An experimental apparatus for spraying reconstituted tobacco leaf

Abstract

The application provides a kind of reconstituted tobacco spraying experimental equipment, it includes liquid supply system, spraying system, weighing system and control system;Liquid supply system is used to store and contain coating liquid;Spraying system includes manipulator, spraying mechanism and camera recognition mechanism, spraying mechanism includes nozzle and coating liquid delivery tube, nozzle and camera recognition mechanism are arranged at the end of manipulator, nozzle is connected with liquid supply system through coating liquid delivery tube;Weighing system is used to weigh reconstituted tobacco base sheet mass;Control system is electrically connected with liquid supply system, manipulator, spraying mechanism, camera recognition mechanism and weighing system respectively, to collect and analyze the information photographed by camera recognition mechanism and the information weighed by weighing system, to control the operation of manipulator and spraying mechanism.Compared with prior art, the reconstituted tobacco spraying experimental equipment provided by the application adopts image recognition technology combined with manipulator, which can improve the uniformity and spraying speed of coating liquid sprayed on the surface of reconstituted tobacco base sheet.

Description

Technical Field

[0001] This invention relates to the field of reconstituted tobacco technology, and in particular to an experimental apparatus for spraying reconstituted tobacco. Background Technology

[0002] Papermaking reconstituted tobacco uses tobacco leaf fragments, tobacco dust, and tobacco stems as the main raw materials, supplemented with fillers and added fibers. Through a series of processes including extraction, pulping, papermaking, coating, drying, and slitting, it is ultimately produced into a sheet or filament form of reconstituted tobacco raw material. The papermaking reconstituted tobacco production process is as follows: Figure 1 As shown.

[0003] When it is necessary to develop a new reconstituted tobacco product, or to maintain the raw material formula or coating liquid formula of the reconstituted tobacco product, it is necessary to simulate the above-mentioned production process in the laboratory in advance to avoid waste of resources.

[0004] However, in existing technologies, reconstituted tobacco production enterprises typically employ two methods when coating reconstituted tobacco substrates in the laboratory: one is to use small-scale coating equipment for large-scale coating, which is highly efficient but lacks automation and still requires manual intervention; the other is to directly use manual brushing or spraying to complete small-batch coating. Manual brushing involves operators using a brush to apply the coating liquid gradually onto the surface of the reconstituted tobacco substrate; manual spraying involves operators using a spray bottle or spray gun to spray the prepared coating liquid onto the surface of the reconstituted tobacco substrate. Generally, laboratory coating of reconstituted tobacco substrates is primarily done in small batches, but both manual brushing and spraying methods heavily rely on the operator's experience and suffer from low coating efficiency and uneven coating, severely impacting the reliability of experimental results and the experimental progress.

[0005] Therefore, how to provide an experimental device that can be used for coating reconstituted tobacco substrates is a problem that urgently needs to be solved in this field. Summary of the Invention

[0006] In existing technologies, the coating of small batches of reconstituted tobacco substrates in the laboratory is achieved through manual brushing or spraying, which is greatly affected by human factors, resulting in low coating efficiency and uneven coating. This invention provides an experimental device for coating reconstituted tobacco. The device features a robotic arm equipped with nozzles and a camera recognition mechanism. The nozzles are connected to a liquid supply system via pipelines. During coating, the camera recognition mechanism identifies the position of the reconstituted tobacco substrate, and the control system moves the robotic arm accordingly. Simultaneously, the control system controls the spray volume of the coating liquid. This automated spraying of the coating liquid through the coordination of mechanical structures avoids the influence of human factors on coating quality, improves coating efficiency, and ensures more uniform coating of the reconstituted tobacco substrate, thereby improving the reliability of experimental results and accelerating the experimental process.

[0007] An experimental device for spraying reconstituted tobacco leaves includes a liquid supply system, a spraying system, a weighing system, and a control system.

[0008] The liquid supply system is used to store and contain the coating liquid;

[0009] The spraying system includes a robotic arm, a spraying mechanism, and a camera recognition mechanism. The spraying mechanism includes a nozzle and a coating liquid delivery pipe. The nozzle and the camera recognition mechanism are located at the end of the robotic arm. The nozzle is connected to the liquid supply system through the coating liquid delivery pipe.

[0010] The weighing system is used to weigh the mass of reconstituted tobacco leaf substrate;

[0011] The control system is electrically connected to the liquid supply system, the robotic arm, the spraying mechanism, the camera recognition mechanism, and the weighing system, respectively, to collect and analyze the information captured by the camera recognition mechanism and the weighing information from the weighing system, so as to control the operation of the robotic arm and the spraying mechanism.

[0012] Preferably, the liquid supply system includes a first liquid tank and a second liquid tank;

[0013] The first liquid tank has a first storage cavity;

[0014] The second liquid tank has a second storage chamber;

[0015] The inlet of the second liquid tank is connected to the outlet of the first liquid tank through a first pipeline. A filter screen is provided in the first pipeline, and the filter screen is movably disposed in the first pipeline.

[0016] The nozzle is connected to the outlet of the second liquid tank via the coating liquid delivery pipe.

[0017] Preferably, the first liquid tank further includes a first agitator and a first drive motor. The first agitator is disposed in the first storage cavity, the output shaft of the first drive motor is connected to the first agitator, and the first agitator is a downward agitator.

[0018] The second liquid tank also includes a second agitator and a second drive motor. The second agitator is disposed in the second storage cavity. The output shaft of the second drive motor is connected to the second agitator, and the second agitator is a downward agitator.

[0019] Preferably, the top of the first liquid tank is provided with a first cleaning port, which is connected to the first storage cavity; the bottom of the first liquid tank is provided with a first cleaning outlet, which is connected to the first storage cavity.

[0020] The second liquid tank has a second cleaning port at the top, which is connected to the second storage cavity; and a second cleaning outlet at the bottom, which is connected to the second storage cavity.

[0021] Preferably, the liquid supply system further includes a negative pressure gas source, which is connected to the second storage chamber;

[0022] The second liquid tank is also equipped with a negative pressure sensor and a liquid level sensor;

[0023] The negative pressure gas source, the negative pressure sensor, and the liquid level sensor are electrically connected to the control system.

[0024] Preferably, it also includes a positive pressure gas source, which is connected to the second storage chamber.

[0025] Preferably, the nozzle is a dual-fluid nozzle, the liquid interface of the nozzle is connected to the liquid supply system through the coating liquid delivery pipe, and the gas interface of the nozzle is connected to a positive pressure gas source through a gas delivery pipe.

[0026] A flow meter is installed in the coating liquid infusion pipe, and a delivery pump is connected to the coating liquid infusion pipe. The flow meter and the delivery pump are electrically connected to the control system.

[0027] Preferably, it also includes a workbench and a transfer system;

[0028] The workbench is used to place reconstituted tobacco substrate, and the spraying system is used to spray coating liquid onto the reconstituted tobacco substrate on the workbench.

[0029] The transfer system is used to transfer reconstituted tobacco substrate between the weighing system and the workbench, and to flip the reconstituted tobacco substrate.

[0030] Preferably, the transfer system includes a clamping unit and a moving unit;

[0031] The clamping unit includes two jaws and a clamping drive mechanism for driving the two jaws to open and close.

[0032] The moving unit is connected to the clamping unit and is used to drive the clamping unit to move.

[0033] Preferably, the gripper is provided with a plurality of spaced-apart cylindrical teeth;

[0034] The workbench has multiple first grooves, the width of which is greater than the width of the cylindrical claw teeth, and the spacing between two adjacent first grooves matches the spacing between two adjacent cylindrical claw teeth.

[0035] The first groove is also provided with a suction hole on its wall. The suction hole is connected to the cavity inside the workbench and the cavity is connected to a negative pressure air source.

[0036] The weighing system includes a weighing unit body and a weighing platform disposed on the weighing unit body. Multiple second grooves are formed on the weighing platform. The width of the second grooves is greater than the width of the cylindrical claw teeth, and the interval between two adjacent second grooves matches the interval between two adjacent cylindrical claw teeth.

[0037] Compared with the prior art, the experimental equipment for coating reconstituted tobacco leaves provided by the present invention includes a liquid supply system, a coating system, a weighing system, and a control system. The liquid supply system is used to store and contain the coating liquid. The coating system includes a robotic arm, a coating mechanism, and a camera recognition mechanism. The coating mechanism includes a nozzle and a coating liquid delivery pipe. The nozzle and the camera recognition mechanism are disposed at the end of the robotic arm. The nozzle is connected to the liquid supply system through the coating liquid delivery pipe. The weighing system is used to weigh the mass of the reconstituted tobacco leaf substrate. The control system is electrically connected to the liquid supply system, the robotic arm, the coating mechanism, the camera recognition mechanism, and the weighing system, respectively, to collect and analyze the information captured by the camera recognition mechanism and the weighing information from the weighing system, so as to control the operation of the robotic arm and the coating mechanism. The experimental equipment for reconstituted tobacco spraying is equipped with a camera recognition mechanism and a robotic arm. The camera recognition mechanism acquires image information, and the control system controls the robotic arm's operation. The robotic arm is equipped with a spraying mechanism, allowing for automatic spraying of the coating liquid through nozzles. By combining image recognition technology with the robotic arm, the nozzles on the robotic arm spray the coating liquid at a predetermined height along a programmed path, improving the uniformity and speed of coating liquid application on the reconstituted tobacco substrate surface, as well as increasing coating accuracy. This avoids the influence of human factors, eliminating the need for personal experience in reconstituted tobacco spraying and reducing the learning curve for experimental operators. Simultaneously, the control system can control the amount of coating liquid sprayed, ensuring more uniform application on the reconstituted tobacco substrate, further improving the reliability of experimental results and accelerating the experimental process. In addition, the weighing system can weigh the reconstituted tobacco substrate, so the control system can calculate the required amount of coating liquid to be sprayed based on the received weighing information and the required coating rate, thereby better ensuring the coating quality. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A flowchart of the papermaking process for reconstituted tobacco leaves;

[0040] Figure 2 A schematic diagram of the structure of an experimental apparatus for spraying reconstituted tobacco leaves according to one embodiment;

[0041] Figure 3 for Figure 2 The diagram shows the structure of the liquid supply system.

[0042] Figure 4 This is a schematic diagram of the structure of a cleaning nozzle provided in one embodiment;

[0043] Figure 5 for Figure 2 The diagram shows the workflow (principle) of the experimental equipment.

[0044] Explanation of reference numerals in the attached figures:

[0045] Experimental equipment for reconstituted tobacco spraying 100;

[0046] Liquid supply system 10, first liquid tank 11, first storage chamber 111, first outlet 112, first stirrer 113, first drive motor 114, first cleaning port 115, first cleaning outlet 116, second liquid tank 12, second storage chamber 121, inlet 122, second outlet 123, second stirrer 124, second drive motor 125, second cleaning port 126, second cleaning outlet 127, negative pressure air source interface 128, positive pressure air source interface 129, first pipeline 13, filter screen 131, first section 132, second section 133, detachable interface pipe 134, negative pressure air source 14, negative pressure sensor 15, liquid level sensor 16, second pipeline 17, positive pressure air source 18, cleaning nozzle 19, main nozzle 191, first spray hole 1911, branch nozzle 192, second spray hole 1921;

[0047] Spraying system 20, robotic arm 21, spraying mechanism 22, nozzle 221, coating liquid delivery pipe 222, flow meter 2221, delivery pump 2222, gas delivery pipe 223, camera recognition mechanism 23;

[0048] Control system 30;

[0049] Weighing system 40, weighing platform 41, second groove 411, weighing unit body 42;

[0050] Workbench 50, First groove 51;

[0051] The transfer system 60, clamping unit 61, gripper 611, cylindrical claw teeth 6111, drive mechanism 612, linkage assembly 613, moving unit 62, linear lifting module 621, rotation module 622, and flipping module 623;

[0052] Reconstitute 200 tobacco leaf substrates. Detailed Implementation

[0053] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0055] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0056] This invention provides an experimental apparatus for coating reconstituted tobacco leaves, comprising a liquid supply system, a coating system, a weighing system, and a control system. The liquid supply system stores and contains the coating liquid. The coating system includes a robotic arm, a coating mechanism, and a camera recognition mechanism. The coating mechanism includes a nozzle and a coating liquid delivery pipe. The nozzle and the camera recognition mechanism are located at the end of the robotic arm, and the nozzle is connected to the liquid supply system via the coating liquid delivery pipe. The weighing system is used to weigh the reconstituted tobacco leaf substrate. The control system is electrically connected to the liquid supply system, the robotic arm, the coating mechanism, the camera recognition mechanism, and the weighing system, respectively, to collect and analyze information captured by the camera recognition mechanism and weighing information from the weighing system, thereby controlling the operation of the robotic arm and the coating mechanism. The experimental equipment for reconstituted tobacco spraying is equipped with a camera recognition mechanism and a robotic arm. The camera recognition mechanism acquires image information, and the control system controls the robotic arm's operation. The robotic arm is equipped with a spraying mechanism, allowing for automatic spraying of the coating liquid through nozzles. By combining image recognition technology with the robotic arm, the nozzles on the robotic arm spray the coating liquid at a predetermined height along a programmed path, improving the uniformity and speed of coating liquid application on the reconstituted tobacco substrate surface, as well as increasing coating accuracy. This avoids the influence of human factors, eliminating the need for personal experience in reconstituted tobacco spraying and reducing the learning curve for experimental operators. Simultaneously, the control system can control the amount of coating liquid sprayed, ensuring more uniform application on the reconstituted tobacco substrate, further improving the reliability of experimental results and accelerating the experimental process. In addition, the weighing system can weigh the reconstituted tobacco substrate, so the control system can calculate the required amount of coating liquid to be sprayed based on the received weighing information and the required coating rate, thereby better ensuring the coating quality.

[0057] Please refer to the following: Figures 2 to 5 In one embodiment, an experimental device 100 for coating reconstituted tobacco leaves is provided. It is mainly used in the production process experiment of reconstituted tobacco leaves made by papermaking, and is used to realize the automatic spraying of coating liquid on the reconstituted tobacco leaf substrate.

[0058] To better illustrate the experimental equipment 100 for reconstituted tobacco spraying provided in this embodiment, the following description is in conjunction with... Figure 1 A brief introduction to the main production processes and technological objectives of papermaking reconstituted tobacco:

[0059] 1. Extraction process

[0060] Hot water is used as the extraction solvent. Through stirring and soaking, soluble substances (such as sugars, nicotine, and aroma compounds) in homogenized tobacco materials like tobacco dust or stems are transferred to the extraction solvent to the maximum extent. Solid-liquid separation is then achieved through a screw extrusion process. The tobacco dust extract obtained after solid-liquid separation is concentrated and reused in the coating process, while the stem extract is used in appropriate amounts according to product requirements. The resulting tobacco dust residue and stem residue are blended in proportion and sent to the pulping process for further processing. To improve the solid-liquid separation effect, an appropriate amount of defiberized fiber can be added to the tobacco dust soaking system before solid-liquid separation. Depending on the quality requirements of some reconstituted tobacco products, appropriate additives may also be added during the stem soaking and extraction process to remove as many undesirable substances as possible from the stems.

[0061] 2. Pulping process

[0062] The tobacco dust and stem residues obtained from the previous solid-liquid separation process are mixed and continuously refined. Under the combined action of shear force, friction, pressure, and temperature, the fibers in the residues, especially the stem fibers, are further broken down and appropriately cut to ensure the pulp meets the process requirements of the papermaking equipment. Added fibers are generally defibrinated and refined separately, and then mixed with the refined tobacco dust and stem pulp in a specific ratio.

[0063] 3. Copying process

[0064] This process uses papermaking technology to complete the reconstituted tobacco leaf substrate sheet production. Specifically, after the pulp is evenly distributed in the headbox, the water is removed step by step through gravity dewatering, vacuum dewatering, Yankee cylinders, and multiple sets of drying cylinders for continuous pressing and drying, forming a reconstituted tobacco leaf substrate sheet with a certain mechanical strength, thickness, and looseness.

[0065] 4. Coating and drying process for fragments

[0066] Additives such as flavorings and fragrances are added to the concentrate obtained in the extraction process to form a coating solution. The coating solution is then uniformly applied to the surface of the reconstituted tobacco substrate using a coating machine. The moisture content of the coated substrate is then gradually adjusted to 11%–12% using hot air drying. Under the action of a shredder, the coated substrate is cut into sheets or filaments that meet the design requirements, thus obtaining the reconstituted tobacco product.

[0067] To ensure that the concentrated liquid containing tobacco-soluble substances is applied to the reconstituted tobacco substrate in the correct amount through a coating process, and that the sensory quality of the reconstituted tobacco product meets the product requirements (involving aroma quality, aroma intensity, and smoking strength), it is necessary to control the amount of coating applied to the surface of the reconstituted tobacco substrate. The amount of coating is usually controlled by the indicator "coating rate". The formula for calculating the coating rate (1) is as follows:

[0068]

[0069] In the formula:

[0070] T 涂布率 —The ratio of the solid content of the coating liquid applied to the reconstituted tobacco substrate to the oven-dry weight of the reconstituted tobacco substrate after coating, in %

[0071] m1 — Mass of the substrate after coating and drying, in grams.

[0072] m2 — Mass of the substrate dried before coating, in grams.

[0073] Please continue reading. Figures 2 to 5 When developing a new reconstituted tobacco product, or when maintaining the raw material formula or coating liquid formula for the reconstituted tobacco product, it is necessary to simulate the above-mentioned production process in the laboratory in advance to avoid wasting resources. The experimental equipment 100 for reconstituted tobacco spraying is mainly used to simulate the coating process in the laboratory, and automatically sprays the coating liquid onto the surface of the reconstituted tobacco substrate through a mechanical structure.

[0074] The experimental equipment 100 for coating reconstituted tobacco leaves includes a liquid supply system 10, a coating system 20, a control system 30, and a weighing system 40. The liquid supply system 10 is mainly used to store and contain the coating liquid. The coating system 20 is mainly used to spray the coating liquid from the liquid supply system 10 onto the reconstituted tobacco leaf substrate 200. The control system 30 is used for information acquisition and calculation; it is an information acquisition and calculation control system that controls the operation of corresponding components in each system by acquiring information and performing calculations and analyses. The weighing system 40 is mainly used to weigh the mass of the reconstituted tobacco leaf substrate 200.

[0075] The spraying system 20 includes a robotic arm 21, a spraying mechanism 22, and a camera recognition mechanism 23. The spraying mechanism 22 includes a nozzle 221 and a coating liquid delivery pipe 222. The nozzle 221 and the camera recognition mechanism 23 are disposed at the end of the robotic arm 21. The nozzle 221 is connected to the liquid supply system 10 through the coating liquid delivery pipe 222.

[0076] The control system 30 is electrically connected to the liquid supply system 10, the robotic arm 21, the spraying mechanism 22, the camera recognition mechanism 23, and the weighing system 40. The control system 30 collects and analyzes information captured by the camera recognition mechanism 23 and weighed by the weighing system 40 to control the operation of the robotic arm 21 and the spraying mechanism 22. Specifically, the control system 30 collects and analyzes information captured by the camera recognition mechanism 23 to control the trajectory of the robotic arm 21. By analyzing the information captured by the camera recognition mechanism 23, the current position of the end of the robotic arm 21 can be determined, allowing for corresponding movement and planning of its trajectory. The control system 30 collects and analyzes weighed information from the weighing system 40 to determine the mass of the reconstituted tobacco substrate 200 to be coated. Based on the input desired coating rate, the required amount of coating liquid can be calculated, thereby controlling the spraying mechanism 22 to spray the corresponding amount of coating liquid. The camera recognition mechanism 23 has two main functions: first, to identify the position of the reconstituted tobacco substrate (for example, the camera recognition mechanism 23 is used to identify the position information of the reconstituted tobacco substrate 200 on the workbench 50 and the weighing platform 41); second, to obtain the shape information of the reconstituted tobacco substrate (the reconstituted tobacco substrate may be a regular circle or rectangle, or it may be an irregular shape. The camera recognition mechanism 23 obtains the shape information and transmits the information to the control system 30, and then the control system 30 calculates the spraying path).

[0077] The specific operating procedure of the reconstituted tobacco leaf spraying experimental equipment 100 is as follows: Before the formal start, the operator equilibrates the reconstituted tobacco leaf substrate 200 in a constant temperature and humidity chamber for more than 24 hours, assuming that the moisture content of the reconstituted tobacco leaf substrate 200 after equilibration is 12%. In addition, the coating liquid needs to be prepared in advance. After the formal start, the operator adds the coating material to the liquid supply system 10, and then manually places the reconstituted tobacco leaf substrate 200 on the weighing system 40. The control system 30 obtains the mass of the reconstituted tobacco leaf substrate 200 before coating, and the transfer system then transfers the reconstituted tobacco leaf substrate 200 to the spraying station. After the operator inputs the substrate moisture content and the required coating rate into the control system 30, the program is started. The camera recognition mechanism 23 on the robotic arm 21 collects the substrate position information and image information, and transmits the information data to the control system 30. The control system 30 segments the substrate image according to the algorithm and completes the spraying path planning. Furthermore, the control system 30 calculates the required coating liquid mass for each side of the substrate based on the calculation formula, the input substrate moisture content, and the substrate mass weighed by the weighing system 40. Under program control, the robotic arm 21 sprays the coating liquid onto the surface of the reconstituted tobacco substrate 200 according to the planned spraying path. After one side is coated, the transfer system can flip the reconstituted tobacco substrate 200, and the robotic arm 21 can then complete the coating on the other side of the substrate. After both sides are coated, the transfer system can transfer the coated reconstituted tobacco substrate 200 back to the weighing system 40 to obtain the mass of the coated reconstituted tobacco substrate 200.

[0078] Understandably, current laboratory techniques typically employ manual brushing or spraying. Traditional manual brushing relies heavily on operator skill. The amount of coating liquid applied, the application method, and the reduction in liquid volume after coating 2-3 reconstituted tobacco substrate sheets (as the brush initially absorbs a significant amount of liquid, reaching a dynamic equilibrium as coating progresses) all depend on the operator's experience. Similarly, manual spraying relies on experience for speed, height, and pressure. Both manual brushing and spraying methods struggle to guarantee uniformity and efficiency in coating application.

[0079] The reconstituted tobacco leaf spraying experimental equipment 100 provided in this embodiment uses image recognition technology combined with robotic arm technology. It can control the nozzle 221 on the robotic arm 21 to spray the coating liquid at a certain height according to a programmed path. This improves the uniformity and speed of the coating liquid sprayed on the surface of the reconstituted tobacco leaf substrate 200, as well as the coating accuracy. It avoids the influence of human factors, allowing the reconstituted tobacco leaf spraying task to be completed without relying on personal experience, thus reducing the learning curve for experimental operators. Specifically, the control system 30 calculates the running trajectory of the nozzle 221 based on the area S1 covered by the spray from the nozzle 221 at a fixed height and the total area S of the reconstituted tobacco leaf substrate 200 recognized by the image recognition mechanism 23. This automates the spraying process, avoiding the unevenness and slow speed problems encountered in manual coating or spraying, and eliminating reliance on operator experience. Simultaneously, the weighing system 40 weighs the reconstituted tobacco substrate 200, allowing the control system 30 to calculate the required mass of the coating liquid. This controls the mass of the coating liquid sprayed from the spraying system 20, ensuring a more uniform coating on the reconstituted tobacco substrate and guaranteeing coating quality. This further improves the reliability of experimental results and accelerates the experimental process. Furthermore, after each coating cycle, the coated reconstituted tobacco substrate 200 can be re-weighed in the weighing system 40 to roughly determine whether the coating rate of the reconstituted tobacco substrate 200 meets the required standards.

[0080] The image recognition mechanism can employ a high-definition camera, and the specific camera type can be selected according to actual needs, such as a CCD industrial camera or a CMOS industrial camera. The control system 30 can also be selected according to actual needs, such as a PLC or an industrial computer (IPC). Furthermore, the control system 30 is not limited to a single controller; it can be a collection of multiple controllers. The control system 30 may or may not have image processing capabilities. Specifically, a vision controller can be integrated into the control system 30 to process the image information transmitted from the image recognition mechanism for positioning, recognition, and measurement. When the control system 30 lacks image processing capabilities, a vision controller needs to be integrated within the image recognition mechanism 23. The vision controller processes the captured images and then transmits the data to the control system 30. Based on this data, the control system 30 calculates the target position that the robotic arm needs to move to through geometric calculations.

[0081] It is understandable that after the coating system 20 coats the reconstituted tobacco substrate 200, there will be a certain difference between the actual coating rate and the theoretical coating rate (the required coating rate). During the coating process, there will be a certain degree of loss of coating liquid, which generally makes the actual coating rate lower than the theoretical coating rate. Therefore, after calculating the required coating rate, the control system 30 needs to use an algorithm to correct the quality of the coating liquid sprayed by the coating system 20, correcting the loss amount into the spraying amount, thereby ensuring that the final actual coating rate is the same as or close to the theoretical coating rate. Preferably, in one embodiment, the control system 30 is also used to correct the spraying amount of coating liquid of the coating system 20 according to the actual coating rate of the coated reconstituted tobacco substrate 200. The actual coating rate of the reconstituted tobacco substrate 200 can be obtained by manual detection and then manually input into the control system 30. In another embodiment, the control system 30 can also correct the amount of coating liquid sprayed by the spraying system 20 based on the mass data of the reconstituted tobacco substrate 200 after coating collected by the weighing system 40. After coating is completed, the reconstituted tobacco substrate 200 is placed back onto the weighing system 40 to obtain the mass of the coated reconstituted tobacco substrate 200. By calculation, the difference between the actual coating rate and the theoretical coating rate of the current reconstituted tobacco substrate 200 can be roughly determined. Therefore, the control system 30 can correct the amount of coating liquid sprayed in the next coating. The more data acquired, the more stable the final correction value will be, thus making the actual coating rate closer to the theoretical coating rate. Specifically, in one embodiment, a learning model can be established in the control system 30 to correct the amount of coating liquid sprayed.

[0082] Before the experimental equipment 100 for reconstituted tobacco spraying establishes a stable and reliable spraying work data learning model, factors such as the amount of loss of each unit of coating liquid during the spraying process, the quality of the spraying path, the amount of coating liquid required for single-sided spraying, the spraying pressure, the spraying height, and the spraying flow rate will all affect the closeness between the calculated coating rate and the theoretically required coating rate. Therefore, the control system 30 needs to perform a relatively large amount of machine learning in order to establish a highly reliable spraying work data learning model.

[0083] Principle of coating rate calculation:

[0084] Assumption:

[0085] ① Moisture content of a regular or irregular reconstituted tobacco leaf substrate w (unit:%);

[0086] ②The mass of the reconstituted tobacco substrate that was not dried before coating is M1 (unit: g), and the mass of the reconstituted tobacco substrate that was not dried after coating is M2 (unit: g).

[0087] ③ Coating liquid solid content R (unit: %), coating liquid mass M (unit: g) sprayed onto reconstituted tobacco substrate; actual coating liquid mass sprayed onto reconstituted tobacco substrate is used as... Indicates (unit: g); the mass of coating liquid consumed by the pressure pump to the nozzle, as displayed by the flow meter. (Unit: g)

[0088] ④ The coating rate is T, and the coating rate calculated by the control system is... (unit:%)

[0089] Based on the principle of coating rate calculation and formula (1), formula (2) can be obtained:

[0090]

[0091] The weight increase of the reconstituted tobacco substrate before and after spraying is the weight of the coating liquid actually sprayed onto the surface of the reconstituted tobacco substrate, which gives formula (3):

[0092]

[0093] Formula (4) can then be derived from formulas (2) and (3):

[0094]

[0095] Formula (4) can be further transformed to derive formula (5):

[0096]

[0097] Operator sets coating rate T 设定 Reconstitute the moisture content of tobacco leaf substrate w After the coating liquid-solid content R, the control system measures the reconstituted tobacco substrate quality M1 and the reconstituted tobacco substrate moisture content before spraying. w Coating liquid solid content R and T 设定 The coating rate T can be calculated. 设定 The actual amount of coating liquid required when issuing the instruction is M. 流，实 Then, the control system controls the output of the spray pump to distribute the coating liquid M... 流，实 The coating is sprayed onto both sides of the reconstituted tobacco substrate. However, due to losses during the spraying process, such as coating liquid leakage, incomplete coating of the reconstituted tobacco substrate surface, or the supply of more coating liquid than actually needed, M... 流，实 and M 流，显 There is a deviation Δ (Δ can be positive, negative, or zero), which affects the coating rate T calculated by the control system. 计算 With the set coating rate T 设定The reason for the discrepancy ΔT is that the control system needs to provide (M) to the spraying mechanism. 流，实 Only a coating solution with a strength of +Δ can guarantee a coating rate T. 计算 With the set coating rate T 设计 The deviation ΔT between them approaches zero infinitely, so formula (6) can be obtained from formula (5):

[0098]

[0099] In M1, T 设定 , w With R fixed, how to reduce T 设定 and T 计算 To minimize the deviation ΔT between the flow rate and the flow counter value M, the control system needs to continuously adjust the flow counter value M. 流，显 This reduces Δ, making Δ approach zero, and consequently, the coating rate deviation ΔT approaches zero, thus reducing T. 计算 T is constantly approaching the experimental design 设计 This constantly adjusting M 流，显 The process requires the control system 30 to continuously perform a large amount of machine learning and combine it with AI technology to achieve the goal, thereby enabling the control system 30 to establish a reliable learning model for spraying work data. By introducing AI technology into the control system 30 and establishing a general spraying work data model, the intelligence of experimental spraying work is improved, which is beneficial for subsequent work such as starting experiments on reconstituted tobacco flavoring processes.

[0100] During the learning model establishment process, the control system 30 can correct the coating rate by calculating the data or by inputting data from the operator, thereby promoting the establishment of the learning model. For example, the control system 30 calculates the coating rate 1 based on the mass of the coating liquid consumed, and then calculates the coating rate 2 based on the mass of the substrate before and after coating. The coating rate 1 is equivalent to the coating rate obtained by the calculation system after continuous learning and optimization, which is also the one that the operator is most concerned about. The coating rate 2 is also calculated by the control system, but the coating rate 2 is calculated according to the aforementioned formula (2), which is for the operator to verify. Specifically, in the initial stage, the reconstituted tobacco substrate 200 is weighed by the weighing system 40 before and after spraying, and the control system 30 obtains M1 and M2, and then wR can be manually input by the operator. Before the optimized learning model is established, the operator needs to use coating rate 2 to verify and correct coating rate 1 to promote the establishment of the learning model. Furthermore, the operator also has a more conservative verification method, which is to use the aforementioned formula (1) to obtain coating rate 3, and then input the coating rate 3 into the control system 30. Before the optimized learning model is established, the operator needs to use coating rate 2 and coating rate 3 to verify and correct coating rate 1 to promote the establishment of the learning model. After the model is established, it is no longer verified by coating rate 3, but only by coating rate 2 to verify coating rate 1, thereby improving the automation and intelligence of the equipment.

[0101] Preferably, in one embodiment, the experimental apparatus 100 for reconstituted tobacco spraying further includes a workbench 50 and a transfer system 60. The workbench 50 is used to place the reconstituted tobacco substrate 200 and serves as a spraying station for spraying the coating liquid onto the reconstituted tobacco substrate 200. The spraying system 20 is used to spray the coating liquid onto the reconstituted tobacco substrate 200 on the workbench 50. That is, in this embodiment, the spraying operation of the experimental apparatus 100 for reconstituted tobacco spraying is specifically performed on the workbench 50. The transfer system 60 is used to transfer the reconstituted tobacco substrate 200 between the weighing system 40 and the workbench 50. In other words, in this embodiment, the reconstituted tobacco substrate 200 can be automatically transferred from the weighing system 40 to the workbench 50 by the transfer system 60, and at the same time, the reconstituted tobacco substrate 200 can be transferred from the workbench 50 to the weighing system 40 without manual transfer operation, thus realizing automated spraying and touch-up spraying.

[0102] In the initial stage of model establishment, if the error deviation is large, in one embodiment, the control system 30 can calculate the amount of coating liquid to be sprayed again based on the mass data of the reconstituted tobacco substrate 200 after coating collected by the weighing system 40. This allows for a second coating of the reconstituted tobacco substrate, thereby ensuring coating quality. For example, after the first coating is completed, the reconstituted tobacco substrate 200 can be transferred from the workbench 50 to the weighing system 40 via the transfer system 60. After the reconstituted tobacco substrate 200 is weighed by the weighing system 40, the control system 30 calculates the amount of coating liquid to be sprayed again. Then, the transfer system 60 transfers the reconstituted tobacco substrate 200 back from the weighing system 40 to the workbench 50 for a second coating.

[0103] Furthermore, in order to ensure the accuracy of the re-spraying position, the camera recognition mechanism 23 (or the control system 30) should also have the function of image recognition and analysis of the uniformity of spraying, find the position of uneven spraying, and then transmit the position information of uneven spraying to the control system 30. The control system 30 controls the robot arm 21 to run and re-spray the position of uneven spraying. In other words, in one embodiment, the camera recognition mechanism 23 has the following functions: First, it identifies the reconstituted tobacco substrate 200 and locates the substrate position information. The position information enables the robotic arm 21 to find the substrate and complete the subsequent spraying action, as well as the subsequent substrate flipping spraying and weighing. Second, by capturing images and segmenting them, the control system 30 plans the spraying path based on the atomization coverage area of ​​the nozzle 221 on the substrate surface. The robotic arm 21 will complete the spraying according to the position information and spraying path information. Third, it identifies and analyzes the uniformity of spraying, finds the uneven spraying positions, and then transmits the uneven spraying position information to the control system 30. The control system 30 controls the robotic arm 21 to re-coat the uneven spraying positions.

[0104] In addition, image acquisition and machine learning can be used to analyze the uniformity of droplet distribution on the surface of the reconstituted tobacco substrate 200 after spraying, and automatically determine whether some areas need to be re-sprayed, which can improve coating uniformity and efficiency.

[0105] Specifically, in one embodiment, the transfer system 60 is electrically connected to the control system 30, and the operation of the transfer system 60 can be controlled by the control system 30.

[0106] Preferably, in one embodiment, the lens of the camera recognition mechanism 23 is provided with an openable and closable lens cover. When the camera recognition mechanism 23 is not in use, the lens cover is in a closed state, and when the camera recognition mechanism 23 is in use, the lens cover is in an open state, which helps to protect the lens of the camera recognition mechanism 23 and prevent the lens from being blocked by the atomizing liquid.

[0107] The following will describe some specific optional embodiments of the liquid supply system 10:

[0108] The liquid supply system 10 mainly provides the spraying system 20 with the qualified coating liquid required for spraying.

[0109] Preferably, in one embodiment, the liquid supply system 10 includes a first liquid tank 11 and a second liquid tank 12. The first liquid tank 11 has a first storage chamber 111, and the second liquid tank 12 has a second storage chamber 121. The first liquid tank 11 is mainly used to temporarily store unfiltered coating liquid, and the second liquid tank 12 is mainly used to continuously and stably supply qualified coating liquid required for spraying to the spraying system 20. The inlet of the second liquid tank 12 is connected to the outlet of the first liquid tank 11 through a first pipe 13. A filter screen 131 is provided in the first pipe 13, and the filter screen 131 is movably disposed in the first pipe 13. The nozzle 221 is connected to the outlet of the second liquid tank 12 through the coating liquid delivery pipe 222. That is, in this embodiment, the liquid supply system 10 has two separate tanks that can hold coating liquid, and the spraying mechanism 22 is connected to the second liquid tank 12. Because the first pipeline 13 is equipped with the filter screen 131, the coating liquid in the second liquid tank 12 is all filtered through the filter screen 131. It is understood that since the coating liquid is extracted from tobacco materials such as tobacco dust or stems, it may contain large particles. These large particles can easily clog the nozzle 221, affecting the coating effect. This embodiment, by using the filter screen 131, filters the coating liquid, ensuring that only filtered coating liquid is sprayed from the nozzle 221, thus preventing clogging. Furthermore, the two-tank structure facilitates replenishment of the coating liquid. For example, when the coating liquid in the first liquid tank 11 is exhausted while there is still coating liquid remaining in the second liquid tank 12, the equipment can still perform coating operations. Only the first liquid tank 11 needs to be replaced, and the entire equipment does not need to be shut down.

[0110] In one embodiment, the filter 131 is movably disposed in the first pipeline 13, specifically as follows: the first pipeline 13 includes a first section 132 and a second section 133, which are connected by a detachable interface pipe 134. One end of the detachable interface pipe 134 is detachably connected to the first section 132, and the other end is detachably connected to the second section 133. The filter 131 is disposed in the detachable interface pipe 134. When the system alarms that a blockage has occurred (an alarm is triggered when the pressure exceeds the safety limit), the first section 132 and the second section 133 can be disassembled, the disassembled detachable interface pipe 134 can be cleaned, and a portion of the liquid in the first liquid tank 11 can be drained to flush away any residual residue in the first section 132.

[0111] Specifically, in one embodiment, the control system 30 is further configured to control the transfer of coating liquid from the first liquid tank 11 to the second liquid tank 12. When the coating liquid is manually added to the first liquid tank 11, the operator activates the liquid supply system via the control system 30 with a single button press, controlling the transfer of coating liquid from the first liquid tank 11 to the second liquid tank 12 until the coating liquid in the second liquid tank 12 reaches the specified level and the pressure inside the second liquid tank 12 returns to normal atmospheric pressure.

[0112] Specifically, in one embodiment, the first liquid tank 11 has a feeding port on its side wall to facilitate the addition of manually prepared coating liquid into the first liquid tank 11. The bottom of the first liquid tank 11 has a first discharge port 112, and the bottom of the second liquid tank 12 has a feed port 122 and a second discharge port 123. The feed port 122 is connected to the first discharge port 112 through the first pipeline 13, and the nozzle 221 is connected to the second discharge port 123 through the coating liquid delivery pipe 222.

[0113] Preferably, in one embodiment, the first liquid tank 11 further includes a first stirrer 113 and a first drive motor 114. The first stirrer 113 is disposed in the first storage cavity 111, and the output shaft of the first drive motor 114 is connected to the first stirrer 113. The first stirrer 113 is a downward-pulling stirrer. The first drive motor 114 is the power source for the rotation of the first stirrer 113. By driving the first stirrer 113 to rotate through the first drive motor 114, the first stirrer 113 agitates and stirs the coating liquid in the first storage cavity 111, so that the coating liquid in the first liquid tank 11 is in a mixed state. Furthermore, the first agitator 113 is a downward-pushing agitator, meaning the installation angle of the impeller on the first agitator 113 is adapted to the driving direction of the first drive motor 114. This allows the impeller's rotation direction during operation to generate a downward axial flow. The downward-pushing impeller directly pushes the coating liquid in the first storage chamber 111 to the bottom of the tank, forming a high-speed flow at the bottom. This flow impacts and washes away the settled solid particles, suspending them. The suspended particles are then carried into the upper circulation flow on the side wall, forming a uniform circulation throughout the tank. The second liquid tank 12 also includes a second agitator 124 and a second drive motor 125. The second agitator 124 is disposed in the second storage chamber 121, and the output shaft of the second drive motor 125 is connected to the second agitator 124. The second agitator 124 is a downward-pushing agitator. Similarly, the second drive motor 125 is the power source for the rotation of the second agitator 124, and the second agitator 124 can also pump and stir the coating liquid in the second storage chamber 121 downwards during operation. By using a downward-pulling agitator, the coating liquid inside the tank can be better kept in a mixed state.

[0114] Preferably, in one embodiment, the first liquid tank 11 has a first cleaning port 115 at its top, which communicates with the first storage cavity 111; and a first cleaning outlet 116 at its bottom, which communicates with the first storage cavity 115. That is, in this embodiment, the first liquid tank 11 has a clean water inlet (i.e., the first cleaning port 115) at its top. After the spraying operation is completed, clean water can be injected into the first liquid tank 11 through the first cleaning port 115 to clean it. The wastewater after cleaning can be discharged through the first cleaning outlet 116. Additionally, the first cleaning outlet 116 can also be used to discharge the coating liquid from the first liquid tank 11. The second liquid tank 12 has a second cleaning port 126 at its top, which communicates with the second storage cavity 121; and a second cleaning outlet 127 at its bottom, which communicates with the second storage cavity 121. In other words, the second liquid tank 12 can also be cleaned. After the spraying operation is completed, clean water can be injected into the second liquid tank 12 through the second cleaning port 126 to clean the second liquid tank 12. The wastewater after cleaning can be discharged through the second cleaning outlet 127. In addition, the second cleaning outlet 127 can also be used to discharge the coating liquid in the second liquid tank 12.

[0115] Specifically, control valves are provided at the first cleaning outlet 116 and the second cleaning outlet 127 respectively, and the opening and closing of the first cleaning outlet 116 and the second cleaning outlet 127 can be controlled by the control valves.

[0116] Specifically, in one embodiment, apart from the first stirrer 113 and the first drive motor 114, the tank body of the first liquid tank 11 is replaceable. This allows for the preparation of new coating liquid in advance when the coating liquid formula needs to be changed, avoiding the need for cleaning and waiting, and saving time.

[0117] Specifically, in one embodiment, a solenoid valve is provided in the first pipeline 13, which can control the opening and closing of the first pipeline 13. More specifically, the solenoid valve in the first pipeline 13 is electrically connected to the control system 30, and the solenoid valve can be controlled by the control system 30.

[0118] Preferably, in one embodiment, the liquid supply system 10 further includes a negative pressure gas source 14, which is connected to the second storage chamber 121. A negative pressure sensor 15 and a liquid level sensor 16 are also installed in the second liquid tank 12. The negative pressure gas source 14, the negative pressure sensor 15, and the liquid level sensor 16 are electrically connected to the control system 30. The negative pressure gas source 14 is mainly used to generate negative pressure, thereby drawing the coating liquid in the first liquid tank 11 into the second liquid tank 12 through negative pressure. The negative pressure sensor 15 is used to detect the vacuum pressure inside the first liquid tank 11, and the liquid level sensor 16 is used to detect the liquid level height inside the first liquid tank 11. The control system 30 can control the filtration process based on the signals detected by the negative pressure sensor 15 and the liquid level sensor 16.

[0119] Specifically, in one embodiment, a negative pressure gas source interface 128 is provided at the top of the second liquid tank 12. The negative pressure gas source 14 is connected to the negative pressure gas source interface 128 through a second pipeline 17. A solenoid valve and a flow limiting valve are provided on the second pipeline 17, and the valve on the second pipeline 17 can be electrically connected to the control system 30. Preferably, in one embodiment, a gas-liquid separator is also provided between the negative pressure gas source 14 and the negative pressure gas source interface 128, thereby preventing liquid in the second liquid tank 12 from entering the negative pressure gas source 14 and damaging the negative pressure gas source 14.

[0120] Specifically, in one embodiment, the negative pressure air source 14 is electrically connected to the control system 30 and is controlled by the control system 30.

[0121] Specifically, in one embodiment, the top of the second liquid tank 12 is also provided with an atmospheric gas source interface, and the pipeline connected to the atmospheric gas source interface is also provided with a solenoid valve and a flow limiting valve. These valves can also be electrically connected to the control system 30.

[0122] In one embodiment, when the liquid level sensor 16 detects that the liquid level in the second liquid tank 12 has reached a set height, the control system 30 closes the solenoid valves on the negative pressure air source 14 and the second pipeline 17, stopping the delivery of coating liquid into the second liquid tank 12. Simultaneously, it opens the flow-limiting valve and solenoid valve connected to the atmospheric air source, restoring the internal pressure of the second liquid tank 12 to normal. However, when the filter screen 131 is clogged or the liquid level reaches the set height, the negative pressure air source 14 continues to operate, causing the vacuum pressure inside the second liquid tank 12 to exceed the set safety pressure. In this case, the negative pressure sensor 15 transmits a disconnect signal to the control system 30, which then closes the solenoid valves on the negative pressure air source 14 and the second pipeline 17, while simultaneously opening the flow-limiting valve and solenoid valve connected to the atmospheric air source, restoring the internal pressure of the second liquid tank 12 to normal and ensuring safety.

[0123] Specifically, in one embodiment, the negative pressure gas source 14 is a vacuum generator.

[0124] Preferably, in one embodiment, a positive pressure air source 18 is further included, which is connected to the second storage chamber 121. The positive pressure air source 18 is used to provide positive pressure to the second liquid tank 12. The positive pressure air source 18 has two main functions: first, to purge residual liquid in the second liquid tank 12; and second, to transport the coating liquid in the second liquid tank 12 to the spraying system 20 when the delivery pump in the spraying system 20 is not working, thereby ensuring the stability of the coating.

[0125] It is understandable that if the delivery pump in the spraying system 20 is damaged and in a closed state, using a single pipeline will prevent the coating liquid from being delivered to the spraying system 20 even if the positive pressure air source 18 is turned on. Preferably, in one embodiment, two pipelines (or interfaces) are provided between the second liquid tank 12 and the spraying system 20. The delivery pump is installed on one pipeline (or interface), and a solenoid valve is installed on the other pipeline (or interface). Under normal circumstances, the delivery pump can provide power to deliver the coating liquid from one pipeline (or interface); when the delivery pump is damaged, the solenoid valve on the other pipeline (or interface) can be opened through the control system 30. For example, the coating liquid delivery pipe 222 has a Y-shaped branch interface at one end near the second liquid tank 12. Two branch interfaces on the Y-shaped branch interface are respectively connected to the second liquid tank 12. One branch interface is equipped with a solenoid valve, and the other branch interface is connected to a delivery pump. A flow meter is installed between the main confluence pipe of the Y-shaped branch interface and the nozzle 221. When the positive pressure air source 18 cannot deliver coating liquid to the spraying system 20, the solenoid valve on one branch interface is closed, and the delivery pump on the other branch interface is started simultaneously. In this way, when one method of delivering coating liquid fails, another method can be immediately activated.

[0126] Specifically, in one embodiment, a positive pressure gas source interface 129 is provided on the top of the second liquid tank 12, and the positive pressure gas source 18 is connected to the positive pressure gas source interface 129 through a pipeline. The positive pressure gas source 18 can be electrically connected to the control system 30, and the positive pressure gas source 18 can be controlled by the control system 30.

[0127] Preferably, in one embodiment, the first liquid tank 11 and the second liquid tank 12 are further provided with cleaning nozzles 19. Specifically, the cleaning nozzle 19 in the first liquid tank 11 can be located at the first cleaning port 115. Additionally, the second liquid tank 12 can be provided with a purge positive pressure port, which is connected to a positive pressure air source to enhance the purge function. The cleaning nozzle 19 in the second liquid tank 12 can be specifically located at the second cleaning port 126 and the purge positive pressure port. When cleaning the first liquid tank 11 or the second liquid tank 12 is required, cleaning medium (water or air) can be injected into the first cleaning port 115, the second cleaning port 126, and the purge positive pressure port, and then sprayed onto the inner wall of the tank through the cleaning nozzle 19 to improve the cleaning effect. Similarly, the first liquid tank 11 can also be provided with a purge positive pressure port as needed.

[0128] Preferably, in one embodiment, the cleaning nozzle 19 includes a main nozzle 191 and a plurality of branch nozzles 192 disposed on the main nozzle 191. The main nozzle 191 has a cavity and a plurality of first spray holes 1911. Each branch nozzle 192 has a cavity that communicates with the cavity of the main nozzle 191, and a second spray hole 1921 is disposed on each branch nozzle 192. When the cleaning medium is injected into the cleaning nozzle 19, it first flows into the cavity of the main nozzle 191 and then is sprayed outward through the first spray holes 1911. Additionally, the cleaning medium also flows into the cavity of the branch nozzle 192 and then is sprayed outward through the second spray holes 1921. By providing a plurality of branch nozzles 192, the cleaning area can be increased, improving cleaning efficiency and effectiveness.

[0129] Specifically, in one embodiment, the diameter of the second spray hole 1921 at the end of the support nozzle 192 is larger than the diameter of the second spray hole 1921 on the side of the support nozzle 192, and the diameter of the second spray hole 1921 at the end of the support nozzle 192 is larger than the diameter of the first spray hole 1911, which is beneficial for cleaning the side wall of the liquid tank.

[0130] The following will describe some specific optional embodiments of the spraying system 20:

[0131] The robotic arm 21 is the main body of the spraying system 20, used to perform spraying actions according to the designed spraying path to complete the spraying work of the reconstituted tobacco substrate 200. Specifically, in one embodiment, the robotic arm 21 is a four-axis robotic arm.

[0132] Preferably, in one embodiment, the nozzle 221 is a dual-fluid nozzle, meaning that the nozzle 221 uses two fluids (a liquid and a gas) to work together. Its core principle is to utilize the aerodynamic energy of a high-speed airflow to tear and break the liquid into extremely fine droplets, thereby achieving excellent atomization and allowing the coating liquid to be sprayed more evenly onto the reconstituted tobacco substrate 200. The liquid interface of the nozzle 221 is connected to the liquid supply system 10 through the coating liquid delivery pipe 222, and the gas interface of the nozzle 221 is connected to a positive pressure gas source through the gas delivery pipe 223. The positive pressure gas source connected to the nozzle 221 and the positive pressure gas source 18 used in the liquid supply system 10 can be the same positive pressure gas source or different positive pressure gas sources, selected according to actual needs.

[0133] Specifically, in one embodiment, a solenoid valve is provided in the gas supply pipe 223, and the solenoid valve is electrically connected to the control system 30, so that the on / off state of the gas supply pipe 223 can be controlled by the control system 30.

[0134] The coating liquid infusion tube 222 and the gas infusion tube 223 can be partially installed inside (or outside) the robotic arm 21 to facilitate pipeline arrangement. It is understood that since the robotic arm 21 needs to move, the coating liquid infusion tube 222 and the gas infusion tube 223 should not be rigid pipelines. Preferably, in one embodiment, the coating liquid infusion tube 222 and the gas infusion tube 223 are flexible pipelines, and they have a certain margin after installation, so that they can adaptably deform when the robotic arm 21 moves, avoiding pipeline breakage.

[0135] Preferably, in one embodiment, a flow meter 2221 is installed in the coating liquid inlet pipe 222, and a delivery pump 2222 is connected to the coating liquid inlet pipe 222. The flow meter 2221 and the delivery pump 2222 are electrically connected to the control system 30. The flow meter 2221 is mainly used to measure the flow rate of the coating liquid flowing through the coating liquid inlet pipe 222, while the delivery pump 2222 is the power source for driving the flow of the coating liquid in the spraying mechanism 22. When the control system 30 calculates the required amount of coating liquid to be sprayed, it controls the delivery pump 2222 to run. Then, based on the flow rate of the coating liquid flowing through the coating liquid inlet pipe 222 detected by the flow meter 2221, the control system 30 controls the delivery pump 2222 to stop running, thereby achieving precise control of the coating amount during spraying. The flow meter 2221 can be a mass flow meter, which facilitates the detection of the amount of coating liquid consumed. Of course, the flow meter 2221 can also be a volumetric flow meter, and when a volumetric flow meter is used, the conversion between the density of the coating liquid and its mass volume will also be involved.

[0136] Specifically, in one embodiment, a solenoid valve is provided at one end of the coating liquid inlet tube 222 near the nozzle 221, and the solenoid valve is electrically connected to the control system 30. When coating is not being performed, the control system 30 controls the solenoid valve at the end of the coating liquid inlet tube 222 near the nozzle 221 to close, and the coating liquid inlet tube 222 is filled with coating liquid. When coating is required, the control system 30 controls the solenoid valve at the end of the coating liquid inlet tube 222 near the nozzle 221 to open. More specifically, the solenoid valve is located next to and close to the nozzle 221.

[0137] Specifically, in one embodiment, the nozzle 221 is a solid conical nozzle (in other embodiments, the nozzle 221 may also be rectangular, square, or other shapes). High-pressure air and coating liquid are mixed at the nozzle 221, which moves at a certain height to atomize the coating liquid onto the surface of the reconstituted tobacco substrate 200 in a solid circular shape.

[0138] Specifically, in one embodiment, the camera recognition mechanism 23 is located next to the nozzle 221.

[0139] Specifically, in one embodiment, the robotic arm 21 can use the center of the reconstituted tobacco substrate 200 on the workbench 50 as the origin of its running trajectory, and start spraying the coating liquid from the center of the reconstituted tobacco substrate 200. When spraying the coating liquid, the robotic arm 21 moves from the center of the reconstituted tobacco substrate 200 to the edge, thereby improving the coating quality.

[0140] The following will describe some specific optional embodiments of the transfer system 60:

[0141] In one embodiment, the transfer system 60 is disposed between the workbench 50 and the weighing system 40, for transferring the reconstituted tobacco substrate 200 between the workbench 50 and the weighing system 40. The transfer system 60 needs to have the functions of gripping, lifting, rotating, and flipping. By gripping, it can clamp the reconstituted tobacco substrate 200; by lifting, it can drive the reconstituted tobacco substrate 200 up or down to pick up and drop the material; by rotating, it can drive the reconstituted tobacco substrate 200 to move between the workbench 50 and the weighing system 40; by flipping, it can rotate the reconstituted tobacco substrate 200 180° to flip the reconstituted tobacco substrate 200 over, so as to achieve double-sided spraying of the reconstituted tobacco substrate 200.

[0142] Specifically, in one embodiment, the transfer system 60 includes a clamping unit 61 and a moving unit 62. The clamping unit 61 is mainly used to grip the reconstituted tobacco substrate 200. The clamping unit 61 includes two grippers 611 and a clamping drive mechanism 612 for driving the two grippers 611 to open and close. The moving unit 62 is connected to the clamping unit 61 and is used to drive the clamping unit 61 to move. The moving unit 62 is mainly used to realize the functions of lifting, rotating, and flipping.

[0143] Preferably, in one embodiment, the gripper 611 is provided with a plurality of spaced-apart cylindrical teeth 6111, which are distributed sequentially at intervals along the width direction. By designing the teeth of the gripper 611 to be cylindrical, the adsorption of the coating liquid on the substrate surface by the teeth can be reduced during the gripping process. In addition, the gripping stability can be improved by using multiple teeth to hold the substrate during the gripping process.

[0144] Specifically, in one embodiment, the clamping unit 61 is a mechanical linkage gripper, and the clamping unit 61 is provided with two hinged linkage assemblies 613, with the two grippers 611 respectively located at the ends of the two linkage assemblies 613. The driving mechanism 612 is hinged to the middle of the linkage assemblies 613 via a connecting rod. Through the linear movement of the driving mechanism 612, the two linkage assemblies 613 are driven to move towards or away from each other, thereby controlling the opening and closing of the two grippers 611. More specifically, in one embodiment, the power source of the driving mechanism 612 can be a motor, which drives the screw structure to move linearly, thereby driving the linkage assembly 613. Of course, in other embodiments, the driving structure 612 can also adopt other linear drive forms, such as slide rails, electric cylinder structures, etc.

[0145] Specifically, in one embodiment, the moving unit 62 includes a linear lifting module 621, a rotating module 622, and a flipping module 623. The rotating module 622 is disposed on the lifting end of the linear lifting module 621, the flipping module 623 is disposed on the rotating end of the rotating module 622, and the clamping unit 61 is disposed on the flipping shaft of the flipping module 623. The linear lifting module 621 can adopt a lead screw lifting structure, where a motor drives the rotation of the lead screw, thereby causing the lead screw nut to rise and fall on the lead screw. The rotating module 622 can be mounted on the lead screw nut; the rising and falling of the lead screw nut drives the rotating module 622 to rise and fall, thus driving the clamping unit 61 to rise and fall. Of course, in other embodiments, the linear lifting module 621 can also adopt other forms, such as a linear slider or a slide rail structure. The rotating module 622 can adopt a hollow rotating platform, where a motor drives the rotating platform to run, thereby driving the flipping module 623 to rotate, thus driving the clamping unit 61 to rotate. The mounting plate of the flipping module 623 can be fixed on the flange of the rotating platform of the rotating module 622. The power source for the flipping module 623 to drive the clamping unit 61 to flip can be a servo motor or a servo motor. The clamping unit 61 can be installed on the output shaft of the servo motor or the servo motor.

[0146] In other embodiments, the moving unit 62 may also adopt a structure similar to the robotic arm used in the spraying system 20, and a gripper may be provided at the end of the robotic arm to realize the functions of grasping, lifting, rotating and flipping.

[0147] The following will describe some specific optional embodiments of the workbench 50 and the weighing system 40:

[0148] Preferably, in one embodiment, the worktable 50 has multiple first grooves 51, the width of which is greater than the width of the cylindrical claw teeth 6111. The spacing between adjacent first grooves 51 matches the spacing between adjacent cylindrical claw teeth 6111. Because the width of the first grooves 51 is greater than the width of the cylindrical claw teeth 6111, the cylindrical claw teeth 6111 can be smoothly inserted into the first grooves 51. Furthermore, since the spacing between the first grooves 51 matches the spacing between the cylindrical claw teeth 6111, the multiple cylindrical claw teeth 6111 on the gripper 611 can be inserted one-to-one into each of the first grooves 51. In practical design, the width of the first grooves 51 only needs to be slightly larger than the cylindrical claw teeth 6111, allowing the cylindrical claw teeth 6111 to extend into the worktable 50. With this structural design, when the transfer system 60 picks up the coated reconstituted tobacco substrate 200 from the worktable 50, the gripper 611 located on the lower side can extend into the worktable 50, thereby facilitating the gripping of the reconstituted tobacco substrate 200. Similarly, when the transfer system 60 transports the reconstituted tobacco substrate 200 onto the worktable 50, the gripper 611 located on the lower side can fall into the worktable 50, thereby facilitating the placement of the reconstituted tobacco substrate 200 onto the table surface of the worktable 50.

[0149] More preferably, in one embodiment, a suction hole is also provided on the wall of the first groove 51, which communicates with the cavity inside the workbench 50, and the cavity is connected to a negative pressure air source. This structure allows a negative pressure to be formed at the workbench 50. When the robotic arm 21 performs the spraying action, the negative pressure air source operates, drawing the interior of the workbench 50 into a negative pressure state, thus creating negative pressure on the surface of the workbench 50. This better secures the reconstituted tobacco substrate 200, preventing it from shifting due to airflow disturbance during spraying. Furthermore, it collects the atomized coating liquid that has escaped into the air, contributing to a cleaner working environment. The collected coating liquid can also be reused as needed. Specifically, the negative pressure air source and the corresponding structures on the pipeline can be electrically connected to the control system 30 and controlled by the control system 30.

[0150] A liquid collection device is provided between the workbench 50 and the negative pressure air source. In a preferred embodiment, a miniature gas-liquid separator is provided between the workbench 50 and the negative pressure air source, which can collect the liquid and prevent the atomized coating liquid from entering the negative pressure air source, thus protecting the negative pressure air source.

[0151] Preferably, in one embodiment, a solenoid valve is further provided between the negative pressure air source and the gas-liquid separator, and the solenoid valve can be electrically connected to the control system 30. The solenoid valve allows the negative pressure air source to separately draw negative pressure into the second liquid tank 12 or the workbench 50.

[0152] The gas-liquid separator can be shared by the entire equipment. In addition, solenoid valves can be installed between the gas-liquid separator and the second liquid tank 12 and between the gas-liquid separator and the workbench 50, so that the negative pressure gas source can draw the second liquid tank 12 and the workbench 50 into negative pressure respectively.

[0153] Specifically, in one embodiment, the negative pressure gas source can be a vacuum generator. The negative pressure gas source used on the workbench 50 and the negative pressure gas source 14 used in the liquid supply system 10 can be the same negative pressure gas source or different negative pressure gas sources. The appropriate source can be selected according to actual needs.

[0154] Specifically, in one embodiment, the workbench 50 is generally rectangular in shape.

[0155] The weighing system 40 is mainly used to obtain the mass of the reconstituted tobacco substrate 200 before coating and the reconstituted tobacco substrate 200 after double-sided coating, and transmit the data to the control system 30.

[0156] In one embodiment, the weighing system 40 operates on the same principle as a conventional electronic balance, except that the weighing platform 41 of the weighing system 40 is irregularly shaped, similar in shape to the worktable 50. Both are hollow square structures with several internal grooves, the width of which is slightly greater than the width of the cylindrical claw teeth 6111, but the groove walls lack suction holes. Specifically, the weighing system 40 includes a weighing unit body 42 and a weighing platform 41 disposed on the weighing unit body 42. The weighing platform 41 has multiple second grooves 411, the width of which is greater than the width of the cylindrical claw teeth 6111. The spacing between adjacent second grooves 411 matches the spacing between adjacent cylindrical claw teeth 6111, allowing the lower grippers 611 to extend into the weighing platform 41 during the transfer of the reconstituted tobacco substrate 200, facilitating the transfer of the reconstituted tobacco substrate 200.

[0157] Preferably, in one embodiment, the camera recognition mechanism 23 is also used to identify and detect the position information of the reconstituted tobacco substrate 200 on the weighing platform 41. This eliminates the need for manual placement of the reconstituted tobacco substrate 200 on the weighing platform 41, reducing the requirements for manual placement. Furthermore, it is understood that since the shape of the reconstituted tobacco substrate 200 may be regular (e.g., circular, rectangular) or irregular, dividing the weighing platform 41 into designated areas for placing the reconstituted tobacco substrate 200 would not adequately accommodate various shapes of reconstituted tobacco substrate 200. In this embodiment, the camera recognition mechanism 23 first identifies and detects the position information of the reconstituted tobacco substrate 200 on the weighing platform 41, and then the control system 30 controls the transfer system 60 to operate accordingly. This ensures accurate picking of the reconstituted tobacco substrate 200, allows the overall experimental equipment to accommodate various shapes of reconstituted tobacco substrate 200, and reduces the difficulty of manual material placement. Specifically, in one embodiment, the camera recognition mechanism 23 can detect the position information of the reconstituted tobacco substrate 200 on the weighing platform 41 in the following way: the weighing platform 41 is located within the operating area of ​​the robotic arm 21, so the camera recognition mechanism 23 can be moved above the weighing platform 41 by the operation of the robotic arm 21, thereby realizing the detection of the position information of the reconstituted tobacco substrate 200 on the weighing platform 41.

[0158] The control system 30 is mainly used to process the position information and image information of the reconstituted tobacco substrate 200 obtained by the camera recognition mechanism 23. Based on the image information (area) and the area that the nozzle 221 can cover when spraying at a certain height, the system plans the spraying path through an internal algorithm, and then controls the robotic arm 21 to spray according to the planned path. On the other hand, it controls the transfer system 60 to grab and rotate the reconstituted tobacco substrate 200 at a suitable position, realizing the weighing and flipping of the reconstituted tobacco substrate 200 before and after coating. Specifically, the control system 30 can also be electrically connected to all the electrically controlled structures in the experimental equipment 100 for reconstituted tobacco spraying, thereby realizing the control of each structure. For example, various gas sources, solenoid valves, pumps, etc. in the experimental equipment 100 for reconstituted tobacco spraying can all be controlled by the control system 30.

[0159] In one embodiment, the specific operating procedure of the reconstituted tobacco leaf spraying experimental equipment 100 is as follows: Before the formal start, the operator equilibrates the reconstituted tobacco leaf substrate 200 in a constant temperature and humidity chamber for more than 24 hours, assuming that the moisture content of the equilibrated reconstituted tobacco leaf substrate 200 is 12%. In addition, the coating solution needs to be prepared in advance. After the formal start, the operator adds the coating solution to the first liquid tank 11 and starts the liquid supply system 10 in the control system 30. Finally, a uniformly stirred and filtered coating solution is obtained in the second liquid tank 12. Subsequently, the reconstituted tobacco leaf substrate 200 is manually placed on the weighing platform 41 of the weighing system 40, and the control system 30 obtains the mass of the reconstituted tobacco leaf substrate 200 before coating. After the operator inputs the substrate moisture content and target coating rate into the control system 30, the program is started. The camera recognition mechanism 23 identifies the position information of the reconstituted tobacco substrate 200 on the weighing platform 41. The transfer system 60 transfers the substrate from the weighing platform 41 to the workbench 50. The camera recognition mechanism 23 on the robotic arm 21 collects the substrate position information and image information and transmits the information to the control system 30. The control system 30 segments the substrate image according to the algorithm to complete the spraying path planning. Based on the calculation formula and the input substrate moisture content, target coating rate, and substrate mass obtained by electronic balance, the control system 30 calculates the mass of coating liquid required for each side of the substrate. Under program control, the control system 30 controls the motor inside the robotic arm 21 through a built-in program, driving the robotic arm 21 to move. The robotic arm 21 sprays the coating liquid onto the surface of the substrate according to the planned spraying path. After one side is coated, the transfer system 60 flips the substrate, and the robotic arm 21 then completes the coating on the other side of the substrate. After both sides are coated, the transfer system 60 transfers the coated substrate back to the weighing platform 41 of the weighing system 40 to obtain the mass of the coated substrate. The control system 30 calculates the coating rate 2 based on the substrate mass before and after coating, and then corrects the coating rate 1 using the coating rate 2.

[0160] The above description is merely an embodiment of the present invention. It should be noted that those skilled in the art can make improvements without departing from the inventive concept of the present invention, but these improvements all fall within the protection scope of the present invention.

Claims

1. An experimental apparatus for spraying reconstituted tobacco leaves, characterized in that, The system comprises a liquid supply system, a spraying system, a weighing system and a control system; The liquid supply system is used for storing and containing coating liquid; The spraying system comprises a mechanical arm, a spraying mechanism and a camera recognition mechanism, the spraying mechanism comprises a nozzle and a coating liquid delivery pipe, the nozzle and the camera recognition mechanism are arranged at the end of the mechanical arm, and the nozzle is connected with the liquid supply system through the coating liquid delivery pipe; The weighing system is used for weighing the mass of the reconstituted tobacco base sheet; The control system is electrically connected with the liquid supply system, the mechanical arm, the spraying mechanism, the camera recognition mechanism and the weighing system, respectively, so as to collect and analyze the information shot by the camera recognition mechanism and the information weighed by the weighing system, so as to control the operation of the mechanical arm and the spraying mechanism; The system further comprises a workbench and a transfer system; The workbench is used for placing the reconstituted tobacco base sheet, and the spraying system is used for spraying coating liquid on the reconstituted tobacco base sheet on the workbench; The transfer system is used for transferring the reconstituted tobacco base sheet between the weighing system and the workbench, and is used for turning over the reconstituted tobacco base sheet; The transfer system comprises a clamping unit and a moving unit; The clamping unit comprises two clamping jaws and a clamping driving mechanism for driving the two clamping jaws to open and close; The moving unit is connected with the clamping unit to drive the clamping unit to move; A plurality of cylindrical teeth are arranged on the clamping jaw at intervals; A plurality of first grooves are formed on the workbench, the width of the first grooves is greater than the width of the cylindrical teeth, and the interval distance between adjacent two first grooves matches the interval distance between adjacent two cylindrical teeth; Suction holes are further formed on the groove wall of the first groove, the suction holes are communicated with a cavity in the workbench, and the cavity is communicated with a negative pressure air source; The weighing system comprises a weighing unit body and a weighing table arranged on the weighing unit body, a plurality of second grooves are formed on the weighing table, the width of the second grooves is greater than the width of the cylindrical teeth, and the interval distance between adjacent two second grooves matches the interval distance between adjacent two cylindrical teeth.

2. The reconstituted tobacco leaf spray labeller of claim 1, wherein, The liquid supply system comprises a first liquid tank and a second liquid tank; The first liquid tank has a first storage cavity; The second liquid tank has a second storage cavity; The feed inlet of the second liquid tank is connected with the discharge outlet of the first liquid tank through a first pipeline, a filter screen is arranged in the first pipeline, and the filter screen is movably arranged in the first pipeline; The nozzle is connected with the discharge outlet of the second liquid tank through the coating liquid delivery pipe.

3. The reconstituted tobacco leaf spray labeller of claim 2, wherein, The first liquid tank further comprises a first stirrer and a first driving motor, the first stirrer is arranged in the first storage cavity, the output shaft of the first driving motor is connected with the first stirrer, and the first stirrer is a downward pumping stirrer. The second feed liquid tank further comprises a second agitator arranged in the second storage cavity and a second driving motor, an output shaft of the second driving motor being connected with the second agitator, and the second agitator being a downward pumping agitator.

4. The reconstituted tobacco leaf spray labeller of claim 2, wherein, A first cleaning port is arranged at the top of the first feed liquid tank and communicates with the first storage cavity; a first cleaning outlet is arranged at the bottom of the first feed liquid tank and communicates with the first storage cavity. A second cleaning port is arranged at the top of the second feed liquid tank and communicates with the second storage cavity; a second cleaning outlet is arranged at the bottom of the second feed liquid tank and communicates with the second storage cavity.

5. The reconstituted tobacco leaf spray labeller of claim 2, wherein, The liquid supply system further comprises a negative pressure gas source, which communicates with the second storage cavity. The second feed liquid tank further comprises a negative pressure sensor and a liquid level sensor. The negative pressure gas source, the negative pressure sensor and the liquid level sensor are electrically connected with the control system respectively.

6. The reconstituted tobacco leaf spray labeller of claim 2, wherein, The liquid supply system further comprises a positive pressure gas source, which communicates with the second storage cavity.

7. The reconstituted tobacco leaf spray labeller of claim 1, wherein, The nozzle is a double-fluid nozzle, a liquid interface of the nozzle being connected with the liquid supply system through the coating liquid delivery pipe, and a gas interface of the nozzle being connected with the positive pressure gas source through a gas delivery pipe. A flow meter is arranged in the coating liquid delivery pipe, and a delivery pump is connected to the coating liquid delivery pipe, the flow meter and the delivery pump being electrically connected with the control system respectively.

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