharging mechanism bracket 42. A first guide rail 50 is installed on the first fixing plate 49, and the first slider of the first guide rail 50 is fixedly connected to the hook rotating mechanism 51; The third cylinder 52 is fixedly installed on the tobacco stem bale bursting and discharging mechanism bracket 42, and the movable end of the third cylinder 52 is connected to the material pounding rod 53 for pounding the tobacco stem bale.

[0029] The structure of the tobacco stem bale cutting mechanism 48 is as follows: The first connecting plate 54 is fixedly connected to the first connecting rod 47. The slide table cylinder 55 is fixedly installed on the first connecting plate 54. The first mounting plate 56 is fixedly connected to the movable end of the slide table cylinder 55. The fourth cylinder 57 is installed on the first mounting plate 56. The blade 58 is simultaneously connected to the first mounting plate 56 and the movable end of the fourth cylinder 57, and the blade swings as the fourth cylinder 57 expands and contracts.

[0030] The structure of the hook rotating mechanism 51 is as follows: The second connecting plate 59 is fixedly connected to the first slider of the first guide rail 50. A second guide rail 60 is installed on the second connecting plate 59. The second slider of the second guide rail 60 is fixedly connected to the second mounting plate 61. A connecting piece 62 is installed at the bottom end of the second mounting plate 61. A second motor 64 is installed on the connecting piece 62. The shaft of the second motor 64 is connected to the rotating shaft 65 through a coupling 63. Both ends of the rotating shaft are connected to the second mounting plate 61 through bearings. The T-shaped plate 66 is fixedly connected to the rotating shaft 65; A rodless cylinder 67 and a ball screw 68 are installed on the T-shaped plate 66. The rodless cylinder 67 and the ball screw 68 are connected through a first connecting block 70. Hooks 69 are fixedly connected to both ends of the ball screw 68. The hooks 69 are simultaneously flipped or reset through the movement of the rodless cylinder 67 and the transmission of the ball screw 68.

[0031] The structure of the visual moving mechanism 4 is as follows: The support beam (section steel) 78 is erected above the workshop of the tobacco stem feeding station. The third guide rail 72 is fixedly installed on the support beam 78, and the rack 71 is fixedly installed on the support beam 78. The second connecting block 74 is installed on the third slider of the third guide rail 72. The motor mounting plate 75 is fixedly installed on the second connecting block 74. The third motor 76 is installed on the motor mounting plate 75. The gear 73 is installed on the shaft of the third motor 76. The gear 73 cooperates with the rack 71, and the overall movement is realized with the rotation of the third motor 76. The visual camera 77 is also installed on the second connecting block 74.

[0032] The structure of the empty tobacco stem package recycling barrel mechanism 9 is as follows: The bottom plate 79 is fixedly installed on the ground, and the open barrel 80 is welded and installed on the bottom plate 79. The third mounting plate 81 is welded and fixed on the open barrel 80. The finger cylinder 82 is installed on the third mounting plate 81, and the clamping block 83 is installed on the finger cylinder 82, which is used to clamp the empty tobacco stem package to unload the package.

[0033] The structure of the feeding dust-proof mechanism 8 is as follows: The funnel 84 is fixedly installed above the tobacco stem conveyor. The fifth cylinder 86 is installed on the side of the funnel. The sealing flap 85 is connected to the funnel 84 through a hinge. The third connecting block 87 is fixedly installed on the side of the sealing flap 85. The rotating shaft 88 is connected to the third connecting block 87 and is also movably connected to the movable shaft of the fifth cylinder 86. The flipping of the sealing flap 85 is realized with the telescoping of the fifth cylinder.

[0034] The structure of the hoist 10 is as follows: The original structure form of the hoist 89 remains unchanged, and rolling wheels 90 are installed at the foundation feet. These wheels are electrically driven and move on the moving track 11 laid on the ground.

[0035] The present invention includes a double-axis truss robot system 1, a mobile vision system 4, a tobacco stem package unloading and palletizing mechanism 6, a tobacco stem package breaking and unloading mechanism 7, a tobacco stem package feeding dust-proof mechanism 8, an empty tobacco stem package recycling barrel mechanism 9, a modified hoist 10, etc.

[0036] The overall operation process of the scheme:

[0037] The transport vehicle 5 stops at a fixed position, and the sensor detects the signal and transmits it to the vision system.

[0038] The vision system 4 moves to the designated position to collect the information of the tobacco stem type number on the transport vehicle and the information of the tobacco stem packages on the vehicle, and determines the order of taking the tobacco stem packages through the vision algorithm.

[0039] The first motion axis 2 of the double-axis truss robot 1 takes the tobacco stem packages according to the given order, weighs them, and places them in the designated area.

[0040] The second motion axis 3 of the double-axis truss robot 1 moves to the corresponding position to take the tobacco stem packages according to the information of the placement area of the tobacco stem packages given by the vision system 4.

[0041] The second moving axis 3 of the dual-axis truss robot 1 moves to the upper edge of the feeding dust-proof mechanism 8 of the tobacco stem conveyor 13 to break the package and shake the discharge.

[0042] Finally, the second moving axis 3 of the dual-axis truss robot 1 performs the action of emptying the tobacco stem package.

[0043] Repeat the above action process for production.

[0044] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the claimed invention. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent tobacco stem feeding system based on mobile vision technology, characterized in that, It includes a biaxial truss robot, a tobacco stem bale unloading and palletizing mechanism, a tobacco stem bale bag breaking and discharging mechanism, a vision moving mechanism, an empty tobacco stem bale recycling bin mechanism, and a feeding dust prevention mechanism arranged in a set area; One end of the biaxial truss robot is a cantilever beam structure, and the lower part of the cantilever beam is used to dock the tobacco stem bale transport vehicle; the tobacco stem bale unloading and palletizing mechanism is installed on the first motion axis of the biaxial truss robot, and the tobacco stem bale discharging mechanism is installed on the second motion axis of the biaxial truss robot; A vision moving mechanism is installed above the biaxial truss robot, and two vision cameras are installed on the vision moving mechanism. One moves between the tobacco stem bale transport vehicle and the designated placement range of the tobacco stem bales, and the other moves within the designated placement area of the tobacco stem bales and the empty tobacco stem bale recycling bin mechanism; The feeding dust prevention mechanism is arranged at the feeding port of the tobacco stem conveyor; The biaxial truss robot includes four columns, two cross beams, two fixed longitudinal beams, two moving longitudinal beams, and the first motion axis and the second motion axis; The two cross beams are respectively the first cross beam and the second cross beam, arranged at the top of the four columns and parallel to each other, and one end of each of the two cross beams is a cantilever beam structure. The two fixed longitudinal beams are respectively fixedly connected to the four columns to jointly form a frame structure; Two moving longitudinal beams are arranged between the two cross beams, namely the first moving longitudinal beam and the second moving longitudinal beam. The first motion axis is arranged on the first moving longitudinal beam, the second motion axis is arranged on the second moving longitudinal beam, the tobacco stem bale unloading and palletizing mechanism is arranged at the lower end of the first motion axis, and the tobacco stem bale bag breaking and discharging mechanism is arranged at the lower end of the second motion axis; The tobacco stem bale unloading and palletizing mechanism includes a first motor, a cross universal joint mechanism, a first weighing sensor, a tobacco stem bale unloading and palletizing mechanism support, a displacement sensor, a first cylinder, a first link mechanism, and two grippers of the tobacco stem bale unloading and palletizing mechanism; The first motor, the first weighing sensor, and the tobacco stem bale unloading and palletizing mechanism support are all installed on the cross universal joint mechanism, and the first motor passes through the first weighing sensor. The displacement sensor and the first cylinder are fixedly installed on the tobacco stem bale unloading and palletizing mechanism support, and the first cylinder is connected to the two grippers of the tobacco stem bale unloading and palletizing mechanism through a link mechanism; The tobacco stem bale bag breaking and discharging mechanism includes a tobacco stem bale bag breaking and discharging mechanism support, a second cylinder, two third cylinders, a second weighing sensor, a second link mechanism, a first connecting rod, a tobacco stem bale bag breaking and discharging mechanism gripper, a tobacco stem bale cutting mechanism, a first fixing plate, a first guide rail, a first slider, a hook rotating mechanism, and a material pounding rod; The second cylinder, the second weighing sensor, the first fixing plate, and the two third cylinders are all installed on the tobacco stem bale bag breaking and discharging mechanism support; The second cylinder passes through the second weighing sensor, the second weighing sensor is fixedly connected to the second motion axis, and the second cylinder is connected to the tobacco stem bale bag breaking and discharging mechanism gripper through a second link mechanism; One end of the first connecting rod is installed on the tobacco stem bale bag breaking and discharging mechanism support, and the other end is fixedly connected to the tobacco stem bale cutting mechanism; The first guide rail is installed on the first fixing plate, the first slider is slidably arranged in the first guide rail, and the hook rotating mechanism is fixed on the first slider; The movable end of the third cylinder is connected to the material pounding rod; The visual movement mechanism includes a support beam, a third guide rail, a rack, a second connecting block, a third slider, a motor mounting plate, a third motor, a gear, and a vision camera; The support beam is installed above the dual-axis truss robot. The third guide rail and the rack are both installed on the support beam. The third slider is slidably arranged on the third guide rail. The second connecting block is installed on the third slider. The motor mounting plate is fixedly installed on the second connecting block. The third motor is installed on the motor mounting plate. The gear is installed on the output shaft of the third motor. The gear cooperates with the rack. A vision camera is installed on the second connecting block; The empty cigarette stem package recycling bucket mechanism includes a bottom plate, an open-top bucket, a third mounting plate, a finger cylinder, and a clamping block; The bottom plate is fixedly installed on the ground. The open-top bucket is installed on the bottom plate. The third mounting plate is installed on the open-top bucket. The finger cylinder is installed on the third mounting plate. The clamping block is installed on the finger cylinder; The feeding dust-proof mechanism includes a funnel, a fifth cylinder, a sealing flap, a third connecting block, and a rotating shaft; The funnel is fixedly installed above the cigarette stem conveyor. The fifth cylinder is installed on the side of the funnel. The sealing flap is connected to the funnel by a hinge. The connecting block is fixedly installed on the side of the sealing flap. The rotating shaft is connected to both the connecting block and the movable shaft at the same time.

2. The intelligent tobacco stem feeding system based on mobile vision technology according to claim 1, characterized in that The cross universal joint mechanism includes a support member, a first steering motor, a second steering motor, a first rotating shaft, and a second rotating shaft; The support member includes a support member body, a first connecting piece, a second connecting piece, and a support plate. The first connecting piece and the second connecting piece are respectively fixed to the upper ends of two adjacent side surfaces of the support member body. The support plate is fixed to the upper end of the side surface of the support member body opposite to the second connecting piece; The first steering motor is installed on the first connecting piece. The second steering motor is installed on the second connecting piece. The first steering motor is connected to the first rotating shaft through a first coupling. One end of the second rotating shaft is rotatably arranged on the support plate, and the other end passes through the first rotating shaft and is fixedly connected to the first rotating shaft. The second steering motor is connected to the second rotating shaft through a second coupling.

3. The intelligent tobacco stem feeding system based on mobile vision technology according to claim 1, characterized in that, The cigarette stem package cutting mechanism includes a first connecting plate, a slide table cylinder, a first mounting plate, a fourth cylinder, and a blade; The first connecting plate is fixedly connected to the first connecting rod. The slide table cylinder is installed on the first connecting plate. The first mounting plate is fixedly connected to the moving end of the slide table cylinder. The fourth cylinder is installed on the first mounting plate. The blade is movably connected to both the first mounting plate and the fourth cylinder at the same time.

4. The intelligent tobacco stem feeding system based on mobile vision technology according to claim 1, characterized in that The hook rotation mechanism includes a second connecting plate, a second guide rail, a second slider, a second mounting plate, a connecting piece, a second motor, a rotating shaft, a T-shaped plate, a rodless cylinder, a ball screw, a first connecting block, and a hook; The second connecting plate is fixedly connected to the first slider. A second guide rail is arranged on the second connecting plate. The second slider on the second guide rail is fixedly connected to the second mounting plate. A connecting piece is installed at the bottom end of the second mounting plate. The second motor is installed on the connecting piece. The second motor is connected to the rotating shaft through a coupling. Both ends of the rotating shaft are connected to the second mounting plate. The T-shaped plate is fixedly connected to the rotating shaft. A rodless cylinder and a ball screw are installed on the T-shaped plate. The rodless cylinder is connected to the ball screw through the first connecting block. Hooks are fixedly connected to both ends of the ball screw.

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