Smoke box clamping arm torque control device and smoke box separation system

Abstract

The embodiment of the invention discloses a smoke box clamping arm torque control device and a smoke box separation system. The smoke box clamping arm torque control device comprises a distance measuring sensor, a controller and a smoke box clamping arm air cylinder air inlet regulator. The distance measuring sensor and the smoke box clamping arm air cylinder air inlet adjustor are electrically connected with the controller. The distance measuring sensor is arranged at the top of the smoke box clamping arm and used for measuring the distance between the smoke box clamped by the smoke box clamping arm and the top of the smoke box clamping arm and transmitting a measured distance signal to the controller; the controller is used for receiving the distance signal and outputting a first control signal to the smoke box clamping arm air cylinder air inlet regulator under the triggering of the distance signal; the smoke box clamping arm air cylinder air inlet adjuster is used for adjusting the air inlet amount of an air cylinder of the smoke box clamping arm after receiving the first control signal so as to adjust the torque applied to the smoke box by the smoke box clamping arm. According to the embodiment of the invention, the smoke box can be smoothly clamped by adjusting the torque of the smoke box clamping arm in real time, so that the safety is improved.

Description

Technical Field

[0001] The invention relates to the field of control, and in particular to a cigarette box clamp arm torque control device and a cigarette box separation system. Background Art

[0002] The tobacco shred production process covers the entire process from unpacking the cigarette box to making shredded tobacco. The key steps include unpacking, rehydration, slicing, shredding, drying and flavoring. Among them, unpacking, as the primary link in the shred production process, lays a solid foundation for the smooth progress of subsequent processes. As the core equipment of the unpacking process, the pack opener plays a vital role in shred production. Its main task is to automatically remove the paper packaging outside the cigarette pack, ensure the smooth separation of the tobacco leaves from the carton, and maintain the integrity of the tobacco leaves, thereby effectively replacing manual operation.

[0003] Figure 1 This is a schematic diagram of the clamp of the cigarette box opener. The clamp consists of 4 clamp arms, each of which has 2 suction cups, 4 rubber blocks and 8 nails. When it is necessary to separate the cigarette box from the cigarette blank, as the manipulator rotates to the two sides of the cigarette box, the clamp arms clamp the cigarette box under the action of the cylinder, and the nails are inserted into the cigarette box to fix it. The suction cups and rubber blocks fit tightly with the cigarette box. As the clamp rises, the friction generated by it overcomes the weight of the cigarette blank and the friction between the cigarette blank and the cigarette box, thus achieving the separation between the cigarette box and the cigarette blank.

[0004] In actual work, the clamp arm is moved by the cylinder to clamp the cigarette box. The cylinder obtains a constant pressure, which leads to a certain friction between the suction cup, rubber block and the cigarette box. However, due to the different types and volumes of cigarette blanks inside the cigarette box, whether the cigarette blanks are wrapped in plastic bags, etc., the friction between the cigarette blanks and the cigarette box varies. When the friction is too large, the upward fixed torque of the clamp arm clamping the cigarette box is not enough to overcome this friction, so the cigarette box cannot be clamped up, or the cigarette box slides down after being clamped, which is easy to cause safety hazards. Summary of the invention

[0005] The present invention provides a cigarette box clamp arm torque control device and a cigarette box separation system, which can smoothly clamp the cigarette box by adjusting the cigarette box clamp arm torque in real time, thereby improving safety.

[0006] According to one aspect of the present invention, a cigarette box clamp arm torque control device is provided, comprising:

[0007] Distance measuring sensor, controller and smoke box clamp arm cylinder air intake regulator;

[0008] The distance measuring sensor and the air intake regulator of the cigarette box clamp arm cylinder are both electrically connected to the controller;

[0009] The distance measuring sensor is arranged at the top of the cigarette box clamping arm, and is used to measure the distance between the cigarette box clamped by the cigarette box clamping arm and the top of the cigarette box clamping arm, and transmit the measured distance signal to the controller;

[0010] The controller is used to receive the distance signal and output a first control signal to the air intake regulator of the cigarette box clamp arm cylinder according to the distance signal;

[0011] The cigarette box clamp arm cylinder air intake regulator is used to adjust the air intake volume of the cylinder of the cigarette box clamp arm after receiving the first control signal, so as to adjust the torque applied by the cigarette box clamp arm to the cigarette box.

[0012] Optionally, the cigarette box clamp arm cylinder air intake regulator includes an electric proportional valve and a feedback circuit; the electric proportional valve is connected to the air intake passage of the cigarette box clamp arm cylinder, and the control end of the electric proportional valve is electrically connected to the controller; the detection end of the feedback circuit is electrically connected to the electric proportional valve, and the output end of the feedback circuit is electrically connected to the controller;

[0013] The feedback circuit is used to detect the opening of the electric proportional valve and transmit the measured opening signal to the controller;

[0014] The controller is used to send a first control signal to the electric proportional valve according to the distance signal and the opening signal, adjust the opening of the electric proportional valve, and adjust the air intake of the cylinder of the cigarette box clamp arm.

[0015] Optionally, the controller is used to control the distance measuring sensor to measure a first distance between the top of the cigarette box and the top of the cigarette box clamp arm when the cigarette box clamp arm clamps the cigarette box, and obtain a first distance signal output by the distance measuring sensor; after the cigarette box clamp arm clamps the cigarette box and starts to rise, control the distance measuring sensor to measure a second distance between the top of the cigarette box and the top of the cigarette box clamp arm, and obtain a second distance signal output by the distance measuring sensor;

[0016] The controller is used for outputting a first control signal to the cigarette box clamp arm cylinder air intake regulator according to the first distance signal and the second distance signal.

[0017] Optionally, the controller is used to control the cigarette box clamp arm to stop rising when the difference between the first distance signal and the second distance signal is greater than a preset signal, and output a first control signal to the cigarette box clamp arm cylinder air intake regulator, so that the cigarette box clamp arm cylinder air intake regulator increases the air intake volume of the cigarette box clamp arm cylinder.

[0018] Optionally, the controller is further used to control the cigarette box clamp arm to continue to rise after outputting the first control signal, and control the distance measuring sensor to continue to measure the third distance between the top of the cigarette box and the top of the cigarette box clamp arm, and obtain a third distance signal output by the distance measuring sensor;

[0019] The controller is also used to output a second control signal to the cigarette box clamp arm cylinder air intake regulator when the difference between the third distance signal and the second distance signal is greater than a preset signal, so that the cigarette box clamp arm cylinder air intake regulator increases the air intake of the cigarette box clamp arm cylinder.

[0020] Optionally, the controller controls the increase value of the air intake volume of the cigarette box clamp arm cylinder to be the same each time.

[0021] Optionally, the controller includes a signal acquisition circuit, a signal processing circuit and a control circuit; the signal processing circuit is electrically connected to the signal acquisition circuit and the control circuit respectively;

[0022] The signal acquisition circuit is used to acquire the first distance signal and the second distance signal measured by the distance measuring sensor, perform signal conversion on the first distance signal and the second distance signal to obtain a first distance conversion signal and a second distance conversion signal respectively, and transmit the first distance conversion signal and the second distance conversion signal to the signal processing circuit;

[0023] The signal processing circuit is used to perform a difference operation on the second distance conversion signal and the first distance conversion signal to obtain a first difference signal, and output a first result signal to the control circuit when the first difference signal is greater than a preset signal;

[0024] The control circuit is used to output a first control signal to the cigarette box clamp arm cylinder air intake regulator when receiving the first result signal, so that the cigarette box clamp arm cylinder air intake regulator increases the air intake volume of the cigarette box clamp arm cylinder.

[0025] Optionally, the signal acquisition circuit is used to acquire a third distance signal measured by the distance measuring sensor, perform signal conversion on the third distance signal to obtain a third distance conversion signal, and transmit the third distance conversion signal to the signal processing circuit;

[0026] The signal processing circuit is used for performing a difference operation on the third distance conversion signal and the second distance conversion signal to obtain a second difference signal, and outputting a second result signal to the control circuit when the second difference signal is greater than a preset signal;

[0027] The control circuit is used to output a second control signal to the cigarette box clamp arm cylinder air intake regulator when receiving the second result signal, so that the cigarette box clamp arm cylinder air intake regulator increases the air intake volume of the cigarette box clamp arm cylinder.

[0028] Optionally, the distance measuring sensor includes an ultrasonic distance measuring sensor, an infrared distance measuring sensor or a laser distance measuring sensor.

[0029] According to another aspect of the present invention, a cigarette box separation system is provided, comprising a cigarette box clamp arm and the cigarette box clamp arm torque control device according to any embodiment of the present invention.

[0030] The cigarette box clamp arm torque control device provided in the embodiment of the present invention includes a distance measuring sensor, a controller and a cigarette box clamp arm cylinder air intake regulator; the distance measuring sensor and the cigarette box clamp arm cylinder air intake regulator are both electrically connected to the controller 20; the distance measuring sensor is arranged at the top of the cigarette box clamp arm, and the distance measuring sensor is used to measure the distance between the cigarette box clamped by the cigarette box clamp arm and the top of the cigarette box clamp arm, and transmit the measured distance signal to the controller; the controller is used to receive the distance signal, and output a first control signal to the cigarette box clamp arm cylinder air intake regulator according to the distance signal; the cigarette box clamp arm cylinder air intake regulator is used to adjust the air intake volume of the cylinder of the cigarette box clamp arm after receiving the first control signal, so as to adjust the torque applied by the cigarette box clamp arm to the cigarette box. By adding a distance measuring sensor to measure the distance between the cigarette box clamped by the cigarette box clamp arm and the top of the cigarette box clamp arm, it is possible to determine based on the distance whether the cigarette box and the cigarette box clamp arm have relative movement and whether the relative movement is too large, thereby determining whether the torque is appropriate. The cylinder air intake is adjusted by the controller, thereby adjusting the torque so that the torque applied by the cigarette box clamp arm to the cigarette box is appropriate, thereby avoiding the inability to clamp the cigarette box or the cigarette box slipping due to too small a torque, thereby improving safety.

[0031] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 This is a schematic diagram of the cigarette box opener clamp.

[0034] Figure 2 It is a module schematic diagram of a cigarette box clamp arm torque control device provided in an embodiment of the present invention.

[0035] Figure 3 It is a module schematic diagram of another cigarette box clamp arm torque control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] The embodiment of the present invention provides a cigarette box clamp arm torque control device, Figure 2 Schematic diagram of a module of a cigarette box clamp arm torque control device provided by an embodiment of the present invention. Figure 2 , the cigarette box clamp arm torque control device includes:

[0039] Distance measuring sensor 10, controller 20 and smoke box clamp arm cylinder air intake regulator 30;

[0040] The distance sensor 10 and the cigarette box clamp arm cylinder air intake regulator 30 are both electrically connected to the controller 20;

[0041] The distance measuring sensor 10 is arranged at the top of the cigarette box clamp arm, and the distance measuring sensor 10 is used to measure the distance between the cigarette box clamped by the cigarette box clamp arm and the top of the cigarette box clamp arm, and transmit the measured distance signal to the controller 20;

[0042] The controller 20 is used to receive the distance signal and output a first control signal to the cigarette box clamp arm cylinder air intake regulator 30 according to the distance signal;

[0043] The cigarette box clamp arm cylinder air intake regulator 30 is used to adjust the air intake amount of the cylinder of the cigarette box clamp arm after receiving the first control signal, so as to adjust the torque applied by the cigarette box clamp arm to the cigarette box.

[0044] The controller 20 may be a PLC or other circuits. The controller 20 is used to receive the distance signal from the distance sensor 10, and determine whether the distance between the cigarette box and the top of the cigarette box clamp arm changes according to the distance signal, and send a first control signal to the cigarette box clamp arm cylinder air intake regulator 30 according to whether the distance changes and the amount of change. After receiving the control signal from the controller 20, the cigarette box clamp arm cylinder air intake regulator 30 adjusts the air intake volume of the cylinder of the cigarette box clamp arm and adjusts the torque applied by the cigarette box clamp arm to the cigarette box.

[0045] Specifically, when the cigarette box clamp arm starts to clamp the cigarette box, the distance sensor 10 arranged at the top of the cigarette box clamp arm starts to measure the distance between the cigarette box clamped by the cigarette box clamp arm and the top of the cigarette box clamp arm. During the process of clamping the cigarette box, the distance sensor 10 continuously measures the distance between the cigarette box and the top of the cigarette box clamp arm. The distance sensor 10 transmits the measured distance signal to the controller 20, and the controller 20 receives the distance signal from the distance sensor 10. In actual work, if the torque applied by the cigarette box clamp arm to the cigarette box is appropriate, the cigarette box will have a slight downward displacement when being clamped, and the distance difference between the cigarette box after and before clamping is small. If the distance signal changes too much, it means that the torque is too small and the cigarette box slides down. At this time, the controller 20 outputs a first control signal to the cigarette box clamp arm cylinder air intake regulator 30 to control the cigarette box clamp arm cylinder air intake regulator 30 to increase the cylinder air intake volume and increase the torque. If the distance signal remains unchanged, the torque may be too large and can be appropriately reduced. At this time, the smoke box clamp arm cylinder air intake regulator 30 can be controlled by the first control signal to reduce the cylinder air intake and reduce the torque.

[0046] The cigarette box clamp arm torque control device provided in the embodiment of the present invention comprises a distance sensor 10, a controller 20 and a cigarette box clamp arm cylinder air intake regulator 30; the distance sensor 10 and the cigarette box clamp arm cylinder air intake regulator 30 are both electrically connected to the controller 20; the distance sensor 10 is arranged at the top of the cigarette box clamp arm, and the distance sensor 10 is used to measure the distance between the cigarette box clamped by the cigarette box clamp arm and the top of the cigarette box clamp arm, and transmit the measured distance signal to the controller 20; the controller 20 is used to receive the distance signal, and output a first control signal to the cigarette box clamp arm cylinder air intake regulator 30 according to the distance signal; the cigarette box clamp arm cylinder air intake regulator 30 is used to adjust the air intake volume of the cylinder of the cigarette box clamp arm after receiving the first control signal, so as to adjust the torque applied by the cigarette box clamp arm to the cigarette box. By adding a distance measuring sensor 10 to measure the distance between the cigarette box clamped by the cigarette box clamp arm and the top of the cigarette box clamp arm, it is possible to determine whether the cigarette box and the cigarette box clamp arm have relative movement and whether the relative movement is too large based on the distance, thereby determining whether the torque is appropriate. The cylinder air intake is adjusted by the controller 20, thereby adjusting the torque so that the torque applied by the cigarette box clamp arm to the cigarette box is appropriate, thereby avoiding the inability to clamp the cigarette box or the cigarette box slipping due to too small a torque, thereby improving safety.

[0047] Figure 3 Schematic diagram of another module of a cigarette box clamp arm torque control device provided by an embodiment of the present invention. Figure 3 The cigarette box clamp arm cylinder air intake regulator 30 includes an electrical proportional valve 31 and a feedback circuit 32; the electrical proportional valve 31 is connected to the air intake passage of the cigarette box clamp arm cylinder, and the control end of the electrical proportional valve 31 is electrically connected to the controller 20; the detection end of the feedback circuit 32 is electrically connected to the electrical proportional valve 31, and the output end of the feedback circuit 32 is electrically connected to the controller 20;

[0048] The feedback circuit 32 is used to detect the opening of the electric proportional valve 31 and transmit the measured opening signal to the controller 20;

[0049] The controller 20 is used to send a first control signal to the electrical proportional valve 31 according to the distance signal and the opening signal, adjust the opening of the electrical proportional valve 31, and adjust the air intake of the cylinder of the cigarette box clamp arm.

[0050] Among them, the sensitivity of the electric proportional valve 31 is 0.2kPa, and the working pressure range is 0.005-0.9MPa. The working principle of the electric proportional valve 31 regulating the cylinder air intake of the cigarette box clamp arm is as follows: the electric proportional valve 31 is based on the closed-loop control technology of proportion (P), integration (I) and differentiation (D). When the control circuit receives the input signal, it will open the air supply solenoid valve and pressurize the pilot chamber. As the pressure in the pilot chamber rises, the diaphragm begins to move and drives the transmission rod connected to it to press down the air supply valve port, allowing the gas to flow out from the SUP port through the main air supply valve port, thereby generating output pressure. The output pressure is output through the OUT end and detected by the pressure sensor. The actual output pressure signal detected is fed back to the control circuit. The control circuit calculates the control deviation based on the given input signal (i.e., the required output pressure) and the actual detected output pressure signal, and the calculated control deviation is linearly combined according to the proportion, integration and differentiation to form the execution amount. Then, the control circuit adjusts the opening and closing of the air supply and exhaust solenoid valves according to the execution amount to adjust the pressure of the pilot chamber to adjust the output pressure. As the pressure in the pilot chamber changes, the opening and closing degree of the air supply valve core and the exhaust valve core driven by the diaphragm will also change accordingly, thereby adjusting the output pressure. When the output pressure is close to the pressure represented by the input signal, the control circuit will reduce the opening of the air supply solenoid valve and increase the opening of the exhaust solenoid valve to maintain the stability of the output pressure. The whole process is a closed-loop control system. The control circuit will continuously monitor the output pressure and adjust the opening and closing degree of the electrical proportional valve 31 as needed to ensure that the output pressure always remains within the required range. The feedback circuit 32 is used to detect the opening of the electrical proportional valve 31 and convert the current opening value of the electrical proportional valve 31 into a 4-20mA current signal, which is sent to the controller 20 through the analog output function. The controller 20 converts the analog quantity into a digital signal and then determines whether the electrical proportional valve 31 reaches the set value.

[0051] Specifically, the power supply circuit 40 provides the working voltage for the whole system; the reset circuit 50 can realize automatic reset and manual reset when powered on. The electrical proportional valve 31 is connected to the air intake passage of the cylinder of the cigarette box clamp arm, and is used to control the air intake of the cylinder. The control end of the electrical proportional valve 31 is electrically connected to the controller 20 to receive the control signal. The detection end of the feedback circuit 32 is electrically connected to the electrical proportional valve 31, and is used to detect the opening of the electrical proportional valve 31; its output end is electrically connected to the controller 20, and is used to transmit the opening signal. When it is necessary to control the torque of the cigarette box clamp arm, the controller 20 calculates the required cylinder air intake according to the distance signal measured by the distance sensor 10 and the opening signal fed back by the feedback circuit 32, and sends a first control signal to the electrical proportional valve 31. After receiving the first control signal sent by the controller 20, the electrical proportional valve 31 adjusts its own opening according to the size of the first control signal. When the opening increases, the cylinder air intake increases; when the opening decreases, the cylinder air intake decreases. While the electric proportional valve 31 is adjusting its opening, the feedback circuit 32 detects the actual opening of the electric proportional valve 31 in real time and transmits the measured opening signal to the controller 20 .

[0052] Optionally, the controller 20 is used to control the distance measuring sensor 10 to measure a first distance between the top of the cigarette box and the top of the cigarette box clamp arm when the cigarette box clamp arm clamps the cigarette box, and obtain a first distance signal output by the distance measuring sensor 10; after the cigarette box clamp arm clamps the cigarette box and starts to rise, control the distance measuring sensor 10 to measure a second distance between the top of the cigarette box and the top of the cigarette box clamp arm, and obtain a second distance signal output by the distance measuring sensor 10;

[0053] The controller 20 is used to output a first control signal to the cigarette box clamp arm cylinder air intake regulator 30 according to the first distance signal and the second distance signal.

[0054] The first distance refers to the vertical distance between the top of the cigarette box and the top of the cigarette box clamp arm when the cigarette box clamp arm clamps the cigarette box. The first distance signal is an analog signal or a digital signal corresponding to the first distance. The second distance refers to the vertical distance between the top of the cigarette box and the top of the cigarette box clamp arm measured again after the cigarette box clamp arm clamps the cigarette box and starts to rise. The second distance signal is an analog signal or a digital signal corresponding to the second distance.

[0055] Specifically, when the cigarette box clamp arm clamps the cigarette box, the controller 20 sends an instruction to the distance sensor 10, and the distance sensor 10 starts to measure the first distance between the top of the cigarette box and the top of the cigarette box clamp arm, and transmits the measured first distance signal to the controller 20. After the cigarette box clamp arm clamps the cigarette box and starts to rise, the controller 20 sends an instruction to the distance sensor 10 again, and the distance sensor 10 measures the second distance between the top of the cigarette box and the top of the cigarette box clamp arm at this time, and transmits the measured second distance signal to the controller 20. The controller 20 receives and processes the first distance signal and the second distance signal. By comparing the first distance signal and the second distance signal, the controller 20 calculates the cylinder air intake amount that needs to be adjusted, and sends a first control signal to the cigarette box clamp arm cylinder air intake regulator 30. After receiving the first control signal sent by the controller 20, the cigarette box clamp arm cylinder air intake regulator 30 changes the cylinder air intake amount by adjusting the opening of the electric proportional valve 31, thereby adjusting the torque applied by the cigarette box clamp arm to the cigarette box, so that the cigarette box can be clamped smoothly.

[0056] Optionally, the controller 20 is used to control the cigarette box clamp arm to stop rising when the difference between the first distance signal and the second distance signal is greater than a preset signal, and output a first control signal to the cigarette box clamp arm cylinder air intake regulator 30, so that the cigarette box clamp arm cylinder air intake regulator 30 increases the air intake volume of the cigarette box clamp arm cylinder.

[0057] The preset signal is a key threshold parameter, and the corresponding distance can be 1mm, or its specific value can be set as needed. The preset signal is used to determine whether the difference between the first distance signal and the second distance signal exceeds the normal range, thereby triggering the corresponding control action.

[0058] Specifically, the controller 20 is used to compare whether the difference between the first distance signal and the second distance signal is greater than a preset signal. When the difference between the first distance and the second distance is less than or equal to 1 mm, the difference between the first distance signal and the second distance signal is less than or equal to the preset signal. At this time, the distance of the cigarette box sliding down is within an appropriate range, and the torque applied to the cigarette box by the cigarette box clamp arm is appropriate. The controller 20 does not act on the cigarette box clamp arm cylinder air intake regulator 30. When the difference between the first distance and the second distance is greater than 1 mm, the difference between the first distance signal and the second distance signal is greater than the preset signal, the controller 20 controls the distance sensor 10 to stop working, the cigarette box clamp arm stops rising, and outputs a first control signal to the cigarette box clamp arm cylinder air intake regulator 30, which is used to increase the air intake of the cigarette box clamp arm cylinder and increase the pressure of the cylinder by 0.02 MPa. Then the cigarette box clamp arm continues to rise, and the distance sensor 10 resumes working at the same time. In this embodiment, when the difference between the first distance signal and the second distance signal is greater than the preset signal, the cigarette box clamp arm is controlled to stop rising, and a first control signal is output to the cigarette box clamp arm cylinder air intake regulator 30, so that the cigarette box clamp arm cylinder air intake regulator 30 increases the air intake volume of the cigarette box clamp arm cylinder, which can avoid the torque being too small, resulting in the cigarette box being unable to be clamped or slipping, thereby improving work efficiency and safety.

[0059] Optionally, the controller 20 is further configured to control the cigarette box clamp arm to continue to rise after outputting the first control signal, and control the distance measuring sensor 10 to continue to measure the third distance between the top of the cigarette box and the top of the cigarette box clamp arm, and obtain a third distance signal output by the distance measuring sensor 10;

[0060] The controller 20 is also used to output a second control signal to the cigarette box clamp arm cylinder air intake regulator 30 when the difference between the third distance signal and the second distance signal is greater than a preset signal, so that the cigarette box clamp arm cylinder air intake regulator 30 increases the air intake of the cigarette box clamp arm cylinder.

[0061] The third distance refers to the distance between the top of the cigarette box and the top of the cigarette box clamp arm measured again by the distance sensor 10 after the cigarette box clamp arm clamps the cigarette box and starts to rise. The distance sensor 10 can measure the distance between the top of the cigarette box and the cigarette box clamp arm for multiple times in a row, and the controller 20 compares the third distance signals measured multiple times with the second distance signal respectively.

[0062] Specifically, after outputting the first control signal, the controller 20 controls the cigarette box clamp arm to continue to rise, and controls the distance sensor 10 to continue to measure the third distance between the top of the cigarette box and the top of the cigarette box clamp arm, and transmits the measured third distance signal to the controller 20. The controller 20 compares whether the difference between the third distance signal and the second distance signal is greater than the preset signal. When the difference between the third distance signal and the second distance signal is less than the preset signal, it means that the torque is appropriate, and the controller 20 does not act on the cigarette box clamp arm cylinder air intake regulator 30; when the difference between the third distance signal and the second distance signal is greater than the preset signal, it means that the torque is small and the cigarette box is still sliding down, and the controller 20 controls the distance sensor 10 to stop working again, the cigarette box clamp arm stops rising, and outputs the second control signal to the cigarette box clamp arm cylinder air intake regulator 30, and increases the pressure of 0.02MPa to the cylinder again, and then the cigarette box clamp arm continues to rise, and the distance sensor 10 resumes working at the same time. Until the difference between the next distance signal and the previous distance signal is within 1mm, the torque adjustment is completed. In this embodiment, when the difference between the third distance signal and the second distance signal is greater than the preset signal, the cigarette box clamp arm is controlled to stop rising, and a second control signal is output to the cigarette box clamp arm cylinder air intake regulator 30, so that the cigarette box clamp arm cylinder air intake regulator 30 increases the air intake volume of the cigarette box clamp arm cylinder again, which can avoid the torque being too small, resulting in the cigarette box being unable to be clamped or slipping, thereby improving work efficiency and safety.

[0063] Exemplarily, the distance sensor 10 is installed on the top of the bag opener clamp to transmit a detection signal to the top of the cigarette box. The initial air pressure of the electrical proportional valve 31 is set to 0.7MPa to supply air to the cigarette box clamp arm cylinder. When the bag opener clamp rotates to both sides of the cigarette box with the manipulator, the cigarette box clamp arm clamps the cigarette box under the action of the cylinder. The distance sensor 10 starts to work and transmits a detection signal to the top of the cigarette box. When the detection signal encounters the cigarette box, it will be emitted back to form an echo signal. The echo signal is digitally processed and sent to the controller 20. The controller 20 calculates the distance at this time and records it as distance A. The clamp starts to rise. The distance sensor 10 continues to transmit detection signals to the top of the cigarette box at a time interval of 0.5 seconds. The controller 20 compares the distance calculated by the echo signal at this time with the distance A. Since in actual work, the cigarette box will have a slight downward displacement when it is clamped, according to actual measurements, the sliding distance is less than or equal to 1mm when the torque is appropriate. If the difference between the distance measured by the distance sensor 10 and the distance A is within 1mm, the controller 20 will not act on the electrical proportional valve 31, and the program will continue to execute the next action. If the difference between the distance measured by the distance sensor 10 and the distance A exceeds 1mm, the measured distance is recorded as distance B. The distance sensor 10 stops working and the fixture stops rising. The controller 20 sends a control signal to the electrical proportional valve 31 to increase the pressure of 0.02MPa to the cylinder. Then the fixture continues to rise, and the distance sensor 10 resumes working. If the difference between the distance measured by the distance sensor 10 and the distance B is within 1mm at this time, the next action will be completed. If the difference between the distance measured by the distance sensor 10 and the distance B exceeds 1mm again at this time, the measured distance is recorded as distance C, and the controller 20 sends a control signal to the electrical proportional valve 31 to increase the pressure of 0.02MPa to the cylinder. Then the fixture continues to rise, the distance sensor 10 resumes working, and the above steps of adjusting pressure and monitoring are repeated. The above adjustment and monitoring process will continue until the difference between the measured distance and the last recorded distance is stable within 1mm, and the program will continue to execute subsequent actions.

[0064] In this embodiment, after each adjustment of the cylinder air intake, when the clamp arm drives the cigarette box to continue to rise, the distance between the cigarette box and the clamp arm is detected again, and the re-measured distance is compared with the distance before the air intake adjustment. When the difference between the two is greater than 1mm, the air intake is adjusted again until the clamp arm drives the cigarette box to continue to rise and the sliding distance of the cigarette box is less than 1mm, that is, the air intake adjustment is stopped after the torque is appropriate, thereby realizing intelligent control of the clamp arm torque.

[0065] Optionally, the controller 20 controls the increase value of the air intake volume of the cigarette box clamp arm cylinder to be the same.

[0066] Specifically, the air intake of the cigarette box clamp arm cylinder is precisely controlled by the controller 20 to ensure that the value of each increase is the same, and the pressure is increased by 0.02 MPa each time, which can reduce the control difficulty.

[0067] In addition, the controller 20 can also be set to determine the air intake adjustment value each time according to the difference between the distance measured when the clamp arm drives the cigarette box to rise and the distance measured when it stops rising or does not rise, so that the required torque can be quickly adjusted. Exemplarily, the greater the difference between the second distance signal and the first distance signal, the greater the increase in the air intake of the cigarette box clamp arm cylinder controlled by the first control signal, and the greater the difference between the third distance signal and the second distance signal, the greater the increase in the air intake of the cigarette box clamp arm cylinder controlled by the second control signal.

[0068] Optionally, the controller 20 includes a signal acquisition circuit 21, a signal processing circuit 22 and a control circuit 23; the signal processing circuit 22 is electrically connected to the signal acquisition circuit 21 and the control circuit 23 respectively;

[0069] The signal acquisition circuit 21 is used to acquire the first distance signal and the second distance signal measured by the distance measuring sensor 10, perform signal conversion on the first distance signal and the second distance signal to obtain a first distance conversion signal and a second distance conversion signal respectively, and transmit the first distance conversion signal and the second distance conversion signal to the signal processing circuit 22;

[0070] The signal processing circuit 22 is used to perform a difference operation on the second distance conversion signal and the first distance conversion signal to obtain a first difference signal, and output a first result signal to the control circuit when the first difference signal is greater than a preset signal;

[0071] The control circuit 23 is used to output a first control signal to the cigarette box clamp arm cylinder air intake regulator 30 when receiving the first result signal, so that the cigarette box clamp arm cylinder air intake regulator 30 increases the air intake volume of the cigarette box clamp arm cylinder.

[0072] Among them, the signal acquisition circuit 21 writes a PLC program to read the signal output by the distance sensor 10 according to the data format and communication protocol of the distance sensor 10. If the signal is an analog signal, the analog signal is converted into a digital quantity, which is the actual measured distance value, and the digital quantity is sent to the signal processing circuit 22. The signal processing circuit 22 uses a comparison instruction to compare the relationship between the difference between the distance value actually measured at the initial position of the cigarette box and the distance value actually measured during the rising process and the set threshold value. If the distance difference between the two is greater than the set threshold value, the set value of the electric proportional valve 31 is converted into a corresponding current value through the control circuit 23, and sent to the electric proportional valve 31 through the analog output module of the PLC. The control circuit 23 is used to receive the result signal from the signal processing circuit 22, and output a corresponding control signal to the cigarette box clamp arm cylinder intake regulator 30 according to the signal.

[0073] Specifically, when the cigarette box clamp arm clamps the cigarette box, the distance sensor 10 starts to measure the first distance between the top of the cigarette box and the top of the cigarette box clamp arm, and outputs a first distance signal. The signal acquisition circuit 21 receives the first distance signal, performs signal conversion (such as analog-to-digital conversion), and obtains a first distance conversion signal. The signal acquisition circuit 21 transmits the first distance conversion signal to the signal processing circuit 22. The cigarette box clamp arm begins to rise, and at the same time, the distance sensor 10 continues to measure the second distance between the top of the cigarette box and the top of the cigarette box clamp arm, and outputs a second distance signal. The signal acquisition circuit 21 receives the second distance signal, performs signal conversion, and obtains a second distance conversion signal. The signal acquisition circuit 21 transmits the second distance conversion signal to the signal processing circuit 22. The signal processing circuit 22 receives the first distance conversion signal and the second distance conversion signal. The signal processing circuit 22 performs a difference operation on the second distance conversion signal and the first distance conversion signal to obtain a first difference signal. When the first difference signal is greater than the preset signal, it is necessary to increase the torque of the clamp arm. At this time, the signal processing circuit 22 outputs a first result signal indicating that adjustment is required to the control circuit 23. When the control circuit 23 receives the first result signal output by the signal processing circuit 22, it outputs a first control signal to the cigarette box clamp arm cylinder air intake regulator 30. After receiving the first control signal, the cigarette box clamp arm cylinder air intake regulator 30 increases the air intake of the cigarette box clamp arm cylinder, thereby increasing the torque of the cigarette box clamp arm.

[0074] Optionally, the signal acquisition circuit 21 is used to acquire a third distance signal measured by the distance measuring sensor 10, perform signal conversion on the third distance signal to obtain a third distance conversion signal, and transmit the third distance conversion signal to the signal processing circuit 22;

[0075] The signal processing circuit 22 is used to perform a difference operation on the third distance conversion signal and the second distance conversion signal to obtain a second difference signal, and output a second result signal to the control circuit when the second difference signal is greater than a preset signal;

[0076] The control circuit 23 is used to output a second control signal to the cigarette box clamp arm cylinder air intake regulator 30 when receiving the second result signal, so that the cigarette box clamp arm cylinder air intake regulator 30 increases the air intake volume of the cigarette box clamp arm cylinder.

[0077] Specifically, the cigarette box clamp arm continues to rise, and the distance measuring sensor 10 continues to measure the third distance between the top of the cigarette box and the top of the cigarette box clamp arm, and outputs a third distance signal. The signal acquisition circuit 21 receives the third distance signal, performs signal conversion, and obtains a third distance conversion signal. The signal acquisition circuit 21 transmits the third distance conversion signal to the signal processing circuit 22. The signal processing circuit 22 receives the third distance conversion signal and the second distance conversion signal. The signal processing circuit 22 performs a difference operation on the third distance conversion signal and the second distance conversion signal to obtain a second difference signal. When the second difference signal is greater than the preset signal, it is necessary to further increase the torque of the clamp arm. At this time, the signal processing circuit 22 outputs a second result signal indicating that further adjustment is required to the control circuit 23. When the control circuit 23 receives the second result signal output by the signal processing circuit 22, it outputs a second control signal to the cigarette box clamp arm cylinder air intake regulator 30. After receiving the second control signal, the cigarette box clamp arm cylinder air intake regulator 30 further increases the air intake of the cigarette box clamp arm cylinder, thereby further increasing the torque of the cigarette box clamp arm.

[0078] Optionally, the distance measuring sensor 10 includes an ultrasonic distance measuring sensor, an infrared distance measuring sensor or a laser distance measuring sensor.

[0079] Among them, the working voltage of the ultrasonic ranging sensor is 24V, the working range is 200mm-1300mm, the resolution is greater than 0.18mm, and the response time is 92ms. Exemplarily, the ultrasonic ranging sensor sends out a short pulse sound wave signal, which will be reflected back when encountering an obstacle (such as a cigarette box) to generate an echo signal, which is then received by the ultrasonic ranging sensor. The ultrasonic ranging sensor determines the distance of the obstacle by calculating the time interval between sending and receiving. The time interval is converted into an obstacle distance signal, and drives the output port of the ultrasonic ranging sensor to output a high-potential negative pulse digital signal. The high-potential negative pulse digital signal is sent to the controller 20, and the controller 20 processes the digital signal and controls the action of the cigarette box clamp arm.

[0080] Specifically, the cigarette box clamp arm torque control device uses a distance sensor 10 selected from ultrasonic distance sensors, infrared distance sensors, or laser distance sensors.

[0081] According to another aspect of the present invention, a cigarette box separation system is provided, comprising a cigarette box clamp arm and the cigarette box clamp arm torque control device according to any embodiment of the present invention.

[0082] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0083] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cigarette box clamp arm torque control device, characterized in that: include: Distance measuring sensor, controller and smoke box clamp arm cylinder air intake regulator; The distance measuring sensor and the cigarette box clamp arm cylinder air intake regulator are both electrically connected to the controller; The distance measuring sensor is arranged at the top of the cigarette box clamp arm, and is used to measure the distance between the cigarette box clamped by the cigarette box clamp arm and the top of the cigarette box clamp arm, and transmit the measured distance signal to the controller; The controller is used to receive the distance signal and output a first control signal to the cigarette box clamp arm cylinder air intake regulator according to the distance signal; The cigarette box clamp arm cylinder air intake regulator is used to adjust the air intake volume of the cylinder of the cigarette box clamp arm after receiving the first control signal, so as to adjust the torque applied by the cigarette box clamp arm to the cigarette box.

2. The cigarette box clamp arm torque control device according to claim 1, characterized in that: The cigarette box clamp arm cylinder air intake regulator comprises an electric proportional valve and a feedback circuit; the electric proportional valve is connected to the air intake passage of the cigarette box clamp arm cylinder, and the control end of the electric proportional valve is electrically connected to the controller; the detection end of the feedback circuit is electrically connected to the electric proportional valve, and the output end of the feedback circuit is electrically connected to the controller; The feedback circuit is used to detect the opening of the electric proportional valve and transmit the measured opening signal to the controller; The controller is used to send the first control signal to the electrical proportional valve according to the distance signal and the opening signal, adjust the opening of the electrical proportional valve, and adjust the air intake of the cylinder of the cigarette box clamp arm.

3. The cigarette box clamp arm torque control device according to claim 1, characterized in that: The controller is used to control the distance measuring sensor to measure a first distance between the top of the cigarette box and the top of the cigarette box clamp arm when the cigarette box clamp arm clamps the cigarette box, and obtain a first distance signal output by the distance measuring sensor; after the cigarette box clamp arm clamps the cigarette box and starts to rise, control the distance measuring sensor to measure a second distance between the top of the cigarette box and the top of the cigarette box clamp arm, and obtain a second distance signal output by the distance measuring sensor; The controller is used to output a first control signal to the cigarette box clamp arm cylinder air intake regulator according to the first distance signal and the second distance signal.

4. The cigarette box clamp arm torque control device according to claim 3, characterized in that: The controller is used to control the cigarette box clamp arm to stop rising when the difference between the first distance signal and the second distance signal is greater than a preset signal, and output a first control signal to the cigarette box clamp arm cylinder air intake regulator, so that the cigarette box clamp arm cylinder air intake regulator increases the air intake volume of the cigarette box clamp arm cylinder.

5. The cigarette box clamp arm torque control device according to claim 4, characterized in that: The controller is also used to control the cigarette box clamp arm to continue to rise after outputting the first control signal, and control the distance measuring sensor to continue to measure the third distance between the top of the cigarette box and the top of the cigarette box clamp arm, and obtain the third distance signal output by the distance measuring sensor; The controller is also used to output a second control signal to the cigarette box clamp arm cylinder air intake regulator when the difference between the third distance signal and the second distance signal is greater than a preset signal, so that the cigarette box clamp arm cylinder air intake regulator increases the air intake volume of the cigarette box clamp arm cylinder.

6. The cigarette box clamp arm torque control device according to claim 5, characterized in that: The controller controls the increase value of the air intake volume of the cigarette box clamp arm cylinder to be the same each time.

7. The cigarette box clamp arm torque control device according to any one of claims 3 to 6, characterized in that: The controller comprises a signal acquisition circuit, a signal processing circuit and a control circuit; the signal processing circuit is electrically connected to the signal acquisition circuit and the control circuit respectively; The signal acquisition circuit is used to acquire a first distance signal and a second distance signal measured by the distance measuring sensor, perform signal conversion on the first distance signal and the second distance signal to obtain a first distance conversion signal and a second distance conversion signal respectively, and transmit the first distance conversion signal and the second distance conversion signal to the signal processing circuit; The signal processing circuit is used to perform a difference operation on the second distance conversion signal and the first distance conversion signal to obtain a first difference signal, and output a first result signal to the control circuit when the first difference signal is greater than a preset signal; The control circuit is used to output a first control signal to the cigarette box clamp arm cylinder air intake regulator when receiving the first result signal, so that the cigarette box clamp arm cylinder air intake regulator increases the air intake volume of the cigarette box clamp arm cylinder.

8. The cigarette box clamp arm torque control device according to claim 7, characterized in that: The signal acquisition circuit is used to acquire the third distance signal measured by the distance measuring sensor, perform signal conversion on the third distance signal to obtain a third distance conversion signal, and transmit the third distance conversion signal to the signal processing circuit; The signal processing circuit is used to perform a difference operation on the third distance conversion signal and the second distance conversion signal to obtain a second difference signal, and output a second result signal to the control circuit when the second difference signal is greater than a preset signal; The control circuit is used to output a second control signal to the cigarette box clamp arm cylinder air intake regulator when receiving the second result signal, so that the cigarette box clamp arm cylinder air intake regulator increases the air intake volume of the cigarette box clamp arm cylinder.

9. The cigarette box clamp arm torque control device according to claim 1, characterized in that: The distance measuring sensor includes an ultrasonic distance measuring sensor, an infrared distance measuring sensor or a laser distance measuring sensor.

10. A cigarette box separation system, characterized in that: The invention comprises a cigarette box clamp arm and the cigarette box clamp arm torque control device according to any one of claims 1 to 9.

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