Tobacco clamp kang system and control method thereof

Abstract

The invention relates to the technical field of tobacco leaf processing equipment, and discloses a tobacco clamp loading system and a control method thereof.The system comprises a curing barn frame and a walking lifting trolley, the walking lifting trolley is provided with a tobacco clamp loading device, and the tobacco clamp loading device comprises a bottom frame connected with the walking lifting trolley; rotating stand columns capable of being rotationally adjusted relative to the bottom frame are arranged on the two sides of the bottom frame, the length of each rotating stand column can be adjusted, and a tobacco clamp supporting vertical plate is arranged at the top end of the rotating stand column on each side; a control mechanism for controlling the traveling lift truck and the tobacco clamp racking device to act is arranged on the traveling lift truck and the tobacco clamp racking device; the control method comprises the following steps of S1, adjusting the states of the walking lifting trolley and the tobacco clamp racking device, S2, picking up the tobacco clamps, and S3, conveying the tobacco clamps into the curing barn frame. According to the automatic tobacco clamp hanging device, tobacco clamps can be automatically hung, the labor intensity can be reduced, the working efficiency can be improved, and the working safety can be guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of tobacco leaf processing equipment, and in particular to a tobacco clamp placing system on a bed and a control method thereof. Background Art

[0002] During the tobacco leaf drying process, the tobacco leaves need to be clamped in the tobacco clips, and then the tobacco clips are placed in the curing room for baking. Usually, multiple layers of support plates are arranged longitudinally inside the curing room to increase the number of tobacco clips to be hung in the three-dimensional space. Since each hanging tobacco clip has a certain weight after clamping the tobacco leaves, the prior art usually manually transports it into the curing room, and then lifts and hangs the tobacco clips along the support plates inside the curing room from top to bottom. The labor intensity is high, the work efficiency is low, and there are safety hazards in lifting heavy objects to hang them high. Therefore, there is an urgent need for a tobacco clip placement system and a control method that can realize automatic transportation and hanging of tobacco clips, reduce labor intensity, and improve work efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a cigarette clamp placing system and a control method thereof, which can realize the automatic hanging of the cigarette clamp, can reduce labor intensity, improve work efficiency, and ensure work safety.

[0004] The present invention adopts the following technical solutions:

[0005] A cigarette clamp mounting system comprises a baking room frame and a walking lift vehicle, wherein the walking lift vehicle is provided with a cigarette clamp mounting device, wherein the cigarette clamp mounting device comprises a bottom frame connected to the walking lift vehicle, wherein both sides of the bottom frame are provided with rotating columns which can be rotated and adjusted relative to the bottom frame, wherein the length of each rotating column is adjustable, and a cigarette clamp supporting vertical plate is provided at the top of the rotating column on each side; the walking lift vehicle and the cigarette clamp mounting device are provided with a control mechanism which controls the actions of the two.

[0006] Preferably, two rotating columns are arranged on each side of the bottom frame, and a column connecting plate is arranged between the two rotating columns on each side; and a first linear drive hinged to the column connecting plate is hinged on the bottom frame.

[0007] Preferably, a lifting slide is slidably provided on the rotating column, the cigarette clamp supporting plate is provided on the top of the lifting slide, and a second linear drive is hinged between the cigarette clamp supporting plate and the bottom frame.

[0008] Preferably, the rotating column is an internally hollow structure, one side of which is provided with a slide groove extending through it in the vertical direction, a pulley seat is provided on the lifting slide plate, the pulley seat is located inside the rotating column through the slide groove, and a pulley is movably provided on the pulley seat located inside the rotating column.

[0009] Preferably, the walking lift vehicle comprises a chassis driven by a motor, a scissors lift mechanism is arranged in the chassis, a lift support plate is arranged at the top of the scissors lift mechanism, and the bottom frame is connected to the lift support plate.

[0010] Preferably, it further comprises a cigarette clamp support frame located outside the baking room frame, wherein the cigarette clamp support frame is arranged through along the length direction of the baking room frame, and cigarette clamp support plates are symmetrically arranged at the top end of the cigarette clamp support frame.

[0011] Preferably, a movable track is provided at the bottom of the baking room frame, and a travel switch is provided on the movable track.

[0012] A control method for a smoke clamp on a kang system comprises the following steps:

[0013] Adjustment of the status of S1 walking lift and cigarette holder mounting device

[0014] Control the walking lift vehicle to drive the cigarette clip rack device to move to the bottom of the cigarette clip to be picked up, and control the rotating columns on both sides of the cigarette clip rack device to rotate outwards so that the tobacco leaves on the cigarette clip are located between the rotating columns on both sides;

[0015] S2 cigarette clip picking

[0016] The rotating columns on both sides are controlled to retract to gather the fluffy tobacco leaves on the cigarette clips. When the rotating columns are in a vertical state, the walking lifting vehicle drives the cigarette clip mounting device to rise so that the cigarette clip supporting plate contacts the cigarette clips, and lifts up the cigarette clips to complete the picking work of the cigarette clips.

[0017] S3 smoke clip is transported and placed in the baking room frame

[0018] The walking lift vehicle drives the cigarette clamp into the baking room frame, firstly adjusts the state of the rotating column on the right side to control it to rotate inwards, and adjusts its length to extend upwards, so that the cigarette clamp is in an inclined state, at which time the horizontal projection of the higher end of the cigarette clamp is located on the inner side of the horizontal projection of the baking room cigarette clamp support plate in the baking room frame at the corresponding end; the walking lift vehicle rises and drives the cigarette clamp to rise synchronously until the higher end of the cigarette clamp passes over the baking room cigarette clamp support plate at the corresponding end; then adjusts the rotating column on the left side to rotate inwards, and at the same time adjusts the rotating column on the right side to rotate outwards, so that the lower end of the cigarette clamp, that is, located on the left rotating column, is tilted. The horizontal projection of the cigarette clamp above the column is located on the inner side of the horizontal projection of the flue-curing room cigarette clamp support plate at the corresponding end, and then the walking lift vehicle is controlled to rise to push the lower end of the cigarette clamp over the flue-curing room cigarette clamp support plate at the corresponding end. At this time, the cigarette clamp is completed on the first layer of the flue-curing room cigarette clamp support plate. By repeating the above operation, the cigarette clamp is controlled to jump to the top of the flue-curing room cigarette clamp support plate; finally, the state of the rotating column is adjusted to shorten the length of the rotating column, the cigarette clamp is controlled to be horizontal, and then the height of the walking lift vehicle is lowered, and the cigarette clamp will fall on the flue-curing room cigarette clamp support plate, that is, the transportation and hanging of the cigarette clamp are completed.

[0019] Preferably, in step S3, the minimum tilt angle of the rotating column when it is retracted is calculated using the formula L yj cosθ+δ yj sinθ≤L zc +D zc calculate;

[0020] Where L yj is the cigarette clip length, δ yj is the thickness of the cigarette clip, L zc D is the width of the tobacco clip support board in the flue-curing room. zc The distance between the two flue-curing room tobacco clamp support plates;

[0021] When the right side of the cigarette clamp passes over the cigarette clamp support plate of the curing room, the retracted displacement and speed of the first linear drive on the right side and the extended displacement and speed of the second linear drive on the right side are calculated by the following formula:

[0022] L AM =L BC' ·cos(θ)

[0023] L MD =L AD -L AM

[0024] L C'M =L AB +L BC' sin(θ)

[0025]

[0026] Then the displacement S2 of the second linear drive on the right is: S2 = L C'D -L CD

[0027] ∠HDG'=90-∠MC'D

[0028]

[0029] Then the retracted displacement S4 of the first linear actuator described on the right is: S4 = L GH -L G'H

[0030] If the cigarette holder is required to be tilted within time t1, the extension speed V2 of the second linear drive on the right side and the retraction displacement and speed V4 of the first linear drive on the right side are respectively:

[0031]

[0032] When the left side of the cigarette clip passes over the cigarette clip support plate of the flue-curing room, the displacement and speed of the first linear actuator on the left side that needs to be retracted and the displacement and speed of the first linear actuator on the right side that needs to be extended are calculated using the following formula: Considering that the inclination angles of the cigarette clip when switching from the right side passing over the cigarette clip support plate of the flue-curing room to the left side passing over the cigarette clip support plate of the flue-curing room are very close, a simplified calculation method is adopted here, that is, assuming that θ'=θ;

[0033] The displacement of the first linear drive on the right side extending is equal to the displacement of the first linear drive on the right side retracting, that is, S'4 = S4, so:

[0034]

[0035] ∠B'AN=90-(∠AB'C-90-θ')=180+θ'-∠AB'C

[0036]

[0037] Then the retracted displacement S3 of the first linear actuator on the left side is: S3 = L EF -L E'F

[0038] If the cigarette holder state switching is required to be completed within time t2, the retracting speed V3 of the first linear drive on the left side and the retracting displacement and extending speed V'4 of the first linear drive on the right side are respectively:

[0039]

[0040] Among them, point A and point D represent the hinge points between the second linear drive and the bottom frame on both sides respectively, point B and point C represent the hinge points between the second linear drive and the cigarette clamp supporting plate in the initial vertical state of the rotating column respectively; point M and point N represent the horizontal projections of the top endpoints of the second linear drive on the corresponding sides after the columns on both sides are adjusted in height and angle; point B' and point C' represent the endpoint positions of the second linear drive on both sides after extension adjustment; point G' and point E' represent the endpoint positions of the first linear drive on the corresponding sides after contraction adjustment of the columns on both sides; point E and point G represent the endpoint positions of the first linear drive on the corresponding sides when the rotating column is in the initial vertical state; H and F represent the endpoint positions of the bottoms of the two first linear drives; L represents the length, such as L AB、 L DC represents the length of the two second linear drives when the rotating column is in the initial vertical state.

[0041] Preferably, in the step S3, when the right side of the cigarette clamp passes over the cigarette clamp support plate of the curing room, the second linear drive and the first linear drive on the left side remain stationary, the second linear drive on the right side extends, and the first linear drive on the right side retracts, the cigarette clamp presents an inclined state with the left side lower and the right side higher, and the right side of the cigarette clamp moves to the left in the horizontal direction, so that it can pass over the cigarette clamp support plate of the curing room on the right side of the curing room frame;

[0042] When the left side of the cigarette clamp passes over the smoke clamp support plate of the curing room, the second linear drive on the left side remains stationary, the first linear drive on the left side retracts, the first linear drive on the right side extends, and the second linear drive on the right side remains stationary; the cigarette clamp still presents an inclined state with the left side low and the right side high, and the cigarette clamp as a whole moves to the right in the horizontal direction, so that it can pass over the smoke clamp support plate of the curing room on the left side of the curing room frame.

[0043] Compared with the prior art, the present invention has the following beneficial effects: by arranging a cigarette clip racking device on the walking lifting vehicle, the present invention can realize the transportation of cigarette clips into the baking room frame and the orderly hanging of cigarette clips from high to low in the baking room frame through the cooperation of the two; by controlling the unfolding angle and height of the cigarette clip racking device, the cigarette clips can be smoothly transported from bottom to top without interfering with the baking room cigarette clip support plates arranged in the baking room frame, the operation is simple and quick, the safety is high, and the practicability is strong.

[0044] Through the design of the control method of the cigarette clip placing system, the cigarette clips can be hung accurately and orderly in the baking room frame, ensuring the safety and stability of the cigarette clip hanging process, avoiding the squeezing damage to the tobacco leaves and the risk of the cigarette clips falling during the hanging process, reducing the adverse effects on the tobacco leaves, and effectively ensuring the quality of the tobacco leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural schematic diagram of the cigarette clip racking device of the present invention;

[0046] Figure 2 It is a structural schematic diagram of the baking room frame of the present invention;

[0047] Figure 3 It is a schematic structural diagram of the cigarette holder support frame of the present invention;

[0048] Figure 4 It is a structural schematic diagram of the traveling lifting vehicle of the present invention;

[0049] Figure 5 It is a structural schematic diagram of the entire system of the present invention;

[0050] Figure 6 ①-⑧ are state change diagrams of the cigarette holder of the present invention when it is hung;

[0051] Figure 7 ①-⑥ are reference schematic diagrams of the calculation formula in the control method of the present invention. DETAILED DESCRIPTION

[0052] The present invention will be described clearly and completely below with reference to the accompanying drawings and embodiments:

[0053] like Figures 1 to 5 As shown, a cigarette clamp placing system of the present invention comprises a baking room frame 1, and a baking room cigarette clamp support plate 2 is arranged on the side wall inside the baking room frame 1 along its length direction, which is used for hanging the cigarette clamp thereon, wherein the baking room cigarette clamp support plate 2 is arranged in multiple layers from bottom to top in the baking room frame 1, usually a three-layer structure, so as to improve the utilization rate of the internal space of the baking room frame 1; a moving track 3 is arranged at the bottom of the baking room frame 1, which can provide guidance for the movement of a walking lift 4, and a plurality of travel switches 5 are arranged on the moving track 3, which are used to control the travel of the walking lift 4 to meet the orderly hanging of the cigarette clamp on the baking room cigarette clamp support plate 2; a walking lift 4 is arranged outside the baking room frame 1, and the walking lift 4 is used to drive the cigarette clamp to be transported into the baking room frame 1, and the walking lift 4 specifically comprises a bottom driven by a motor 6. The chassis 4-1 is provided with wheels 4-2 at the bottom, a scissor lift mechanism 4-4 controlled by a hydraulic cylinder 4-3 is provided in the chassis 4-1, and a lifting support plate 4-5 is provided at the top of the scissor lift mechanism 4-4; a cigarette clamp mounting device is provided on the lifting support plate 4-5, wherein the cigarette clamp mounting device comprises a bottom frame 7 connected with the lifting support plate 4-5, the bottom frame 7 is welded by a base cross beam and a base longitudinal beam, and rotating columns 8 which can be rotated and adjusted relative to the bottom frame 7 are provided on both sides of the bottom frame 7, wherein the length of each rotating column 8 can be adjusted so as to cooperate with the traveling lift vehicle 4 to complete the transportation of the cigarette clamps, and a cigarette clamp supporting plate 9 is provided on the top of the rotating column 8 on each side for lifting and supporting the cigarette clamps, so as to realize the transportation and hanging of the cigarette clamps into the baking room frame 1.

[0054] In addition, the travel lift 4 and the cigarette clip racking device are provided with a control mechanism for controlling the actions of the two, and the control mechanism includes a power battery 11, a controller 12, a laser distance sensor 13 and a magnetic switch 14; the power battery 11 is arranged in the chassis 4-1 for providing power; the controller 12 is arranged in the chassis 4-1 for controlling the travel lift 4 and the cigarette clip racking device to complete the hanging of the cigarette clip on the cigarette clip support plate 2 of the curing room. In addition, the laser distance sensor 13 is installed at the bottom of the lifting support plate 4-5 to detect the moving height of the lifting support plate 4-5 during operation; the magnetic switch 14 is installed on the first linear drive 16 and the second linear drive 18 to detect their displacement during operation.

[0055] Furthermore, in the present invention, two rotating columns 8 are provided on each side of the bottom frame 7, and a column connecting plate 15 is provided between the two rotating columns 8 on each side; a first linear driver 16 hinged to the column connecting plate 15 is hinged on the bottom frame 7, and is used to control the rotating column 8 to rotate and adjust along the connection point with the bottom frame 7. In addition, a lifting slide 17 is slidably provided on the rotating column 8, and the length of the rotating column 8 can be adjusted by sliding the lifting slide 17 on the rotating column 8 to meet the hanging operation of the cigarette clip on the cigarette clip support plate 2 of the curing room; the cigarette clip support plate 9 is provided at the top of the lifting slide 17, and a second linear driver 18 is hinged between the cigarette clip support plate 9 and the bottom frame 7, and the second linear driver 18 is used to push the cigarette clip support plate 9 to move up and down along the axis of the rotating column 8. In the present invention, the first linear driver 16 and the second linear driver 18 are both linear drive mechanisms, which can be cylinders, hydraulic cylinders or electric push rods, etc., and can be flexibly adapted according to actual needs.

[0056] Furthermore, the rotating column 8 is an internally hollow structure, and a slide groove is provided on one side thereof along the vertical direction. The slide groove is located at the end away from the column connecting plate 15. A pulley seat 19 is provided on the lifting slide 17. The pulley seat 19 is located inside the rotating column 8 through the slide groove. A pulley 20 is movably provided on the pulley seat 19 located inside the rotating column 8. When the lifting slide 17 slides, the contact between the pulley 20 and the inner wall of the rotating column 8 can ensure the stability of the lifting slide 17 during movement and adjustment, while reducing the friction between the lifting slide 17 and the rotating column 8 during movement.

[0057] Furthermore, the present invention also includes a cigarette clip support frame 21 located outside the baking room frame 1, which is used for temporarily storing cigarette clips, so as to facilitate the batch picking of multiple cigarette clips by the cigarette clip shelving device during work, and at the same time, by orderly replenishing cigarette clips on the cigarette clip support frame 21, the continuity of the entire operation can be achieved and the work efficiency can be improved; wherein the cigarette clip support frame 21 is arranged to be through along the length direction of the baking room frame 1, so that the traveling lifting vehicle 4 drives the cigarette clip shelving device to pick up the cigarette clips and move them into the baking room frame 1, and the top of the cigarette clip support frame 21 is symmetrically provided with cigarette clip support plates 22, and the two ends of the cigarette clips can be placed on the two cigarette clip support plates 22 for temporary storage of the cigarette clips.

[0058] The present invention adopts the following method in specific operation, specifically as follows Figure 6-7 As shown, a control method for a smoke clamp system for a kang includes the following steps:

[0059] Adjustment of the status of S1 traveling lift 4 and cigarette holder mounting device

[0060] The walking lifting vehicle 4 is controlled to drive the cigarette clip racking device to move to the bottom of the cigarette clip to be picked up. In this embodiment, the cigarette clip racking device can be moved between the cigarette clip supporting frame 21 and the curing room frame 1, and the first linear drivers 16 on both sides of the cigarette clip racking device are controlled to work and extend, pushing the rotating columns 8 to rotate outward, and then moving to the bottom of the cigarette clip supporting plate 22 to be picked up, so that the tobacco leaves on the cigarette clip are located between the rotating columns 8 on both sides. Figure 6 As shown in the state ①;

[0061] S2 cigarette clip picking

[0062] The first linear actuators 16 on both sides are controlled to contract, driving the rotating columns 8 to rotate and collect the fluffy tobacco leaves on the cigarette clips. When the rotating columns 8 on both sides are in a vertical state, the first linear actuators 16 stop moving, and the hydraulic cylinders 4-3 on the walking lift 4 push the scissor lift mechanism 4-4 to rise, thereby driving the cigarette clip rack device to rise so that the cigarette clip support plate 9 contacts the cigarette clip, and lifts the cigarette clip to separate it from the cigarette clip support plate 22 on the cigarette clip support frame 21, that is, the picking work of the cigarette clip is completed. Figure 6 The status ②③ is shown in the figure;

[0063] S3 smoke clip is transported and placed in the baking room frame 1

[0064] The walking lift 4 drives the cigarette clamp into the baking room frame 1 along the moving track 3 in the baking room frame 1. When the walking lift 4 drives to the corresponding travel switch 5, it stops moving forward. First, the state of the right rotating column 8 is adjusted, and the first linear drive 16 on this side is contracted to drive the rotating column 8 on this side to rotate inward, and at the same time, the length of the rotating column 8 on this side is adjusted. The lifting slide plate 17 is pushed to extend along the outside of the rotating column 8 through the extension of the second linear drive 18 on this side, so that the cigarette clamp presents an inclined state with one side high and the other side low. At this time, the horizontal projection of the higher end of the cigarette clamp is located on the inner side of the horizontal projection of the baking room cigarette clamp support plate 2 in the baking room frame 1 at the corresponding end, as shown in the state diagram ④;

[0065] Then the hydraulic cylinder 4-3 in the walking lift 4 is controlled to work and extend, pushing the lifting support plate 4-5 to rise and driving the cigarette clamp to rise synchronously until the higher end of the cigarette clamp passes over the corresponding end of the smoke-curing room cigarette clamp support plate 2 by a certain distance, and the hydraulic cylinder 4-3 stops working, as shown in state diagram ⑤;

[0066] Then, the first linear drive 16 on the left is adjusted to retract a certain distance to drive the left rotating column 8 to rotate inward, and at the same time, the first linear drive 16 on the right is controlled to extend to push the right rotating column 8 to rotate until the right rotating column is in a vertical state, so that the horizontal projection of the cigarette clamp located above the left rotating column 8 is located on the inner side of the horizontal projection of the cigarette clamp support plate 2 of the corresponding end flue-curing room, so as to avoid the left side of the cigarette clamp being blocked by the cigarette clamp support plate 2 on this side of the flue-curing room frame 1 when the cigarette clamp rises, and then the hydraulic cylinder 4-3 of the walking lifting vehicle 4 is continued to be controlled to extend to push the entire cigarette clamp The body rises, and the lower end of the left cigarette clip passes over the top of the flue-curing room cigarette clip support plate 2 at the corresponding end. At this time, the cigarette clip jumps to the second layer of the flue-curing room cigarette clip support plate 2, as shown in state diagram ⑥; by repeating the above operation, the cigarette clip jumps to the top of the flue-curing room cigarette clip support plate 2, as shown in state diagram ⑦; finally, the state of the rotating column 8 is adjusted, the length of the rotating column 8 is shortened, and the cigarette clip is controlled to be horizontal, as shown in state diagram ⑧; then the height of the walking lifting vehicle 4 is lowered, and the cigarette clip will fall on the flue-curing room cigarette clip support plate 2, that is, the transportation and hanging of the cigarette clip are completed. After the hanging of the cigarette clip is completed, the lifting and moving vehicle and the cigarette clip racking device are controlled to reset, and the cigarette clip is moved out from the flue-curing room frame 1 to the cigarette clip support frame 21, and the above operation is repeated to pick up the cigarette clip again, so as to complete the continuous hanging operation of the cigarette clip from top to bottom in the flue-curing room frame 1. After the top flue-curing room cigarette clip support plate 2 is full, the hanging of the next layer is gradually started. The height of the flue-curing room cigarette clip support plate 2 at the lowest layer is not high, and manual operation can be selected according to needs.

[0067] In the control method of the present invention, the difficulty of rotating the cigarette clip on the bed lies in how to coordinate and control the actions of the two first linear drivers 16 and the two second linear drivers 18 in the cigarette clip mounting device to ensure that the left cigarette clip support upright plate 9 and the right cigarette clip support upright plate 9 can effectively support the cigarette clip during the transportation of the cigarette clip, that is, the cigarette clip will not fall from the left cigarette clip support upright plate 9 or the right cigarette clip support upright plate 9, and the left cigarette clip support upright plate 9 or the right cigarette clip support upright plate 9 will not move to the middle of the cigarette clip and squeeze the tobacco leaves, that is, the relative position of the upper edge of the left cigarette clip support upright plate 9 and the upper edge of the right cigarette clip support upright plate 9 and the lower bottom surface of the cigarette clip remains unchanged, and at the same time, it is necessary to ensure that the cigarette clip is tilted at a suitable angle so that the two ends of the cigarette clip can successively pass over the flue-curing room cigarette clip support plate 2 in the flue-curing room frame 1, thereby transporting the cigarette clip below the second floor of the flue-curing room cigarette clip support plate 2 to a position above the second floor or above the third floor of the flue-curing room cigarette clip support plate 2; based on this, the present invention optimizes the control method, and obtains the best control data through calculation and solution to achieve accurate hanging of the cigarette clip.

[0068] Specifically, when the inclination angle is too small, the cigarette clamp cannot smoothly pass over the smoke clamp support plate 2 in the baking room frame 1 and reach the second or third layer in the baking room frame 1. Therefore, in step S3, the minimum inclination angle of the rotating column 8 when rotating inward is calculated by formula L yj cosθ+δ yj sinθ≤L zc +D zc calculate;

[0069] Where L yj is the cigarette clip length, δ yj is the thickness of the cigarette clip, L zc The width of the tobacco clip support board 2 in the flue-curing room, D zc The distance between the two flue-curing room tobacco clip support plates 2; Figure 7 Illustrations of formulas ①-③.

[0070] When the right side of the cigarette clamp passes over the cigarette clamp support plate 2 of the curing room, the retracted displacement and speed of the first linear drive 16 on the right side and the extended displacement and speed of the second linear drive 18 on the right side are calculated by the following formula:

[0071] As shown in the formula diagram ④, in the initial state, the left rotating column 8 and the right rotating column 8 are both in a vertical state; the length of the left second linear drive 18 is L AB The length of the second linear drive 18 on the right side is L DC , the length of the first linear drive 16 on the left is L FE , the length of the first linear drive 16 on the right side is L HG .L AE and L AF The length of L is fixed and known. DG and LDH The length of is fixed and known.

[0072] When the right side of the cigarette clamp passes over the smoke clamp support plate 2 of the curing room, the second linear drive 18 on the left and the first linear drive 16 on the left both remain stationary, the second linear drive 18 on the right extends, and the first linear drive 16 on the right retracts, the cigarette clamp presents an inclined state with the left side low and the right side high, and the right side of the cigarette clamp moves horizontally to the left, so that it can pass over the smoke clamp support plate 2 of the curing room on the right side of the curing room frame 1; in order to complete the above control, the control mechanism needs to control the displacement and speed of the second linear drive 18 on the right side extending and the displacement and speed of the first linear drive 16 on the right side retracting.

[0073] L AM =L BC' ·cos(θ)

[0074] L MD =L AD -L AM

[0075] L C'M =L AB +L BC' sin(θ)

[0076]

[0077] Then the displacement S2 of the second linear drive 18 on the right side is: S2 = L C'D -L CD

[0078] ∠HDG'=90-∠MC'D

[0079]

[0080] Then the retracted displacement S4 of the first linear drive 16 on the right side is: S4 = L GH -L G'H

[0081] If the cigarette holder is required to be tilted within time t1, the extension speed V2 of the right second linear drive 18 and the retraction speed V4 of the right first linear drive 16 are respectively:

[0082]

[0083] When the left side of the cigarette clamp passes over the cigarette clamp support plate 2 of the curing room, the displacement and speed of the left first linear drive 16 to retract and the displacement and speed of the right first linear drive 16 to extend are calculated using the following formula:

[0084] When the left side of the cigarette clamp passes over the smoke clamp support plate 2 of the curing room, the second linear drive 18 on the left side remains stationary, the first linear drive 16 on the left side retracts, the second linear drive 18 on the right side remains stationary, and the first linear drive 16 on the right side extends; the cigarette clamp still presents an inclined state with the left side lower and the right side higher, and the cigarette clamp as a whole moves to the right in the horizontal direction, so that it can pass over the smoke clamp support plate 2 of the curing room on the left side of the curing room frame 1;

[0085] In order to complete the above control, the control mechanism needs to control the displacement and speed of the retracted first linear drive 16 on the left side and the displacement and speed of the extended first linear drive 16 on the right side. Considering that the inclination angles of the cigarette clip when switching from the right side over the cigarette clip support plate 2 of the flue-curing room to the left side over the cigarette clip support plate 2 of the flue-curing room are very close, a simplified calculation method is adopted here, that is, assuming that θ'=θ;

[0086] The displacement of the first linear actuator 16 on the right side extending out is equal to the displacement of the first linear actuator 16 on the right side retracting in the previous step, that is, S'4 = S4, and we get:

[0087]

[0088] ∠B'AN=90-(∠AB'C-90-θ')=180+θ'-∠AB'C

[0089]

[0090] Then the retracted displacement S3 of the left first linear drive 16 is: S3 = L EF -L E'F

[0091] If it is required to complete the switching of the cigarette clamp state within the time t2, the retracting speed V3 of the left first linear drive 16 and the extending speed V'4 of the right first linear drive 16 are respectively:

[0092]

[0093] Among them, point A and point D represent the hinge points between the second linear drive 18 on both sides and the bottom frame 7 respectively, point B and point C represent the hinge points between the second linear drive 18 and the cigarette clamp support plate 9 in the initial vertical state of the rotating column 8 respectively; point M and point N represent the horizontal projections of the top end points of the second linear drive 18 on the corresponding sides after the height of the columns on both sides are increased and the angle is contracted; point B' and point C' represent the end point positions of the second linear drive 18 on both sides after the extension adjustment; point G' and point E' represent the end point positions of the first linear drive 16 on the corresponding sides after the columns on both sides are contracted; point E and point G represent the end point positions of the first linear drive 16 on the corresponding sides when the rotating column 8 is in the initial vertical state; H and F represent the end point positions of the bottom of the two first linear drives 16; L represents the length, such as L AB , L DC It represents the length of the two second linear drives 18 when the rotating column 8 is in the initial vertical state.

Claims

1. A smoke clamp system for placing on a kang, comprising a baking room frame and a walking lift, characterized in that: The walking lift vehicle is provided with a cigarette clamp racking device, wherein the cigarette clamp racking device comprises a bottom frame connected to the walking lift vehicle, and rotating columns which can be rotated and adjusted relative to the bottom frame are provided on both sides of the bottom frame, wherein the length of each rotating column is adjustable, and a cigarette clamp supporting vertical plate is provided on the top of the rotating column on each side; the walking lift vehicle and the cigarette clamp racking device are provided with a control mechanism which controls the actions of the two.

2. The cigarette holder system for placing cigarettes on a bed according to claim 1, characterized in that: Two rotating columns are arranged on each side of the bottom frame, and a column connecting plate is arranged between the two rotating columns on each side; a first linear drive hinged to the column connecting plate is hinged on the bottom frame.

3. The cigarette holder system for placing cigarettes on a bed according to claim 2, characterized in that: A lifting slide is slidably arranged on the rotating column, the cigarette clamp supporting plate is arranged on the top of the lifting slide, and a second linear drive is hinged between the cigarette clamp supporting plate and the bottom frame.

4. The cigarette holder system for placing on a kang according to claim 3 is characterized in that: The rotating column is a hollow structure with a slide groove extending through one side thereof in the vertical direction. A pulley seat is provided on the lifting slide plate. The pulley seat is located inside the rotating column through the slide groove. A pulley is movably provided on the pulley seat located inside the rotating column.

5. The cigarette holder system for placing cigarettes on a bed according to claim 4, characterized in that: The walking lift vehicle comprises a chassis driven by a motor, a scissor lift mechanism is arranged in the chassis, a lift support plate is arranged at the top of the scissor lift mechanism, and the bottom frame is connected to the lift support plate.

6. The cigarette holder system for placing cigarettes on a bed according to claim 1, characterized in that: It also includes a cigarette clamp support frame located outside the baking room frame, wherein the cigarette clamp support frame is arranged through along the length direction of the baking room frame, and cigarette clamp support plates are symmetrically arranged at the top end of the cigarette clamp support frame.

7. The cigarette holder system for placing cigarettes on a bed according to claim 1, characterized in that: A movable track is arranged at the bottom of the baking room frame, and a travel switch is arranged on the movable track.

8. The control method of the cigarette holder system according to any one of claims 3 to 7, characterized in that: The steps include: Adjustment of the status of S1 walking lift and cigarette holder mounting device Control the walking lift vehicle to drive the cigarette clip rack device to move to the bottom of the cigarette clip to be picked up, and control the rotating columns on both sides of the cigarette clip rack device to rotate outwards so that the tobacco leaves on the cigarette clip are located between the rotating columns on both sides; S2 cigarette clip picking The rotating columns on both sides are controlled to retract to gather the fluffy tobacco leaves on the cigarette clips. When the rotating columns are in a vertical state, the walking lifting vehicle drives the cigarette clip mounting device to rise so that the cigarette clip supporting plate contacts the cigarette clips, and lifts up the cigarette clips to complete the picking work of the cigarette clips. S3 smoke clip is transported and placed in the baking room frame The walking lift vehicle drives the cigarette clamp into the baking room frame, firstly adjusts the state of the rotating column on the right side to control it to rotate inwards, and adjusts its length to extend upwards, so that the cigarette clamp is in an inclined state, at which time the horizontal projection of the higher end of the cigarette clamp is located on the inner side of the horizontal projection of the baking room cigarette clamp support plate in the baking room frame at the corresponding end; the walking lift vehicle rises and drives the cigarette clamp to rise synchronously until the higher end of the cigarette clamp passes over the baking room cigarette clamp support plate at the corresponding end; then adjusts the rotating column on the left side to rotate inwards, and at the same time adjusts the rotating column on the right side to rotate outwards, so that the lower end of the cigarette clamp, that is, located on the left rotating column, is tilted. The horizontal projection of the cigarette clamp above the column is located on the inner side of the horizontal projection of the flue-curing room cigarette clamp support plate at the corresponding end, and then the walking lift vehicle is controlled to rise to push the lower end of the cigarette clamp over the flue-curing room cigarette clamp support plate at the corresponding end. At this time, the cigarette clamp is completed on the first layer of the flue-curing room cigarette clamp support plate. By repeating the above operation, the cigarette clamp is controlled to jump to the top of the flue-curing room cigarette clamp support plate; finally, the state of the rotating column is adjusted to shorten the length of the rotating column, the cigarette clamp is controlled to be horizontal, and then the height of the walking lift vehicle is lowered, and the cigarette clamp will fall on the flue-curing room cigarette clamp support plate, that is, the transportation and hanging of the cigarette clamp are completed.

9. The control method of the cigarette holder system for placing cigarettes on a kang according to claim 8, characterized in that: In step S3, the minimum tilt angle of the rotating column when it is retracted is calculated using the formula L yj cosθ+δ yj sinθ≤L zc +D zc calculate; Where L yj is the cigarette clip length, δ yj is the thickness of the cigarette clip, L zc D is the width of the tobacco clip support board in the flue-curing room. zc The distance between the two flue-curing room tobacco clamp support plates; When the right side of the cigarette clamp passes over the cigarette clamp support plate of the curing room, the retracted displacement and speed of the first linear drive on the right side and the extended displacement and speed of the second linear drive on the right side are calculated by the following formula: L AM =L BC' ·cos(θ) L MD =L AD -L AM L C'M =L AB +L BC' sin(θ) Then the displacement S2 of the second linear drive on the right is: S2 = L C'D -L CD ∠HDG'=90-∠MC'D Then the retracted displacement S4 of the first linear actuator described on the right is: S4 = L GH -L G'H If the cigarette holder is required to be tilted within time t1, the extension speed V2 of the second linear drive on the right side and the retraction displacement and speed V4 of the first linear drive on the right side are respectively: When the left side of the cigarette clip passes over the cigarette clip support plate of the flue-curing room, the displacement and speed of the first linear actuator on the left side that needs to be retracted and the displacement and speed of the first linear actuator on the right side that needs to be extended are calculated using the following formula: Considering that the inclination angles of the cigarette clip when switching from the right side passing over the cigarette clip support plate of the flue-curing room to the left side passing over the cigarette clip support plate of the flue-curing room are very close, a simplified calculation method is adopted here, that is, assuming that θ'=θ; The displacement of the first linear drive on the right side extending is equal to the displacement of the first linear drive on the right side retracting, that is, S'4 = S4, so: ∠B'AN=90-(∠AB'C-90-θ')=180+θ'-∠AB'C Then the retracted displacement S3 of the first linear actuator on the left side is: S3 = L EF -L E'F If the cigarette holder state switching is required to be completed within time t2, the retracting speed V3 of the first linear drive on the left side and the retracting displacement and extending speed V'4 of the first linear drive on the right side are respectively: Point A and point D represent the hinge points between the second linear actuator and the bottom frame on both sides, respectively; point B and point C represent the hinge points between the second linear actuator and the cigarette clamp support plate in the initial vertical state of the rotating column, respectively; Points M and N represent the horizontal projections of the top endpoints of the second linear actuators on the corresponding sides after the columns on both sides are adjusted in height and angle; points B' and C' represent the endpoint positions of the second linear actuators on both sides after extension adjustment; points G' and E' represent the endpoint positions of the first linear actuators on the corresponding sides after the columns on both sides are adjusted in contraction; points E and G represent the endpoint positions of the first linear actuators on the corresponding sides when the rotating columns are in the initial vertical state; H and F represent the endpoint positions of the bottoms of the two first linear actuators; L represents the length, such as L AB , L DC represents the length of the two second linear drives when the rotating column is in the initial vertical state.

10. The control method of the cigarette holder system for placing cigarettes on a kang according to claim 8, characterized in that: In the step S3, when the right side of the cigarette clamp passes over the cigarette clamp support plate of the curing room, the second linear drive and the first linear drive on the left side remain stationary, the second linear drive on the right side extends, and the first linear drive on the right side retracts, the cigarette clamp presents an inclined state with the left side lower and the right side higher, and the right side of the cigarette clamp moves to the left in the horizontal direction, so that it can pass over the cigarette clamp support plate of the curing room on the right side of the curing room frame; When the left side of the cigarette clamp passes over the smoke clamp support plate of the curing room, the second linear drive on the left side remains stationary, the first linear drive on the left side retracts, the first linear drive on the right side extends, and the second linear drive on the right side remains stationary; the cigarette clamp still presents an inclined state with the left side low and the right side high, and the cigarette clamp as a whole moves to the right in the horizontal direction, so that it can pass over the smoke clamp support plate of the curing room on the left side of the curing room frame.

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