A method and system for formula leaf tobacco transfer loading

Abstract

The application discloses a formula leaf tobacco transfer loading method and system, comprising system initialization, original tobacco formula information acquisition, original tobacco transfer scheme formulation, material taking and transfer, material feeding, tobacco material collection, tobacco frame recycling and state monitoring steps. The application realizes intelligent operation of transferring original tobacco from a formula library to a tobacco placing area, solves problems of large tobacco frame transfer quantity, on-site operation confusion, safety hazards of personnel and vehicles, formula data information confusion and large demand of placing workers in the traditional production scheduling mode, and lays a foundation for intelligent upgrading of a threshing and redrying production line, intelligent factory construction and fine quality control.

Description

Technical Field

[0001] This invention belongs to the field of tobacco processing technology, and in particular relates to a method and system for transferring and feeding formulated raw tobacco leaves. Background Technology

[0002] In the current tobacco leaf threshing and re-drying processes in China, in order to improve the smoking quality of finished cigarettes, re-drying enterprises usually adopt a modular formula threshing model. This model combines multiple formula modules such as raw tobacco grade, origin, and nicotine value to form the final leaf blend formula before threshing. However, this raw tobacco processing model is facing the following challenges:

[0003] 1. The transfer of raw tobacco frames from the formula warehouse to the preparation area is mainly completed by manual forklifts. The entire leaf cutting process requires dozens of manual forklifts to participate in the transfer in order to barely maintain normal production operations. This traditional production scheduling mode has problems such as large tobacco frame transfer volume, chaotic on-site operations, safety hazards for personnel and vehicles, and chaotic formula data information.

[0004] 2. The feeding of tobacco leaves from the tobacco frames in the leaf-laying and feeding area to the leaf-laying conveyor is mainly done manually. Each double-path cutting conveyor typically has 16 leaf-laying platforms on both sides, and each platform requires at least 3 workers to work closely together to feed the leaves. Some production lines even have 6 workers for leaf-laying and feeding. Calculated based on 6 double-path cutting lines, the entire leaf-laying and cutting process requires approximately 300 workers per shift. Although some re-drying enterprises have tried to use auxiliary feeding equipment, problems remain, such as the inability to open and fold the tobacco frames, the inability to clean up a large amount of tobacco leaves remaining at the bottom, low safety of leaf-laying and feeding, poor accuracy of modular formula feeding, and the need for a large amount of manual assistance in feeding.

[0005] 3. After the tobacco leaves are fed, the folding and stacking of empty tobacco frames cannot be completed automatically by existing equipment. It is necessary to rely on manual assistance to fold the frames and then manually transport them to the tobacco frame stacking equipment for stacking and recycling by forklift.

[0006] Therefore, at present, the entire tobacco re-drying production line, from the transfer of raw tobacco to the folding, stacking and recycling of tobacco frames, consumes a lot of manpower for re-drying enterprises, resulting in problems such as difficulty in recruiting workers, high labor costs and great management difficulties. At the same time, the low precision of the module formula also leads to the problem of poor smoking quality of finished cigarettes. Summary of the Invention

[0007] This invention provides a method and system for transferring and feeding raw tobacco leaves after processing, which realizes intelligent operation of transferring raw tobacco leaves from the formula warehouse to the stacking and preparation area. It solves the problems of large tobacco frame transfer volume, chaotic on-site operation, safety hazards for personnel and vehicles, chaotic formula data information, and large demand for manual stacking in the traditional production scheduling mode. It lays the foundation for the intelligent upgrading of the tobacco leaf re-drying production line, the construction of intelligent factories, and the goal of refined quality control.

[0008] To solve the above problems, the present invention is achieved by adopting the following technical solution:

[0009] The first objective of this invention is achieved through the following technical solution:

[0010] A method for transferring and feeding formulated raw tobacco leaves includes system initialization, acquisition of raw tobacco formula information, formulation of raw tobacco transfer plan, material collection and transfer, feeding, tobacco material collection, tobacco frame recycling, and status monitoring. The specific steps are as follows:

[0011] S1. Basic information collection: Input the basic information on raw tobacco storage, tobacco frame recycling data, and daily tobacco processing shift information into the centralized control system.

[0012] S2. Raw tobacco transfer plan formulation: Based on the data information collected in step S1, the centralized control system formulates the raw tobacco outbound transfer scheduling plan and issues transfer instructions to each piece of equipment in the transfer and feeding system.

[0013] S3. Material handling and transfer: After receiving the transfer instruction, the handling equipment transports each tobacco frame containing raw tobacco in the raw tobacco formula warehouse to each feeding station in the material preparation area, and the handling equipment feeds back the operating status information to the centralized control system in real time.

[0014] S4. Precise feeding: The feeding equipment at each feeding station in the preparation area grabs the tobacco leaves from the tobacco frame and feeds them to the weighing and conveying equipment according to the preset feeding value. Then, the double-way swing conveyor sends the weighed tobacco leaves to the next process. This process is repeated until all tobacco leaves are grabbed and fed, or the feeding and processing requirements are met. The centralized control system collects various data information in real time during the feeding process.

[0015] S5. Tobacco frame recycling: Empty tobacco frames after tobacco feeding are transferred by handling equipment to the folding and stacking system for folding and stacking. Finally, the tobacco frames are transported to the buffer station to await recycling.

[0016] S6. Status monitoring: The centralized control system monitors the status information of each device in real time and issues control commands in a timely manner when a fault alarm occurs.

[0017] Preferably, the basic information collection in step S1 includes the origin, part, year, grade, and basic chemical data of the raw tobacco, the quantity, location, and stacking data of tobacco frames in the raw tobacco formula library, and the tobacco processing formula information data for the shift of the day.

[0018] Preferably, the specific execution method of step S4, precise material feeding, is as follows:

[0019] S4.1 The vision system of the feeding equipment at each workstation begins to scan the frame status information of the smoke frame, obtains the specific position data of the smoke frame pin and hinge, and then the feeding equipment pulls out the pin on the smoke frame, flips the upper side frame and the lower side frame outward in sequence to complete the opening of the frame, and finally feeds the opening status back to the centralized control system. When the opening of the frame fails, the centralized control system issues an alarm to notify the manual opening of the frame.

[0020] S4.2. Based on the processing in step S4.1, the vision system of the feeding equipment at each workstation begins to scan the status information of the raw tobacco in the tobacco frame. After obtaining the status information of the raw tobacco, it picks up the tobacco leaves and feeds them onto the weighing and conveying equipment. When the feeding weight is close to the preset weight, the feeding equipment adopts a multiple small-scale supplementary feeding method according to the preset weight information until the feeding tobacco leaves meet the preset weight, and then the feeding operation is paused.

[0021] S4.3. Based on the processing in step S4.2, the weighing and conveying equipment at each workstation transports the tobacco leaves on it to the continuously running double-track swing-handle conveyor for collection. The double-track swing-handle conveyor then transports the tobacco leaves to the next process. When the double-track swing-handle conveyor transports the mixed tobacco leaves to the height limit bar and restricts the stacking height, it continues to be transported to the leaf cutting and unpacking machine for cutting according to the specified process. The cut tobacco leaves are then transported to the downstream belt conveyor to enter the subsequent leaf threshing and re-drying process.

[0022] S4.4 After the tobacco leaves in the tobacco frame are emptied, the feeding equipment lifts the upper and lower side frames of the tobacco frame, flips the upper side frame outward, and flips the lower side frame inward at the same time. After flipping, the upper side frame presses down on the lower side frame and is placed flat on the bottom frame. Then, the empty tobacco frame is transported by the handling equipment to the folding and stacking system for folding and stacking.

[0023] S4.5 Repeat steps S4.1 to S4.4 until all tobacco leaves have been grabbed and fed, or the feeding and processing requirements have been met. At the same time, all information data of the base tobacco leaves and the blended tobacco leaves, the single feeding, and the cumulative feeding weight are fed back to the centralized control system and simultaneously displayed on the display.

[0024] Preferably, the specific execution method of step S5, cigarette frame recycling, is as follows:

[0025] S5.1 Empty cigarette frames are transferred to the cigarette frame folding and stacking system, and then conveyed by the chain conveyor system to the cigarette frame folding station for clamping and fixing. The front frame folding mechanism and the rear frame folding mechanism perform folding operations on the cigarette frames.

[0026] S5.2. The folded cigarette frames are conveyed to the folding inspection station. Once the folding is detected, the lifting and clamping mechanism moves to the inspection station and clamps the folded cigarette frames back to the stacking station for stacking. When the folded cigarette frames are stacked to a certain height, they are conveyed to the buffer station to wait for cigarette frame recycling. If the folding is not in place, the longitudinal chain conveyor sends the cigarette frames out from the side, and at the same time the cigarette frame folding and stacking system issues an alarm to notify manual transfer and handling.

[0027] Preferably, the specific execution method of step S6, status monitoring, is as follows:

[0028] S6.1 During the feeding process, the feeding equipment automatically detects the remaining tobacco leaves in the tobacco frame. After the preset feeding is completed, the information on whether there are any remaining tobacco leaves is fed back to the centralized control system. The centralized control system determines the handling method of the remaining tobacco leaves according to the raw tobacco processing requirements, that is, to keep them at the work station to wait for the next feeding, or to transfer them back to the raw tobacco formula warehouse for recycling and processing.

[0029] S6.2. During the feeding process, if insufficient power or electricity is detected in the handling equipment or feeding equipment, a charging command is issued to dispatch the handling equipment or feeding equipment to the charging area for automatic charging according to the prescribed route.

[0030] S6.3 If any equipment in the transfer and feeding system malfunctions during the feeding process, an alarm will be issued to notify manual transfer and handling.

[0031] The second objective of this invention is achieved through the following technical solution:

[0032] Preferably, it includes feeding equipment, cigarette frames, limit supports, handling equipment, dual-path swing handle conveyor, weighing conveyor, display, height limit bar, leaf cutting and unbundling machine, swing handle control system, and cigarette frame folding and stacking system;

[0033] On both sides of the dual-path swing-handle conveyor, there are feeding stations along its conveying direction. Each feeding station is equipped with two feeding devices, and the space between the two feeding devices is the cigarette frame placement position.

[0034] The limiting supports are arranged in groups of four along the conveying direction between the two feeding devices at each feeding station, and the four limiting supports form a square shape that matches the shape of the bottom of the cigarette frame.

[0035] The weighing and conveying equipment is installed directly above the double-way swing-handle conveyor for each feeding station, while the display and the weighing and conveying equipment are installed on the side support in the middle of the double-way swing-handle conveyor for each feeding station.

[0036] The handling equipment transfers the tobacco frames filled with tobacco leaves and places them on the limiting support;

[0037] The leaf cutting and unbundling machine is connected to the dual-path swing handle conveyor to form a production line, and the height limit bar is set at the end of the dual-path swing handle conveyor.

[0038] Preferably, the feeding device is a humanoid robot or a robotic arm.

[0039] Preferably, the handling equipment is an AGV (Automated Guided Vehicle) with a lifting function or an automatic unloading function on top.

[0040] Preferably, the weighing and conveying equipment is a weighing belt scale.

[0041] The beneficial effects of this invention are:

[0042] (1) It realizes the intelligent operation of transferring raw tobacco from the formula warehouse to the stacking and preparation area, which solves the problems of large tobacco frame transfer volume, chaotic on-site operation, safety hazards of personnel and vehicles, and chaotic formula data information in the traditional production scheduling mode; it lays the foundation for the intelligent upgrading of the enterprise's leaf re-drying production line, the construction of intelligent factories and the goal of refined quality control.

[0043] (2) Intelligent and precise control of leaf laying and arranging in the modular formula leaf pounding and re-drying mode has been realized, solving the problems of low safety of leaf laying and arranging and poor accuracy of modular formula feeding. It has also overcome the problems of large manual requirements for leaf laying and arranging in the leaf pounding and re-drying production line and the inability to completely grab clean tobacco leaves remaining in the tobacco frame by existing equipment.

[0044] (3) The automated folding, stacking and recycling of cigarette frames has been realized, which solves the problem that the left and right side frames cannot be automatically opened and the front and rear frames cannot be automatically folded and recycled by existing equipment. Attached Figure Description

[0045] Figure 1 This is a system layout diagram of a specific embodiment of the formulation-based tobacco processing and feeding system of the present invention.

[0046] Figure 2 This is a schematic diagram illustrating the layout of the material preparation area of ​​the present invention in a specific embodiment.

[0047] Figure 3 This is a schematic diagram illustrating a specific embodiment of the humanoid robot frame opening method described in this invention;

[0048] Figure 4This is a schematic diagram of the cigarette frame structure described in this invention;

[0049] Figure 5 This is a front view of the cigarette frame folding and palletizing system described in this invention;

[0050] Figure 6 This is a top view of the cigarette frame folding and stacking system described in this invention;

[0051] Figure 7 This is a schematic diagram of a specific embodiment of the cigarette frame folding and palletizing system of the present invention, showing the folding front frame and the rear frame.

[0052] Figure 8 This is a schematic diagram illustrating a specific embodiment of the cigarette frame folding and palletizing system described in this invention.

[0053] Figure 9 This is a schematic diagram of the folding embodiment of the cigarette frame described in this invention;

[0054] Figure 10 This is a flowchart of the present invention.

[0055] Reference numerals: 1—Feeding equipment, 2—Tobacco frame, 2.1—Upper side frame, 2.2—Pin, 2.3—Front frame, 2.4—Rear frame, 2.5—Lower side frame, 2.6—Hinge, 2.7—Pin shaft, 2.8—Bottom frame, 3—Limiting support, 4—Handling equipment, 5—Dual-path swing handle conveyor, 6—Weighing conveyor, 7—Display, 8—Height limit bar, 9—Leaf cutting and unbundling machine, 10—Swing handle control system, 11—Tobacco frame folding and stacking system, 11.1—Chain conveyor system, 11.2—Positioning device, 11.3—Lifting and clamping mechanism, 11.4—Front frame folding mechanism, 11.5—Rear frame folding mechanism, 11.6—Longitudinal chain conveyor. Detailed Implementation

[0056] To enable those skilled in the art to better understand the technical solution of the present invention, the specific embodiments are described in detail below with reference to the accompanying drawings.

[0057] A method for transporting and feeding raw tobacco leaves according to a formula, the specific steps of which are as follows:

[0058] S1. Basic information collection: Input the origin, part, year, grade and basic chemical data of raw tobacco into the centralized control system, the quantity, location and stacking data of tobacco frames 2 in the raw tobacco formula library, and the tobacco processing formula information data for the shift of the day.

[0059] S2. Raw tobacco transfer plan formulation: Based on the data information collected in step S1, the centralized control system formulates a raw tobacco outbound transfer scheduling plan and issues transfer instructions to each piece of equipment in the transfer and feeding system.

[0060] S3. Material handling and transfer: After receiving the transfer instruction, the handling equipment 4 transports each tobacco frame 2 containing raw tobacco in the raw tobacco formula warehouse to each feeding station in the material preparation area, and the handling equipment 4 feeds back the operating status information to the centralized control system in real time.

[0061] S4. Precise feeding: The feeding equipment 1 at each feeding station in the preparation area grabs tobacco leaves from the tobacco frames 2 according to preset feeding values ​​and feeds them to the weighing conveyor 6 for weighing. The weighed tobacco leaves are then transported to the next process by the dual-path swing conveyor 5. This process is repeated until all tobacco leaves have been grabbed and fed, or the feeding and processing requirements are met. The centralized control system collects various data information in real time during the feeding process. The specific execution method is as follows:

[0062] S4.1 The vision system of the feeding equipment 1 at each workstation begins to scan the frame status information of the smoke frame 2, obtains the specific position data of the pin and hinge of the smoke frame 2, and then the feeding equipment 1 pulls out the pin on the smoke frame 2, flips the upper side frame and the lower side frame outward in sequence to complete the opening of the frame, and finally feeds the opening status back to the centralized control system. When the opening of the frame fails, the centralized control system issues an alarm to notify the manual opening of the frame.

[0063] S4.2. Based on the processing in step S4.1, the vision system of the feeding equipment 1 at each workstation begins to scan the status information of the raw tobacco in the tobacco frame 2. After obtaining the status information of the raw tobacco, it picks up the tobacco leaves and feeds them onto the weighing and conveying equipment 6. When the feeding weight is close to the preset weight, the feeding equipment 1 adopts a multiple small-scale supplementary feeding method according to the preset weight information until the feeding tobacco leaves meet the preset weight, and then the feeding operation is paused.

[0064] S4.3. Based on the processing in step S4.2, the weighing and conveying equipment 6 at each workstation conveys the tobacco leaves on it to the continuously running double-track swing conveyor 5 for aggregation. The double-track swing conveyor 5 then conveys the mixed tobacco leaves to the height limit bar 8 to restrict the stacking height. After that, the leaves are conveyed to the leaf cutting and unpacking machine 9 for cutting according to the specified process. The cut tobacco leaves are then conveyed to the downstream belt conveyor to enter the subsequent leaf threshing and re-drying process.

[0065] S4.4 After the tobacco leaves in the tobacco frame 2 are emptied, the feeding device 1 lifts the upper and lower side frames of the tobacco frame 2, flips the upper side frame outward, and flips the lower side frame inward at the same time. After flipping, the upper side frame presses down on the lower side frame and is placed flat on the bottom frame. Then the empty tobacco frame 2 is transferred to the folding and stacking system by the handling device 4 for folding and stacking.

[0066] S4.5 Repeat steps S4.1 to S4.4 until all tobacco leaves have been grabbed and fed, or the feeding and processing requirements have been met. At the same time, all information data of the base tobacco leaves and the blended tobacco leaves, the single feeding, and the cumulative feeding weight are fed back to the centralized control system and simultaneously displayed on the display 7.

[0067] S5. Tobacco Frame Recycling: Empty tobacco frames 2, after tobacco leaf feeding, are transferred by handling equipment 4 to the folding and stacking system for folding and stacking. Finally, tobacco frames 2 are transported to the buffer station to await recycling processing. The specific execution method is as follows:

[0068] S5.1 Empty cigarette frame 2 is transferred to cigarette frame folding and stacking system 11, and is conveyed by chain conveyor system to cigarette frame 2 folding station for clamping and fixing. Front frame folding mechanism and rear frame folding mechanism perform folding operation on cigarette frame 2.

[0069] S5.2 The folded cigarette frame 2 is conveyed to the folding detection station. When the folding is detected, the lifting clamping mechanism moves to the detection station and clamps the folded cigarette frame 2 back to the stacking station for stacking. When the folded cigarette frame 2 is stacked to a certain height, it is conveyed to the buffer station to wait for the cigarette frame 2 to be recycled. If it is detected that it is not folded in place, the longitudinal chain conveyor sends the cigarette frame 2 out from the side. At the same time, the cigarette frame folding and stacking system 11 issues an alarm to notify manual transfer and processing.

[0070] S6. Status Monitoring: The centralized control system monitors the status information of each device in real time and issues control commands promptly when a fault alarm occurs. The specific execution method is as follows:

[0071] S6.1 During the feeding process, the feeding equipment 1 automatically detects the remaining tobacco leaves in the tobacco frame 2. After the preset feeding is completed, the information on whether there are any remaining tobacco leaves is fed back to the centralized control system. The centralized control system determines the handling method of the remaining tobacco leaves according to the raw tobacco processing requirements, that is, to keep them at the work station to wait for the next feeding, or to transfer them back to the raw tobacco formula warehouse for recycling and processing.

[0072] S6.2. During the feeding process, if the power or electricity of the conveying equipment 4 or the feeding equipment 1 is insufficient, a charging command is issued to dispatch the conveying equipment 4 and the feeding equipment 1 to the charging area for automatic charging according to the prescribed route.

[0073] S6.3 If any equipment in the transfer and feeding system malfunctions during the feeding process, an alarm will be issued to notify manual transfer and handling.

[0074] like Figures 1-9 The illustrated raw tobacco processing and feeding system includes a feeding device 1, a tobacco frame 2, a limiting support 3, a handling device 4, a dual-path swing conveyor 5, a weighing conveyor 6, a display 7, a height limit bar 8, a leaf cutting and unbundling machine 9, a swing control system 10, and a tobacco frame folding and stacking system 11.

[0075] On the left and right sides of the dual-way swing conveyor 5, feeding stations are set up along its conveying direction. Each feeding station is equipped with two feeding devices 1. The space between the two feeding devices 1 is the placement position of the cigarette frame 2. The feeding device 1 is a humanoid robot or mechanical arm.

[0076] The limiting supports 3 are arranged in groups of four along the conveying direction between the two feeding devices 1 at each feeding station, and the four limiting supports 3 form a square shape that matches the bottom shape of the smoke frame 2.

[0077] The weighing conveyor 6 is a weighing belt scale. It is mounted directly above the double-path swing conveyor 5, corresponding to each feeding station. The display 8 and the weighing conveyor 6 are mounted on the side support of the double-path swing conveyor 5, corresponding to each feeding station, with the weighing conveyor 6 positioned above the double-path swing conveyor 5. A certain height distance is maintained between them to ensure that the double-path swing conveyor 5 is not interfered with by the weighing conveyor 6 when conveying tobacco leaves. Its conveying direction is consistent with that of the double-path swing conveyor 5 to ensure that the weighed tobacco leaves are conveyed onto the double-path swing conveyor 5. The weighing belt scale enables continuous and stable quantitative feeding, achieving uniform flow control of the double-path swing conveyor 5. This solves the problem of poor formula accuracy in current formula leaf-beating modules, realizing the quality management goal of refined formula leaf-beating in leaf-beating and re-drying enterprises.

[0078] The handling equipment 4 transfers the tobacco frame 2 filled with tobacco leaves and places it on the limiting support 3;

[0079] The leaf cutting and unbundling machine 9 is connected to the double-path swing handle conveyor 5 to form a production line, and the height limit bar 8 is set at the end of the double-path swing handle conveyor 5.

[0080] The aforementioned handling equipment 4 is an AGV self-propelled trolley with a lifting function or automatic unloading function on the top. The handling equipment 4 automatically guides and moves between the feeding station and the raw tobacco formula warehouse and the tobacco frame folding and stacking system 11 according to the preset driving route.

[0081] Preferably, the limiting support 3 is configured as an inclined limiting baffle to prevent the cigarette frame 2 from slipping off.

[0082] Preferably, the feeding device 1 is equipped with a visual recognition system (any existing visual recognition system on the market can be used in conjunction with the feeding device 1), which can scan and obtain the status information of the left and right side frames and perform deep learning to establish a database of side frame deformation information, laying the foundation for the reliability of opening the left and right side frames. By using the feeding device 1 to open the left and right side frames, the problem of not being able to achieve automatic opening of the left and right side frames by relying on existing equipment is solved.

[0083] Preferably, the cigarette frame 2 is a commercially available foldable cigarette frame. The foldable cigarette frame with this structure, together with the cigarette frame folding and palletizing system 11, realizes automatic folding and automatic palletizing and recycling of the cigarette frame 2, thereby improving the level of automation.

[0084] The technical solution of the present invention will be further explained and described below with reference to the embodiments.

[0085] Example 1

[0086] S1. Power on. After the system starts working, it enters the initialization state. The centralized control system in the central control room automatically detects the status information of equipment such as handling equipment 4, feeding equipment 1, weighing and conveying equipment 6, tobacco frame folding and stacking system 10, and swing handle control system 11. After ensuring that each subsystem meets the normal working conditions, it enters the work preparation stage.

[0087] S2. Basic information collection: The centralized control system acquires real-time data on the origin, part, year, grade, and basic chemical data of raw tobacco in the enterprise's digital warehousing system, as well as the quantity, location, and palletizing data of tobacco frames 2 in the raw tobacco formula library. Managers write the formula information data of the tobacco processing module for the day's shift into the centralized control system, or import the tobacco module formula information data through the enterprise's ERP information system.

[0088] S3. Raw tobacco transfer plan formulation: The centralized control system further decomposes the module formula information data based on the data information collected in step S2, formulates the optimal raw tobacco formula ratio matching and delivery plan, and decomposes and transmits the tobacco module formula ratio plan for the processing shift of the day to the display 7 for display. At the same time, based on the decomposed raw tobacco formula ratio matching and delivery plan, the optimal transfer scheduling plan is formulated, and transfer instructions are issued to the handling equipment 4 and feeding instructions are issued to other equipment in the transfer and feeding system according to the optimal transfer scheduling plan.

[0089] S4. Material handling and transfer: After receiving the transfer instruction, the handling equipment 4 automatically guides itself to the raw tobacco formula warehouse according to the planned driving route. According to the transfer instruction, it reaches the bottom center position of the designated tobacco frame 2. The lifting device of the handling equipment 4 lifts the tobacco frame 2 and automatically guides and transfers the tobacco frame 2 to the bar preparation area according to the driving route. The tobacco frame 2 is placed on a set of limit supports 3 at the designated bar position. At the same time, the handling equipment 4 feeds back the information of the completion of the transfer of the tobacco frame 2 to the centralized control system. When the four legs of the tobacco frame 2 fall on the limit baffle, the tobacco frame 2 automatically centers and is placed in the designated position under the action of the tilt angle of the limit baffle and its own weight.

[0090] S5. Precise feeding: The feeding equipment 1 at each feeding station in the preparation area grabs tobacco leaves from the tobacco frames 2 according to preset feeding values ​​and feeds them to the weighing and conveying equipment 6 for weighing. The conveying equipment then transports the weighed tobacco leaves to the next process. This process is repeated until all tobacco leaves have been grabbed and fed, or until the feeding and processing requirements are met. The centralized control system collects various data information in real time during the feeding process. The specific execution method is as follows:

[0091] S5.1 The visual recognition system of the feeding equipment 1 at each workstation begins to scan the status information of the left and right side frames of the smoke frame 2. After obtaining the specific position data of the pins 2.2 and hinges 2.6, the feeding equipment 1 holds the upper edge of the upper side frame 2.1 and pulls out the four pins 2.2. Then, the upper side frame 2.1 is flipped outward along the hinge 2.6 to overlap with the lower side frame 2.5. Finally, the lower side frame 2.5 is flipped outward along the hinge 2.6 to the ground, thus completing the frame opening. After the frame opening is completed, the feeding equipment 1 feeds back the frame opening status to the centralized control system. If the frame opening fails due to deformation of the smoke frame 2, the centralized control system issues an alarm to notify manual frame opening.

[0092] S5.2. Based on the processing in step S5.1, the vision system of the feeding equipment 1 at each workstation begins to scan the status information of the raw tobacco in the tobacco frame 2. After obtaining the status information of the raw tobacco, it picks up the tobacco leaves and feeds them onto the weighing and conveying equipment 6. When the feeding weight is close to the preset weight, the feeding equipment 1 adopts a multiple small-scale supplementary feeding method according to the preset weight information until the feeding tobacco leaves meet the preset weight. Then, the centralized control system transmits the feeding completion information to the feeding equipment 1, and the feeding equipment 1 suspends the feeding operation.

[0093] S5.21. When the feeding device 1 is imaging, it performs deep learning on the collected raw tobacco state information and adjusts the grabbing posture in real time according to the tobacco leaf placement. At the same time, the tobacco leaves are grabbed and imaged layer by layer to ensure that the lower tobacco leaves are not pulled and disordered when the upper tobacco leaves are grabbed, thus ensuring the reliability of tobacco leaf grabbing.

[0094] S5.22. When the residual tobacco leaves at the bottom are picked up, the feeding device 1 can adjust the picking posture according to the imaging state of the residual tobacco leaves to ensure that the residual tobacco leaves are picked up and fed. This feeding method using the feeding device 1 solves the problem that existing equipment cannot completely pick up the residual tobacco leaves in the clean tobacco frame, and also realizes the precise control of the module formula weight;

[0095] S5.3. Based on the processing in step S5.2, the weighing and conveying equipment 6 at each workstation collects the tobacco leaves on it and puts them onto the continuously running double-path swing-handle conveyor 5. After the mixed tobacco leaves are conveyed to the height limit bar 8 and the stacking height is limited, they are continued to be conveyed to the leaf cutting and unbundling machine 9 for cutting according to the prescribed process. The cut tobacco leaves are then conveyed to the downstream belt conveyor to enter the subsequent leaf threshing and re-drying process.

[0096] S5.4 After the tobacco leaves in the tobacco frame 2 are emptied, the feeding device 1 flips the overlapping upper side frame 2.1 and lower side frame 2.5 of the tobacco frame 2 180 degrees along the bottom hinge 2.6 and pushes them back to the bottom frame 2.8 inside the tobacco frame 2 to reset. Then the empty tobacco frame 2 is transferred to the folding and stacking system by the handling device 4 for folding and stacking.

[0097] S5.5 Repeat steps S5.1 to S5.4 until all tobacco leaves have been grabbed and fed, or the feeding and processing requirements have been met. At the same time, all information data of the basic tobacco leaves and the blended tobacco leaves, the single feeding, and the cumulative feeding weight are fed back to the centralized control system and simultaneously displayed on the display 7.

[0098] S6. Tobacco Frame Recycling: Empty tobacco frames 2, after tobacco leaf feeding, are transferred by handling equipment 4 to the folding and stacking system for folding and stacking. Finally, tobacco frames 2 are transported to the buffer station to await recycling processing. The specific execution method is as follows:

[0099] S6.1 Empty cigarette frame 2 is transferred to cigarette frame folding and stacking system 11, and transported to the folding station of cigarette frame 2 by the chain conveyor system of cigarette frame folding and stacking system 11. The bottom frame 2.8 is clamped and fixed by positioning device 11.2. The front frame folding mechanism 11.4 and the rear frame folding mechanism 11.5 move downward and grab the top crossbeams of the front frame 2.3 and the rear frame 2.4 respectively. The front frame folding mechanism 11.4 first lifts the front frame 2.3 upward and moves it inward to make it deflect and tilt around the pin 2.7, and then slowly releases the front frame 2.3 downward to fold it onto the left and right side frames at the bottom of cigarette frame 2. Immediately afterwards, the rear frame folding mechanism 11.5 lifts the rear frame 2.4 upward and moves it inward to make it deflect and tilt around the pin 2.7, and then slowly releases the rear frame 2.4 downward to fold it onto the front frame 2.3 at the bottom of cigarette frame 2.

[0100] S6.2. The folded cigarette frame 2 is conveyed to the folding detection station. When the folding is detected, the lifting clamping mechanism moves to the detection station and clamps the folded cigarette frame 2 back to the stacking station for stacking. When the folded cigarette frame 2 is stacked to a certain height, it is conveyed to the buffer station to wait for the cigarette frame 2 to be recycled. If it is detected that it is not folded in place, the longitudinal chain conveyor sends the cigarette frame 2 out from the side. At the same time, the cigarette frame folding and stacking system 11 issues an alarm to notify manual transfer and processing.

[0101] S7. Status Monitoring: The centralized control system monitors the status information of each device in real time and issues control commands promptly when a fault alarm occurs. The specific execution method is as follows:

[0102] S7.1 During the feeding process, the feeding equipment 1 automatically detects the remaining tobacco leaves in the tobacco frame 2. After the preset feeding is completed, the information on whether there are any remaining tobacco leaves is fed back to the centralized control system, which then determines the handling method of the remaining tobacco leaves according to the raw tobacco processing requirements.

[0103] S7.11 The feeding equipment 1 automatically identifies the remaining tobacco leaves in the tobacco frame 2. When there are remaining tobacco leaves, the feeding equipment 1 reverses the upper frame 2.1 and the lower frame 2.5 by 90 degrees and pushes them back to their initial positions and inserts the pin 2.2. The handling equipment 4 transfers the tobacco frame 2 with remaining tobacco leaves back to the raw tobacco formula warehouse for recycling. According to the raw tobacco processing requirements, the feeding equipment 1 can also stop feeding, and the tobacco frame 2 with remaining tobacco leaves will remain stationary until the next shift starts production and then resumes normal feeding.

[0104] S7.2. During the feeding process, if the power or electricity of the conveying equipment 4 or the feeding equipment 1 is insufficient, a charging command is issued to dispatch the conveying equipment 4 and the feeding equipment 1 to the charging area for automatic charging according to the prescribed route.

[0105] S7.3 If any equipment in the transfer and feeding system malfunctions during the feeding process, an alarm will be issued to notify manual transfer and handling.

[0106] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for transferring and feeding formulated raw tobacco, comprising system initialization, acquisition of raw tobacco formula information, formulation of raw tobacco transfer plan, material handling and transfer, feeding, tobacco material collection, tobacco frame recycling, and status monitoring, the specific steps of which are as follows: S1. Basic information collection: Input the basic information on raw tobacco storage, tobacco frame recycling data, and daily tobacco processing shift information into the centralized control system. S2. Raw tobacco transfer plan formulation: Based on the data information collected in step S1, the centralized control system formulates the raw tobacco outbound transfer scheduling plan and issues transfer instructions to each piece of equipment in the transfer and feeding system. S3. Material handling and transfer: After receiving the transfer instruction, the handling equipment (4) transports each tobacco frame (2) containing raw tobacco in the raw tobacco formula warehouse to each feeding station in the material preparation area, and the handling equipment (4) feeds back the operating status information to the centralized control system in real time. S4. Precise feeding: The feeding equipment (1) at each feeding station in the preparation area grabs the tobacco leaves in the tobacco frame (2) according to the preset feeding value and feeds them to the weighing conveyor (6) for weighing. Then, the weighed tobacco leaves are sent to the next process by the double-way swing conveyor (5). This process is repeated until all tobacco leaves are grabbed and the feeding is completed, or the feeding and processing requirements are met. The centralized control system collects the data information of each process in real time. S5. Tobacco frame recycling: The empty tobacco frames (2) after tobacco feeding are transferred by the handling equipment (4) to the folding and stacking system for folding and stacking. Finally, the tobacco frames (2) are transported to the buffer station to wait for recycling. S6. Status monitoring: The centralized control system monitors the status information of each device in real time and issues control commands in a timely manner when a fault alarm occurs. The specific execution method of step S4, precise material feeding, is as follows: S4.1 The vision system of the feeding equipment (1) at each workstation begins to scan the frame status information of the smoke frame (2), obtains the specific position data of the pin and hinge of the smoke frame (2), and then the feeding equipment (1) pulls out the pin on the smoke frame (2), flips the upper side frame and the lower side frame outward in sequence to complete the opening of the frame, and finally feeds back the opening status to the centralized control system. When the opening of the frame fails, the centralized control system gives an alarm to notify the manual opening of the frame. S4.

2. Based on the processing in step S4.1, the vision system of the feeding equipment (1) at each workstation begins to scan the status information of the raw tobacco in the tobacco frame (2). After obtaining the status information of the raw tobacco, it picks up the tobacco leaves and feeds them onto the weighing and conveying equipment (6). When the feeding weight is close to the preset weight, the feeding equipment (1) adopts a multiple small-scale supplementary feeding method according to the preset weight information until the feeding tobacco leaves meet the preset weight, and then the feeding operation is suspended. S4.

3. Based on the processing in step S4.2, the weighing and conveying equipment (6) at each workstation conveys the tobacco leaves on it to the continuously running double-path swing conveyor (5) for collection. The double-path swing conveyor (5) then conveys them to the next process. When the double-path swing conveyor (5) conveys the mixed tobacco leaves to the height limit bar (8) and the stacking height is limited, it continues to be conveyed to the leaf cutting and unbundling machine (9) for cutting according to the specified process. The cut tobacco leaves are then conveyed to the downstream belt conveyor to enter the subsequent leaf threshing and re-drying process. S4.4 After the tobacco leaves in the tobacco frame (2) are emptied, the feeding equipment (1) lifts the upper and lower frames of the tobacco frame (2), flips the upper frame outward, and flips the lower frame inward at the same time. After flipping, the upper frame presses down on the lower frame and is placed flat on the bottom frame. Then the empty tobacco frame (2) is transferred by the handling equipment (4) to the folding and stacking system for folding and stacking. S4.5 Repeat steps S4.1 to S4.4 until all tobacco leaves are picked up and fed, or the feeding and processing requirements are met. At the same time, all information data of the basic tobacco leaves and the formulated tobacco leaves, the single feeding, and the cumulative feeding weight are fed back to the centralized control system and simultaneously displayed on the display (7).

2. The method for transferring and feeding raw tobacco leaves according to claim 1, characterized in that: The basic information collection in step S1 includes the origin, part, year, grade and basic chemical data of raw tobacco, the quantity, location and stacking data of tobacco frames (2) in the raw tobacco formula library, and the tobacco processing formula information data of the shift on that day.

3. The method for transferring and feeding raw tobacco leaves according to claim 1, characterized in that: The specific execution method of step S5, cigarette frame recycling, is as follows. S5.1 The empty cigarette frame (2) is transferred to the cigarette frame folding and stacking system (11), and is conveyed by the chain conveyor system to the cigarette frame (2) folding station for clamping and fixing. The front frame folding mechanism and the rear frame folding mechanism perform folding operations on the cigarette frame (2). S5.

2. The folded cigarette frame (2) is transported to the folding detection station. When the folding is detected, the lifting clamping mechanism moves to the detection station and clamps the folded cigarette frame (2) back to the stacking station for stacking. When the folded cigarette frame (2) is stacked to a certain height, it is transported to the buffer station to wait for the cigarette frame recycling process. When it is detected that it is not folded in place, the longitudinal chain conveyor sends the cigarette frame (2) out from the side. At the same time, the cigarette frame folding and stacking system (11) issues an alarm to notify manual transfer and processing.

4. The method for transferring and feeding raw tobacco leaves according to claim 1, characterized in that: The specific execution method of step S6, status monitoring, is as follows: S6.1 During the feeding process, the feeding equipment (1) automatically detects the remaining tobacco leaves in the tobacco frame (2). After the preset feeding is completed, the information on whether there are any remaining tobacco leaves is fed back to the centralized control system. The centralized control system determines the handling method of the remaining tobacco leaves according to the raw tobacco processing requirements, that is, to stay at the work station and wait for the next feeding, or to transfer them back to the raw tobacco formula warehouse for recycling. S6.

2. During the feeding process, if the power or electricity of the handling equipment (4) and the feeding equipment (1) is insufficient, a charging command is issued to dispatch the handling equipment (4) and the feeding equipment (1) to the charging area for automatic charging according to the prescribed route. S6.3 If any equipment in the transfer and feeding system malfunctions during the feeding process, an alarm will be issued to notify manual transfer and handling.

5. A system for transferring and feeding formulated raw tobacco leaves, characterized in that: Includes feeding equipment (1), cigarette frame (2), limit support (3), handling equipment (4), double-path swing handle conveyor (5), weighing conveyor (6), display (7), height limit bar (8), leaf cutting and unbundling machine (9), swing handle control system (10), and cigarette frame folding and stacking system (11). On the left and right sides of the dual-way swing conveyor (5), feeding stations are set up along its conveying direction. Each feeding station is equipped with two feeding devices (1), and the space between the two feeding devices (1) is the placement position of the cigarette frame (2). The limiting supports (3) are arranged in groups of four along the conveying direction between the two feeding devices (1) at each feeding station, and the four limiting supports (3) form a square shape that matches the bottom shape of the smoke frame (2). The weighing and conveying equipment (6) is set up directly above the double-way swing conveyor (5) for each feeding station, and the display (7) and the weighing and conveying equipment (6) are set on the side support in the middle of the double-way swing conveyor (5) for each feeding station. The transport equipment (4) transfers the tobacco frame (2) filled with tobacco leaves to the limiting support (3); The leaf cutting and unbundling machine (9) is connected to the double-path swing handle conveyor (5) to form a production line, and the height limit bar (8) is set at the end of the double-path swing handle conveyor (5).

6. The formulation-based raw tobacco transfer and feeding system according to claim 5, characterized in that: The feeding device (1) is a humanoid robot or mechanical arm.

7. The formulation-based raw tobacco transfer and feeding system according to claim 5, characterized in that: The aforementioned handling equipment (4) is an AGV self-propelled trolley with a top lifting function or an automatic unloading function.

8. The formulation-based raw tobacco transfer and feeding system according to claim 5, characterized in that: The weighing and conveying equipment (6) is a weighing belt scale.

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