Tobacco leaf impurity removing device based on robot

Abstract

The invention relates to a tobacco leaf impurity removal device based on a robot, and belongs to the technical field of tobacco leaf impurity removal, the tobacco leaf impurity removal device comprises a conveying belt, the conveying belt is connected with a driving assembly, and the driving assembly drives the conveying belt to convey tobacco leaves; a recognition assembly is arranged at the front end of the conveying belt in the conveying direction, a positioning assembly is arranged at the rear end of the conveying belt in the conveying direction, a dust suction seat is arranged on the positioning assembly, a negative pressure dust suction box is arranged on the side of the conveying belt, the dust suction seat and the negative pressure dust suction box are connected through a dust suction pipeline, and the positioning assembly can drive the dust suction seat to be positioned above impurities. The method has the effect of efficiently removing the doped impurities in the tobacco leaves with high quality.

Description

Technical Field

[0001] This application relates to the field of tobacco leaf cleaning technology, and in particular to a robot-based tobacco leaf cleaning device. Background Technology

[0002] Tobacco leaf purification is a core process in cigarette production. It removes various impurities from tobacco leaves that affect the quality, taste, and safety of cigarettes, providing pure raw materials for subsequent processes such as tobacco processing and rolling. This directly determines the smoking experience and product stability of cigarettes.

[0003] Existing tobacco leaf impurity removal devices, such as the online impurity picking device for tobacco production lines disclosed in announcement number CN221853138U, utilize machine vision technology to identify and remove impurities online using robotic arms. The robotic arms pick up defective tobacco leaves and impurities, then move them to an adjacent conveyor belt. While this avoids the limitations of manual picking and improves accuracy, the high speed of the conveyor belt means that some defective tobacco leaves and impurities may be missed during the process of the robotic arms picking up impurities and moving them to the side conveyor belt. These uncollected impurities affect the quality of the finished product. Therefore, multiple robotic arms are usually required to operate in parallel to meet the tobacco leaf impurity removal requirements. Summary of the Invention

[0004] In order to achieve efficient and high-quality removal of impurities from tobacco leaves, this application provides a robot-based tobacco leaf impurity removal device.

[0005] This application provides a robot-based tobacco leaf cleaning device. The technical solution adopted is as follows: A robot-based tobacco leaf cleaning device includes a conveyor belt, and a drive component is connected to the conveyor belt to drive the conveyor belt to transport tobacco leaves. The conveyor belt is provided with an identification component at its front end along the conveying direction and a positioning component at its rear end along the conveying direction. A dust collection seat is provided on the positioning component and a negative pressure dust collection box is provided on the side of the conveyor belt. The dust collection seat and the negative pressure dust collection box are connected by a dust collection pipe. The positioning component can drive the dust collection seat to be positioned above the impurities.

[0006] By adopting the above technical solution, after the tobacco leaves fall onto the conveyor belt, the drive component drives the conveyor belt to operate, avoiding a large accumulation of tobacco leaves in the same position on the conveyor belt and ensuring that the tobacco leaves on the conveyor belt are evenly distributed when transported to the area below the identification component. The drive component drives the conveyor belt to achieve continuous transport of tobacco leaves. The identification component at the front end of the conveyor belt accurately detects impurities in the passing tobacco leaves, records the locations of defective tobacco leaves and impurities, and transmits this information to the control device. This causes the positioning component to drive the vacuum cleaner to move directly to the recorded location, where it will suction the designated location, sucking up the defective tobacco leaves and impurities into the negative pressure vacuum box. The rear positioning component only needs to continuously drive the vacuum cleaner to accurately track different positions according to the instructions and the conveying rhythm. After reaching one designated position, it can directly move to another position. Once it reaches the designated position, the vacuum cleaner will suck up the impurities, removing impurities from the tobacco leaves quickly. Convenient and enabling continuous impurity removal, this system reduces the time spent by the positioning component moving back and forth to place impurities. Only one positioning component and a dust collection base are needed to improve impurity removal efficiency, making it more suitable for production lines requiring rapid operation and 24-hour continuous operation. This promotes the rapid and efficient production of high-quality tobacco leaves. The entire process, from impurity identification to impurity removal, is automated, solving the problems of fatigue, high missed detection rate, and inconsistent standards associated with manual impurity removal. This ensures consistent impurity removal effects across different batches of tobacco leaves, guarantees the stability of raw tobacco purity, and provides standard tobacco leaves for subsequent cigarette manufacturing processes. The adsorbed impurities are directly collected into a negative pressure dust collection box through a dust collection pipe, achieving centralized collection and preventing dust and tobacco dust from flying and spreading within the production line. This also prevents impurities from adhering to the surface of the tobacco leaves again, while reducing dust pollution to other equipment on the production line, ensuring long-term stable operation of the equipment, and improving the overall cleanliness of the production line.

[0007] Optionally, the recognition component includes a first mounting bracket, on which a recognition camera is slidably mounted, the recognition camera being positioned facing the conveyor belt, and a lighting lamp being mounted on the first mounting bracket, the lighting lamp being positioned below the recognition camera and facing the projection position of the recognition camera on the conveyor belt.

[0008] By adopting the above technical solution, the identification camera slides along the first mounting frame, allowing for flexible adjustment of its position relative to the conveyor belt. This ensures full-width illumination along the conveyor belt's transport direction, preventing missed detection of tobacco leaves at the conveyor belt edges, eliminating blind spots, and ensuring comprehensive detection without dead angles. The lighting is oriented towards the projection position of the identification camera, ensuring accurate and uniform illumination of the detection area, improving impurity identification rates, and preventing the lighting from obstructing the camera and creating shadows, thus reducing missed and false detections. The identification camera is located above the lighting, allowing it to be slid to a convenient operating position during subsequent equipment maintenance and cleaning, reducing maintenance difficulty and production line downtime. Both the identification camera and the lighting are mounted on the first mounting frame, preventing interference from vibrations during conveyor belt transport.

[0009] Optionally, a light-transmitting partition is provided between the lighting lamp and the conveyor belt. The light-transmitting partition is detachably connected to the first mounting frame. A fixing plate is provided on one side of the light-transmitting partition along the conveyor belt conveying direction, and a handle is provided on the fixing plate.

[0010] By adopting the above technical solution, the light-transmitting partition separates the lighting lamp, the recognition camera, and the conveyor belt, preventing the heat from the lighting lamp from directly shining on the tobacco leaves and affecting their quality. During inspection, tobacco leaves may shed fragments or dust, or tobacco shreds may splatter due to conveyor vibrations. The light-transmitting partition isolates and blocks these impurities, preventing them from directly contacting the lighting lamp and recognition camera. This prevents dust accumulation and wear on optical components, ensuring the long-term stability of the light's intensity and uniformity, and preventing shadows from interfering with the recognition camera's recognition effect and the lighting lamp's illumination effect. Pulling the handle on the fixing plate allows the light-transmitting partition to be pulled out for regular dust removal, ensuring it remains transparent and clear, and guaranteeing the operational stability of the recognition camera and lighting lamp. The light-transmitting partition protects the lighting lamp and recognition camera; cleaning the partition prevents shaking during cleaning and avoids camera misalignment that could lead to blind spots.

[0011] Optionally, the drive assembly includes a first drive motor, which is connected to the shaft of the conveyor belt, and a rotary encoder is provided on the shaft of the conveyor belt.

[0012] By adopting the above technical solution, the power output by the first drive motor can be quickly and accurately transmitted to the conveyor belt, realizing rapid start-stop and high responsiveness. The rotary encoder is installed on the conveyor belt shaft, which can collect the rotation speed and rotation angle parameters of the shaft in real time and feed the data back to the control system. Together with the identification camera, the position of the impurities is transmitted to the positioning component, ensuring that the positioning component accurately drives the dust collection seat to position above the impurities, thereby improving the dust collection accuracy of the device.

[0013] Optionally, baffles are provided on both sides of the conveyor belt along the conveying direction, a dust collection plate is provided below the conveyor belt, and a scraper is provided between the dust collection plate and the conveyor belt. The scraper is fixedly mounted on the dust collection plate and is in smooth contact with the conveyor belt.

[0014] By adopting the above technical solution, the baffles on both sides of the conveyor belt prevent tobacco leaves from slipping off during transportation, reducing waste of tobacco raw materials, ensuring stable and reliable transportation of tobacco leaves, and improving the reliability of equipment transportation. After the conveyor belt transfers the inspected and cleaned tobacco leaves to the next production line, dust and tobacco leaves will adhere to the conveyor belt. During the conveyor belt cycle, the tobacco leaves can fall directly onto the dust collection plate, while the dust comes into contact with the scraper during the transportation process. The scraper can scrape off the tobacco dust, powder, and fine impurities adhering to the surface of the conveyor belt in real time, preventing these impurities from adhering to the surface of the tobacco leaves again after being transported by the conveyor belt, causing secondary pollution. The dust is directly scraped off onto the dust collection plate, preventing tobacco leaves from falling and getting stuck in the equipment and causing interference. It also prevents the conveyor belt with dust from re-transporting tobacco leaves and adhering to the tobacco leaves or increasing the workload of the identification camera and positioning components. It can realize the centralized collection of impurities and regularly clean the dust collection plate to prevent dust and tobacco dust from flying and spreading in the production line, reducing pollution to the identification components and lighting, and ensuring detection accuracy.

[0015] Optionally, the positioning component includes a second mounting bracket on which a parallel robot is mounted, the end of the parallel robot facing the conveyor belt being connected to the vacuum cleaner seat.

[0016] By adopting the above technical solutions, the parallel robot has the characteristics of multi-axis linkage and precise positioning. It can drive the dust collection seat to move directly above the impurity based on the position of the impurity detected by the identification component. The action response speed is fast, and its flexibility covers the full width of the conveyor belt, realizing precise positioning and flexible movement, fast dust collection, matching the continuous conveying rhythm of the production line, and ensuring the automation, precision and efficiency of tobacco leaf impurity removal.

[0017] Optionally, the positioning component is equipped with a positive pressure blower, and the positive pressure blower and the dust collection seat are connected by an air supply duct.

[0018] By adopting the above technical solution, the positive pressure blower outputs positive pressure airflow through the air supply pipe to assist in dust collection. The positive pressure airflow can blow away the clumps of tobacco and impurities, and the positive pressure airflow forms a flexible gas isolation around the dust collection seat, realizing the precise screening of impurities and high-quality tobacco, avoiding the accidental inhalation of qualified tobacco due to excessive negative pressure, ensuring the utilization rate of tobacco raw materials, and reducing the loss of high-quality tobacco. When the dust collection seat port is clogged with large impurities or dust, the positive pressure airflow can blow air into the port to blow off the attached tobacco and impurities, which are then sucked away by the dust collection pipe, preventing the dust collection port from being blocked and avoiding the weakening of negative pressure suction caused by the accumulation of impurities.

[0019] Optionally, the dust collection seat is provided with a dust collection nozzle at the end facing the conveyor belt, and the dust collection seat is provided with an adjustment component that can adjust the diameter of the dust collection nozzle.

[0020] By adopting the above technical solution, the size of the suction nozzle is adjusted according to the size of the impurities detected by the camera. When the impurities are large or there are large defective tobacco leaves, the adjustment component increases the opening diameter of the suction nozzle to directly suck up the impurities, avoiding impurities from getting stuck at the suction nozzle and preventing blockage that would affect subsequent impurity removal. When the impurities are small or the defective tobacco leaves are small, the adjustment component decreases the opening diameter of the suction nozzle to align the suction nozzle with the impurities for adsorption, preventing the larger opening from sucking up surrounding qualified tobacco leaves during the adsorption process, reducing waste of qualified tobacco leaves, improving the accuracy and reliability of tobacco leaf impurity removal, and ensuring that the impurity removal device completes tobacco leaf impurity removal with high quality. If tobacco stems are stuck at the suction port, the adjustment component increases the suction nozzle opening diameter to release the tobacco stems from the blockage, allowing them to be sucked up directly. The suction nozzle decreases to compress the tobacco stems, bending them before they are sucked up, preventing impurities from getting stuck at the suction nozzle.

[0021] Optionally, the suction nozzle includes several arc-shaped plates, and a corrugated hose is provided between two adjacent arc-shaped plates. A positioning ring seat is fixedly provided on the suction base. Several receiving grooves are opened on the side of the positioning ring seat along the radial direction. A first sliding rod is fixedly provided on the side of the arc-shaped plate facing the side of the positioning ring seat. The first sliding rod is slidably connected in the receiving groove. The receiving groove extends through to the side of the positioning ring seat facing the conveyor belt. The adjustment assembly includes a second drive motor located on the positioning ring seat. The second drive motor is connected to a drive gear, which is rotatably connected to the positioning ring seat. A driven gear is rotatably mounted on the positioning ring seat. The drive gear and the driven gear are meshed together. The driven gear has a through hole and several arc-shaped holes. The through hole communicates with the dust extraction pipe. The arc-shaped holes correspond one-to-one with the receiving grooves. A second sliding rod is slidably mounted in each arc-shaped hole. The second sliding rod is slidably mounted in the corresponding receiving groove. The ends of the second sliding rod and the first sliding rod away from the arc-shaped plate are fixedly connected.

[0022] By adopting the above technical solution, the second drive motor drives the driving gear to rotate. The driving gear and the driven gear mesh, causing the driven gear to rotate synchronously. The receiving groove and the arc-shaped hole on the driven gear correspond, ensuring that during the rotation of the driven gear, the second sliding rod slides in the arc-shaped hole and moves in the receiving groove. The first sliding rod and the second sliding rod are fixed, ensuring that the second sliding rod pushes the first sliding rod to extend and retract within the receiving groove as it moves in the receiving groove. The first sliding rod is fixed to the arc-shaped plate, ensuring that the arc-shaped plate moves away from or towards the positioning ring seat. The movement of two adjacent arc-shaped plates causes the corrugated hose to extend and retract. Several arc-shaped plates and several corrugated hoses work together to achieve... The diameter of the suction nozzle opening can be increased or decreased, and the channel in the middle of the positioning ring seat and the through hole on the driven gear are connected and connected to the suction pipe, ensuring that impurities are smoothly sucked into the suction pipe along the through hole; adjacent arc plates are connected by a corrugated hose, which can flexibly extend and retract, ensuring that there is no jamming during the opening and closing of the suction nozzle, and achieving a circumferential seal of the suction nozzle to avoid negative pressure leakage due to gaps, ensuring that the suction force of the suction nozzle is always concentrated in the opening area, and ensuring dust removal efficiency under different nozzle diameters; for smaller impurities or defective tobacco leaves, the suction port is reduced to avoid fixed large-area suction port adsorbing high-quality tobacco, reducing raw material waste and improving tobacco leaf utilization while removing impurities.

[0023] Optionally, an elastic tube is fixedly provided on the inner wall of the positioning ring seat. The elastic tube passes through the through hole, and the end of the elastic tube away from the positioning ring seat is connected to the end of the arc plate facing the conveyor belt.

[0024] By adopting the above technical solution, the end of the elastic tube is connected to the arc plate. The elasticity of the elastic tube ensures that the arc plate moves to increase or decrease the diameter of the elastic tube. The elastic tube is fixed to the inner wall of the positioning ring seat. One end is connected to the dust collection pipe through the hole, and the other end is directly connected to the end of the arc plate facing the conveyor belt. It can flexibly expand and contract with the movement of the arc plate, separating the dynamic gap between the positioning ring seat and the arc plate from the dust collection port. This ensures that a gapless, fully sealed closed loop is formed between the dust collection pipe and the dust collection nozzle, eliminating negative pressure leakage and ensuring that the adsorption force remains stable. The arc plate, corrugated soft tube, and elastic tube seal the adjustment component, preventing dust and other impurities on the tobacco leaves from getting stuck in the receiving groove or between the gears during the adsorption process, and preventing dust and impurities from interfering with the adjustment component.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. The drive component drives the conveyor belt to continuously transport tobacco leaves. The identification component accurately detects impurities in the passing tobacco leaves and records the location of defective tobacco leaves and impurities. The positioning component moves the dust collection seat directly to the recorded location for adsorption, sucking the impurities into the negative pressure dust collection box. This achieves centralized collection of impurities, preventing dust and tobacco dust from flying and spreading within the production line and preventing impurities from adhering to the surface of the tobacco leaves again. The positioning component only needs to continuously drive the dust collection seat to accurately track different positions according to the conveying rhythm, removing impurities from the tobacco leaves. This is fast, convenient, and enables continuous impurity removal. It reduces the time that the positioning component spends moving back and forth to place impurities. Only one positioning component and dust collection seat are needed to improve impurity removal efficiency. This is more suitable for the needs of production lines that operate at high speed and 24 hours a day, promoting the production line to quickly and efficiently produce high-quality tobacco leaves. The entire process, from impurity identification to impurity removal, is completed automatically by the equipment, solving the problems of fatigue, high missed detection rate, and inconsistent standards in manual impurity removal, and providing standard tobacco leaves for subsequent cigarette production processes.

[0026] 2. Flexibly adjust the recognition camera to ensure full-width illumination and detection along the conveyor belt in the conveyor direction, avoid missing tobacco leaves at the edges of the conveyor belt, eliminate blind spots and ensure no dead angles in the detection; The light-transmitting partition separates the lighting, recognition camera, and conveyor belt, preventing the heat from the lighting from directly shining on the tobacco leaves and affecting their quality. The partition also isolates and blocks impurities, preventing them from directly contacting the lighting and recognition camera and creating shadows that could interfere with the recognition and lighting effects. Regularly cleaning the dust from the partition ensures it remains transparent and clear, guaranteeing the operational stability of the recognition camera and lighting and preventing shaking when wiping them.

[0027] 3. The rotary encoder ensures accurate positioning of the dust collection unit, positioning it above impurities and improving the accuracy of dust collection; the baffle reduces waste of tobacco raw materials and ensures stable and reliable transport of tobacco leaves by the conveyor belt; the scraper can remove tobacco dust, powder, and fine impurities adhering to the surface of the conveyor belt in real time, preventing these impurities from re-adhering to the surface of the tobacco leaves after being transported by the conveyor belt and causing secondary pollution; the parallel robot has a fast action response speed, achieving precise positioning and flexible movement, matching the continuous conveying rhythm of the production line, and ensuring the automation, precision, and efficiency of tobacco leaf impurity removal.

[0028] 4. The positive pressure blower outputs positive pressure airflow through the air supply duct to assist in dust collection. The positive pressure airflow forms a flexible gas isolation around the dust collection seat, preventing qualified tobacco from being accidentally sucked in due to excessive negative pressure, ensuring the utilization rate of tobacco raw materials, and reducing the loss of high-quality tobacco leaves. When the dust collection seat port is clogged with large impurities or dust, the positive pressure airflow can blow air into the port to blow off the attached tobacco and impurities, which are then sucked away by the dust collection duct, preventing the dust collection port from being blocked and avoiding the negative pressure suction power weakened due to the accumulation of impurities.

[0029] 5. Based on the size of the impurities detected by the camera, the adjustment component adjusts the size of the suction nozzle to prevent blockage that could affect subsequent impurity removal. It also prevents a large opening from sucking up surrounding qualified tobacco leaves during the suction process, reducing waste of qualified tobacco leaves and improving the accuracy and reliability of tobacco leaf impurity removal. While adjusting the diameter of the suction nozzle opening, a larger nozzle releases the tobacco stem from obstruction, allowing it to be sucked up directly. A smaller nozzle compresses the tobacco stem, bending it before suction, preventing impurities from getting stuck at the suction nozzle. The end of the elastic tube is connected to the arc-shaped plate. The elasticity of the elastic tube ensures that the arc-shaped plate moves to increase or decrease the diameter of the elastic tube. The elastic tube moves with the arc-shaped plate to achieve flexible expansion and contraction deformation, ensuring that a gapless, fully sealed closed loop is formed between the dust collection pipe and the dust collection nozzle, and the adsorption force remains stable. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this application.

[0031] Figure 2 This is a cross-sectional structural diagram of the identification component used in Embodiment 1 of this application.

[0032] Figure 3 yes Figure 1 An enlarged schematic diagram of part A in the middle.

[0033] Figure 4 yes Figure 2 Enlarged diagram of part B.

[0034] Figure 5 This is a cross-sectional structural diagram of Embodiment 2 of this application, used to illustrate the positioning component.

[0035] Figure 6 yes Figure 5 An enlarged schematic diagram of section C.

[0036] Figure 7 This is a cross-sectional structural diagram of the elastic tube used in Embodiment 2 of this application.

[0037] Figure 8 This is a schematic diagram of the structure of the through hole and the arc-shaped hole in Embodiment 2 of this application.

[0038] Explanation of reference numerals in the attached drawings: 11. Conveyor belt; 12. Baffle; 13. Dust collection plate; 14. Scraper; 2. Drive assembly; 21. First drive motor; 22. Rotary encoder; 3. Recognition assembly; 31. First mounting bracket; 32. Recognition camera; 33. Illumination lamp; 34. Light-transmitting partition; 35. Fixing plate; 36. Handle; 4. Positioning assembly; 41. Second mounting bracket; 42. Parallel robot; 51. Dust collection base; 52. 521. Suction nozzle; 522. Arc-shaped plate; 523. Corrugated hose; 524. First sliding rod; 53. Positioning ring seat; 531. Receiving groove; 532. Elastic tube; 61. Negative pressure suction box; 62. Suction pipe; 71. Positive pressure blower; 72. Air supply pipe; 8. Adjustment component; 81. Second drive motor; 82. Drive gear; 83. Driven gear; 831. Through hole; 832. Arc-shaped hole; 84. Second sliding rod. Detailed Implementation

[0039] The following is in conjunction with the appendix Figure 1-8 This application will be described in further detail. Example

[0040] This application discloses a robot-based tobacco leaf cleaning device.

[0041] like Figure 1 and Figure 2 The robot-based tobacco leaf cleaning device includes a conveyor belt 11, a drive assembly 2 connected to the conveyor belt, and a first drive motor 21 located on the side of the conveyor belt 11. The first drive motor 21 is connected to the rotating shaft of the conveyor belt 11, and a rotary encoder 22 is installed on the rotating shaft connected to the first drive motor 21. The rotary encoder 22 is located on the side of the conveyor belt 11 opposite to the first drive motor 21. Baffles 12 are provided on both sides of the conveyor belt 11 along the length of the transport direction. The baffles 12 are L-shaped plates and are located above the conveyor belt 11. A dust collection plate 13 is provided below the conveyor belt 11. The width of the dust collection plate 13 is the same as the width of the conveyor belt 11. The dust collection plate 13 has protrusions on both sides along the length direction. A scraper 14 is provided between the dust collection plate 13 and the conveyor belt 11. The scraper 14 is installed on the dust collection plate 13 and has the same width as the dust collection plate 13. The scraper 14 is an arc-shaped plate 521. The scraper 14 is bent towards the rear end of the conveyor belt 11 in the transport direction. The end of the scraper 14 near the conveyor belt 11 is smoothly connected to the bottom of the conveyor belt 11. Fan-shaped plates are fixed at both ends of the scraper 14 on the side facing the rear of the conveyor belt 11.

[0042] like Figure 2 and Figure 3A recognition component 3 is provided at the front end of the conveyor belt 11 along the conveying direction. The recognition component 3 includes a first mounting frame 31, on which a recognition camera 32 is mounted. The frame of the recognition camera 32 is slidably mounted on the first mounting frame 31, and the recognition camera 32 is positioned facing the conveyor belt. Two lights 33 are provided on the first mounting frame 31. The length of the lights 33 is the same as the width of the conveyor belt 11. The lights 33 are positioned below the recognition camera 32, and the recognition camera 32 is positioned between the two lights 33. Both lights 33 are tilted towards the projection position of the recognition camera 32 on the conveyor belt 11. A light-transmitting partition 34 is slidably mounted on the first mounting frame 31. The light-transmitting partition 34 is a square light-transmitting plate structure. The light-transmitting partition 34 is detachably connected to the first mounting frame 31 and is located between the lighting lamps 33. Both lighting lamps 33 illuminate the light-transmitting partition 34. The identification camera 32 identifies tobacco leaves through the light-transmitting partition 34. The width of the light-transmitting partition 34 is the same as the width of the conveyor belt 11. A fixing plate 35 is fixedly mounted on one side of the light-transmitting partition 34 along the width direction. The fixing plate 35 is locked by a buckle. A handle 36 is fixedly installed on the fixing plate 35. The handle 36 has a U-shaped structure.

[0043] like Figure 2 , Figure 4 and Figure 5 A positioning component 4 is provided at the rear end of the conveyor belt 11 along the conveying direction. The positioning component 4 includes a second mounting frame 41, on which a parallel robot 42 is mounted. The parallel robot 42 adopts the existing parallel robot 42 structure. The drive motor of the parallel robot 42 is mounted on the top of the second mounting frame 41. The drive motor is connected to the active arm of the parallel robot 42. The parallel robot 42 includes three active arms. The driven arms of the parallel robot 42 are ball-jointed to the active arms. Each active arm is connected to three driven arms. The end of the driven arm of the parallel robot 42 facing the conveyor belt 11 is connected to a dust collection seat 51. All six driven arms of the parallel robot 42 are ball-jointed to the dust collection seat 51. A negative pressure dust collection box 61 is provided on the side of the conveyor belt 11. The negative pressure dust collection box 61 and the dust collection seat 51 are connected by a dust collection pipe 62. One end of the dust collection pipe 62 is connected to the negative pressure dust collection box 61, and the other end of the dust collection pipe 62 is connected to the dust collection seat 51.

[0044] Positive pressure blowers 71 are installed on two driven arms connected to the same active arm on the parallel robot 42. The positive pressure blowers 71 and the dust collection seat 51 are connected by an air supply duct 72. One end of the air supply duct 72 is connected to the positive pressure blower 71, and the other end of the air supply duct 72 is connected to the dust collection seat 51.

[0045] In other embodiments, the scraper 14 can be vertically upward perpendicular to the dust collection plate 13, and the scraper 14 can be provided with protrusions on both sides of the arc. One, three, or other numbers of lighting lamps 33 can be installed on the first mounting frame 31, and a light-transmitting protective box can be provided on the first mounting frame 31 to install the identification camera 32 and the lighting lamps 33 into the light-transmitting protective box.

[0046] The implementation principle of this application embodiment is as follows: After the tobacco leaves fall onto the conveyor belt 11, the drive component 2 drives the conveyor belt 11 to operate, avoiding a large amount of tobacco leaves accumulating in the same position on the conveyor belt 11, and ensuring that the tobacco leaves on the conveyor belt 11 are evenly distributed when transported to the area below the identification component 3; the drive component 2 drives the conveyor belt 11 to achieve continuous transport of tobacco leaves, and the identification component 3 at the front end of the conveyor belt 11 accurately detects impurities in the passing tobacco leaves, records the positions where defective tobacco leaves and impurities are detected, and transmits this information to the control device so that the positioning component 4 drives the dust collection seat 51 to move directly to the recorded position, and performs suction on the designated position, sucking up the unqualified tobacco leaves and impurities into the negative pressure dust collection box 61. The rear positioning component 4 only needs to continuously drive the dust collection seat 51 to accurately track different positions according to the instructions and the conveying rhythm. After reaching a designated position, it can directly move to another position, and after reaching the designated position, the dust collection seat 51 sucks away the impurities. Impurities in tobacco leaves are quickly and conveniently removed, enabling continuous impurity removal. This reduces the time spent by the positioning component 4 moving back and forth to place impurities. Only one positioning component 4 and a dust collection seat 51 are needed to improve impurity removal efficiency, making it more suitable for production lines that operate at high speeds and 24 hours a day. This promotes the rapid and efficient production of high-quality tobacco leaves. The entire process from impurity identification to impurity removal is completed automatically by the equipment, solving the problems of fatigue, high missed detection rate, and inconsistent standards in manual impurity removal. This ensures consistent impurity removal effects across different batches of tobacco leaves, guarantees the stability of the purity of the tobacco raw materials, and provides standard tobacco leaves for subsequent cigarette manufacturing processes. The adsorbed impurities are directly collected into the negative pressure dust collection box 61 through the dust collection pipe 62, achieving centralized collection of impurities. This prevents dust and tobacco dust from flying and spreading within the production line, prevents impurities from adhering to the surface of the tobacco leaves again, and reduces dust pollution to other equipment on the production line. This ensures long-term stable operation of the equipment and improves the overall cleanliness of the production line. Example

[0047] Reference Figure 6 and Figure 7The difference between this embodiment and embodiment 1 is that a suction nozzle 52 and an adjustment component 8 are provided on the side of the suction seat 51 facing the conveyor belt 11. The suction nozzle 52 includes six arc-shaped plates 521. The width of the arc-shaped plate 521 near the suction seat 51 is greater than the width of the arc-shaped plate 521 away from the suction seat 51. A corrugated hose 522 is provided between two adjacent arc-shaped plates 521. The width of the corrugated hose 522 near the positioning ring seat 53 is greater than the width of the corrugated hose 522 away from the positioning ring seat 53. The two sides of the corrugated hose 522 adjacent to the arc-shaped plate 521 are fixedly connected to the arc-shaped plate 521. A first sliding rod 523 is fixedly provided on the side of the arc-shaped plate 521 facing the adjustment component 8.

[0048] like Figure 7 and Figure 8 A positioning ring seat 53 is provided at the end of the dust collection seat 51 facing the conveyor belt 11. The positioning ring seat 53 is a ring structure and is installed on the dust collection seat 51. Six receiving grooves 531 are opened on the side of the positioning ring seat 53. The receiving grooves 531 are opened along the radial direction of the positioning ring seat 53 and extend to the outer side of the positioning ring seat 53 along the radial direction. The receiving grooves 531 extend to the bottom edge of the positioning ring seat 53 facing the conveyor belt 11. The width of the receiving grooves 531 on the bottom surface of the positioning ring seat 53 is smaller than the width of the receiving grooves 531 inside the positioning ring seat 53. The six receiving grooves 531 are evenly distributed. The receiving grooves 531 are correspondingly set with the first sliding rod 523. One end of the first sliding rod 523 is fixedly set with the arc plate 521, and the other end of the first sliding rod 523 is slidably connected in the receiving groove 531. Adjustment component 8 includes a second drive motor 81, which is located on the side of positioning ring seat 53. A drive gear 82 is connected to the second drive motor 81 and rotatably connected to the positioning ring seat 53. A driven gear 83 is rotatably mounted on the positioning ring seat 53. The drive gear 82 and the driven gear 83 mesh with each other. The driven gear 83 has six arc-shaped holes 832, each corresponding to a receiving groove 531. The arc-shaped holes 832 have an arc structure. A second sliding rod 84 is installed within each arc-shaped hole 832 and its corresponding receiving groove 531. The rod 84 has a cylindrical structure. The second sliding rod 84 passes through the arc-shaped hole 832 and the receiving groove 531 and is fixedly connected to the first sliding rod 523. The second sliding rod 84 is slidably disposed in the arc-shaped hole 832 and the receiving groove 531. The diameter of the end of the second sliding rod 84 away from the first sliding rod 523 is larger than the width of the arc-shaped hole 832. The driven gear 83 is provided with a through hole 831, which has a circular structure. The driven gear 83, the positioning ring seat 53 and the dust collection seat 51 are all coaxially disposed. The inner holes of the through hole 831 and the positioning ring seat 53 are all connected to the dust collection pipe 62. An elastic tube 532 is fixedly installed on the inner annular sidewall of the positioning ring seat 53. The elastic tube 532 is connected to the dust suction pipe 62. The elastic tube 532 passes through the through hole 831. The end of the elastic tube 532 facing the conveyor belt 11 is connected to the end of the arc plate 521 facing the conveyor belt 11. The end of the elastic tube 532 facing the conveyor belt 11 is connected to the end of the corrugated hose 522 facing the conveyor belt 11.

[0049] In other embodiments, the suction nozzle 52 may also include four, seven, or other numbers of arc-shaped plates 521, and the side of the positioning ring seat 53 may be provided with four, seven, or other numbers of receiving grooves 531. The number of receiving grooves 531 may be the same as the number of arc-shaped plates 521. The driven gear 83 may be provided with four, seven, or other numbers of arc-shaped holes 832. The number of arc-shaped holes 832 may be the same as the number of receiving grooves 531. The elastic tube 532 may cover the end of the arc-shaped plate 521.

[0050] The implementation principle of Example 2 is as follows: Based on the size of the impurities detected by the identification camera 32, the adjustment component 8 adjusts the size of the suction nozzle 52. When the impurities are large or there are large defective tobacco leaves, the adjustment component 8 increases the opening diameter of the suction nozzle 52 to directly suck away the impurities, avoiding the impurities from getting stuck at the suction nozzle 52 and preventing blockage that would affect subsequent impurity removal. When the impurities are small or the defective tobacco leaves are small, the adjustment component 8 decreases the opening diameter of the suction nozzle 52 to align the suction nozzle 52 with the impurities for adsorption, preventing the surrounding qualified tobacco leaves from being sucked away during the adsorption process due to the larger opening, reducing the waste of qualified tobacco leaves, improving the accuracy and reliability of tobacco leaf impurity removal, and ensuring that the impurity removal device completes tobacco leaf impurity removal with high quality. If tobacco stems are stuck at the suction port, the adjustment component 8 adjusts the opening diameter of the suction nozzle 52 while simultaneously increasing the size of the suction nozzle 52 to release the tobacco stems from being stuck and directly sucked away. The suction nozzle 52 is then decreased to compress the tobacco stems, bending them before they are sucked away, preventing impurities from getting stuck at the suction nozzle 52. The second drive motor 81 rotates, driving the drive gear 82 to rotate. The drive gear 82 meshes with the driven gear 83, causing the driven gear 83 to rotate synchronously. The receiving groove 531 corresponds to the arc-shaped hole 832 on the driven gear 83, ensuring that during the rotation of the driven gear 83, the second sliding rod 84 slides in the arc-shaped hole 832 and moves in the receiving groove 531. The first sliding rod 523 and the second sliding rod 84 are fixed, ensuring that the second sliding rod 84 pushes the first sliding rod 523 in the receiving groove 531 during its movement. The groove 531 extends and retracts, and the first sliding rod 523 is fixed to the arc plate 521 to ensure that the arc plate 521 moves away from or closer to the positioning ring seat 53. The movement of two adjacent arc plates 521 drives the corrugated hose 522 to extend and retract. Several arc plates 521 and several corrugated hoses 522 together increase or decrease the opening diameter of the suction nozzle 52. The channel in the middle of the positioning ring seat 53 and the through hole 831 on the driven gear 83 are connected and communicate with the suction pipe 62 to ensure that impurities are smoothly sucked into the suction pipe 62 along the through hole 831.

[0051] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robot-based tobacco leaf impurity removal device, characterized in that: Includes a conveyor belt (11), which is connected to a drive assembly (2) that drives the conveyor belt (11) to transport tobacco leaves; The conveyor belt (11) is provided with an identification component (3) at the front end along the conveying direction, and a positioning component (4) is provided at the rear end along the conveying direction. A dust collection seat (51) is provided on the positioning component (4), and a negative pressure dust collection box (61) is provided on the side of the conveyor belt (11). The dust collection seat (51) and the negative pressure dust collection box (61) are connected by a dust collection pipe (62). The positioning component (4) can drive the dust collection seat (51) to be positioned above the impurities.

2. The robot-based tobacco leaf impurity removal device according to claim 1, characterized in that: The identification component (3) includes a first mounting bracket (31), on which an identification camera (32) is slidably disposed. The identification camera (32) is disposed facing the conveyor belt (11). An illumination lamp (33) is disposed on the first mounting bracket (31). The illumination lamp (33) is disposed on the side below the identification camera (32). The illumination lamp (33) is disposed at the projection position of the identification camera (32) on the conveyor belt (11).

3. The robot-based tobacco leaf impurity removal device according to claim 2, characterized in that: A light-transmitting partition (34) is provided between the lighting lamp (33) and the conveyor belt (11). The light-transmitting partition (34) is detachably connected to the first mounting frame (31). A fixing plate (35) is provided on one side of the light-transmitting partition (34) along the conveying direction of the conveyor belt (11). A handle (36) is provided on the fixing plate (35).

4. The robot-based tobacco leaf impurity removal device according to claim 1, characterized in that: The drive assembly (2) includes a first drive motor (21), which is connected to the shaft of the conveyor belt (11), and a rotary encoder (22) is provided on the shaft of the conveyor belt (11).

5. The robot-based tobacco leaf impurity removal device according to claim 1, characterized in that: The conveyor belt (11) is provided with baffles (12) on both sides along the conveying direction. A dust collection plate (13) is provided below the conveyor belt (11). A scraper (14) is provided between the dust collection plate (13) and the conveyor belt (11). The scraper (14) is fixedly installed on the dust collection plate (13) and is in smooth contact with the conveyor belt (11).

6. The robot-based tobacco leaf impurity removal device according to claim 1, characterized in that: The positioning component (4) includes a second mounting bracket (41) on which a parallel robot (42) is mounted. The end of the parallel robot (42) facing the conveyor belt (11) is connected to the vacuum cleaner seat (51).

7. The robot-based tobacco leaf impurity removal device according to claim 1, characterized in that: The positioning component (4) is equipped with a positive pressure blower (71), and the positive pressure blower (71) and the dust collection seat (51) are connected by an air supply pipe (72).

8. The robot-based tobacco leaf impurity removal device according to claim 1, characterized in that: The dust collection seat (51) is provided with a dust collection nozzle (52) at the end facing the conveyor belt (11), and an adjustment component (8) is provided on the dust collection seat (51) to adjust the diameter of the dust collection nozzle (52).

9. The robot-based tobacco leaf impurity removal device according to claim 8, characterized in that: The suction nozzle (52) includes several arc-shaped plates (521), and a corrugated hose (522) is provided between two adjacent arc-shaped plates (521). A positioning ring seat (53) is fixedly provided on the suction seat (51). Several receiving grooves (531) are opened on the side of the positioning ring seat (53) along the radial direction. A first sliding rod (523) is fixedly provided on the side of the arc-shaped plate (521) facing the side of the positioning ring seat (53). The first sliding rod (523) is slidably connected in the receiving groove (531). The receiving groove (531) extends through to the side of the positioning ring seat (53) facing the conveyor belt (11). The adjustment assembly (8) includes a second drive motor (81) located on the positioning ring seat (53). The second drive motor (81) is connected to a drive gear (82), which is rotatably connected to the positioning ring seat (53). A driven gear (83) is rotatably mounted on the positioning ring seat (53). The drive gear (82) and the driven gear (83) are meshed together. A through hole (8) is provided on the driven gear (83). 31) and several arc-shaped holes (832), the through hole (831) and the dust suction pipe (62) are connected, the arc-shaped holes (832) and the receiving grooves (531) are arranged one-to-one, a second sliding rod (84) is slidably arranged in the arc-shaped hole (832), the second sliding rod (84) is slidably arranged in the corresponding receiving groove (531), and the second sliding rod (84) and the first sliding rod (523) are fixedly connected at the end away from the arc-shaped plate (521).

10. The robot-based tobacco leaf impurity removal device according to claim 9, characterized in that: An elastic tube (532) is fixedly installed on the inner wall of the positioning ring seat (53). The elastic tube (532) passes through the through hole (831). The end of the elastic tube (532) away from the positioning ring seat (53) is connected to the end of the arc plate (521) facing the conveyor belt (11).

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