Automatic unloading, conveying and framing system for tobacco bales

Abstract

This invention discloses an automated unloading, conveying, and framing system for raw tobacco packages. The system includes a traveling frame equipped with a loading robot, which is adapted to move along the conveying direction; a conveyor adapted to receive tobacco packages grabbed by the loading robot; a unloading robot adapted to grab tobacco packages from the conveyor; and a storage basket. The loading robot on the traveling frame automatically grabs tobacco packages from the stacking area, placing them into the conveyor. The conveyor transports the packages to one side of the storage basket, where the unloading robot automatically grabs and unloads the packages from the conveyor into the basket. Compared to existing technologies, this invention enables automated unloading, conveying, and framing of tobacco packages. Furthermore, with the cooperation of the conveyor and the unloading robot, the loading robot only needs to perform continuous and rapid grabbing and loading actions onto the conveyor, thus improving the overall efficiency of unloading and storing tobacco packages.

Description

Technical Field

[0001] This invention relates to the field of loading and unloading conveying equipment technology, and in particular, to an automatic unloading, conveying, and framing system for raw tobacco packages. Background Technology

[0002] Tobacco bales are the physical units that deliver tobacco from agricultural to industrial applications. They are made by mechanically pressing and baling loose leaves after initial curing, covering them with burlap or woven fabric, and binding them with straps, or using boxes such as wooden or cardboard boxes. They are mainly rectangular in shape and need to be stored in temperature- and humidity-controlled warehouses, serving as the carrier for transforming natural tobacco leaves into industrial raw materials.

[0003] After transporting cigarette bales to tobacco re-drying enterprises using trucks or other vehicles, the process typically involves manual unloading, manual loading into crates, and then manual warehousing. This method is labor-intensive and inefficient, resulting in reduced efficiency in unloading and warehousing the cigarette bales. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic unloading, conveying, and framing system for tobacco raw tobacco packages.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] An automated unloading, conveying, and framing system for raw tobacco packages includes: a walking frame equipped with a loading robot arm, the loading robot arm being adapted to grasp tobacco packages on a stacking area, and the walking frame being adapted to move along a conveying direction; a conveyor adapted to receive the tobacco packages grasped by the loading robot arm and drive the tobacco packages to move along the conveying direction; a unloading robot arm adapted to grasp tobacco packages on the conveyor; and a storage basket adapted to receive the tobacco packages grasped by the unloading robot arm.

[0007] Preferably, the traveling frame is a gantry moving frame.

[0008] Preferably, the cigarette packs are formed by packing in burlap sacks, and the loading robot includes a gripping unit, a vision unit, and a controller. The execution end of the gripping unit is adapted to have multiple degrees of freedom, and the vision unit is adapted to be able to identify the posture of the cigarette packs in the stacking area. Subsequently, the controller adjusts the gripping angle of the gripping unit according to the posture of the cigarette packs.

[0009] Preferably, the gripping unit includes a multi-axis robotic arm and a gripping mechanism disposed on the execution end of the multi-axis robotic arm. The gripping mechanism includes a first needle and a second needle arranged symmetrically, and the first needle and the second needle are arranged at an incline to form a gripping angle. The first needle and the second needle are both adapted to be able to push out along the direction of the corresponding straight line forming the gripping angle. The first needle and the second needle are arranged in an alternating manner, so that they have an intersecting portion at the vertex of the gripping angle.

[0010] Preferably, both the first needle and the second needle are arranged in an array of several.

[0011] Preferably, the gripping mechanism is arranged in two pairs symmetrically along the horizontal and vertical directions.

[0012] Preferably, the gripping mechanism includes a first ejector cylinder and a second ejector cylinder arranged symmetrically, with the first needle arranged on the ejector end of the first ejector cylinder and the second needle arranged on the ejector end of the second ejector cylinder.

[0013] Preferably, the gripping unit includes a multi-axis robotic arm and a gripping mechanism disposed on the execution end of the multi-axis robotic arm. The gripping mechanism includes a first clamping plate and a second clamping plate arranged symmetrically. The first clamping plate and the second clamping plate are adapted to move towards each other, and both the first clamping plate and the second clamping plate are adapted to bounce vertically. A cam plate is also disposed on the execution end of the multi-axis robotic arm. The cam plate is arranged to have a cam guiding surface. The ends of the first clamping plate and the second clamping plate abut against the cam guiding surface. The cam guiding surface includes a straight section and guiding sections located on both sides of the straight section. As the first clamping plate and the second clamping plate move towards each other, the first clamping plate and the second clamping plate approach each other and gradually push out towards one side of the tobacco pack under the abutment of the corresponding guiding sections, thereby causing the burlap of the tobacco pack to gradually bulge and enter between the first clamping plate and the second clamping plate.

[0014] Preferably, both the first clamping plate and the second clamping plate include a plate body and an actuating belt rotatably mounted on the plate body. A gear is mounted on the rotating shaft of the actuating belt, and a rack is mounted on the cam plate that meshes with the cam guide surface. The gear meshes with the rack. As the first clamping plate and the second clamping plate move toward each other, both actuating belts rotate upward.

[0015] Preferably, the visual unit is also adapted to be able to identify the markings on the tobacco pack used to identify the grade of the tobacco leaves.

[0016] The beneficial effects of this invention are:

[0017] 1. A loading robot on a traveling frame automatically grabs cigarette packs from the stacking area. The packs are then placed into a conveyor, which transports them to a storage basket. A unloading robot then automatically grabs and unloads the packs from the conveyor into the basket. Compared to existing technologies, this invention enables automatic unloading, conveying, and framing of cigarette packs. Furthermore, with the cooperation of the conveyor and unloading robot, the loading robot only needs to perform continuous and rapid grabbing and loading actions onto the conveyor, thus improving the overall efficiency of unloading and storing cigarette packs.

[0018] 2. The loading robot includes a gripping unit, a vision unit, and a controller. The vision unit can recognize the posture of cigarette packs that are packaged in sacks and may be stacked irregularly. Then, the controller can adjust the angle of the gripping unit according to the posture of the cigarette packs, so that the gripping unit can grip and transfer cigarette packs placed at different angles.

[0019] 3. The cigarette pack is quickly and stably gripped by the staggered arrangement of the first and second needles protruding and penetrating into the cigarette pack. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of an embodiment;

[0021] Figure 2 This is a schematic diagram of the structure of the material gripping angle;

[0022] Figure 3 This is a schematic diagram of the structure of the first and second puncture needles;

[0023] Figure 4 This is a structural diagram of the first and second clamping plates;

[0024] Figure 5 This is a schematic diagram of the toggle belt structure.

[0025] Reference numerals: 1. Walking frame; 2. Loading robot; 3. Conveyor; 4. Unloading robot; 5. Storage basket; 6. Gripping unit; 7. Vision unit; 8. Multi-axis robotic arm; 9. Gripping mechanism; 10. First needle; 11. Second needle; 12. Interlaced section; 13. First ejector cylinder; 14. Second ejector cylinder; 15. First clamping plate; 16. Second clamping plate; 17. Cam plate; 18. Cam guide surface; 19. Straight section; 20. Guide section; 21. Plate; 22. Actuating belt; 23. Gear; 24. Rack; 25. Gripping angle. Detailed Implementation

[0026] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] like Figures 1 to 5 As shown, an automatic unloading, conveying, and framing system for raw tobacco packages includes a walking frame 1, a conveyor 3, a material unloading robot 4, and a storage basket 5, which are connected sequentially along the conveying direction.

[0028] The traveling frame 1 is preferably a gantry moving frame, and a loading robot 2 is also installed on its frame. The gantry moving frame can drive the loading robot 2 to transfer between the feed end of the conveyor 3 and the stacking area. The stacking area can be directly formed by the truck bed of a vehicle such as a truck, that is, the truck can be driven directly to the front of the conveyor 3, and then the traveling frame 1 moves along the conveying direction to drive the loading robot 2 to approach the truck bed, and the loading robot 2 then grabs the cigarette packs on the stacking area; then the traveling frame 1 moves along the conveying direction again to drive the loading robot 2 to approach the conveyor 3, and then the loading robot 2 can put the grabbed cigarette packs into the conveyor 3.

[0029] The conveyor 3 can preferably be a conveyor belt. Under the conveyor belt, the cigarette packs received by it from the loading robot 2 can move along the conveying direction to the unloading robot 4.

[0030] The unloading robot 4 can have a basically the same structure as the loading robot 2. At its most basic level, the unloading robot 4 can grab cigarette packs on the conveyor 3 and place the grabbed cigarette packs into the storage basket 5, for example by rotation or by a movable design similar to that of the loading robot 2.

[0031] In some embodiments, the cigarette packs to be unloaded are packaged in cardboard boxes or wooden crates. The loading robot 2 and unloading robot 4 can be equipped with gripping mechanisms such as grippers or suction cups to hold and grasp the boxed cigarette packs.

[0032] However, when the cigarette packs to be unloaded are packaged in burlap sacks, conventional gripping mechanisms struggle to achieve a fast and stable clamping effect. For example, when using suction cups to grip burlap sacks, the suction cups cannot provide a stable and sufficient suction force for the gaps in the burlap sacks, resulting in the inability to grip the cigarette packs properly. Similarly, when using grippers to grip burlap sacks, the irregular stacking of the burlap sacks makes it difficult for the grippers to grip the cigarette packs at a fixed angle.

[0033] For this, see Figure 2 , Figure 3In another configuration, the loading robot 2 is arranged to include a gripping unit 6, a vision unit 7, and a controller. The gripping unit 6 is adapted to have multiple degrees of freedom, while the vision unit 7 can identify the posture of the cigarette packs in the stacking area. Subsequently, the controller can adjust the gripping angle of the gripping unit 6 according to the identified cigarette pack posture. Specifically, after the loading robot 2 is transferred to the stacking area, the vision unit 7 completes posture recognition of the cigarette pack to be gripped. Then, the controller adjusts multiple movable joints of the gripping unit 6 according to the posture of the cigarette pack, so that the gripping unit 6 can be adjusted to a suitable angle for gripping the cigarette pack, and then the gripping is completed.

[0034] In some embodiments, the gripping unit 6 may include a multi-axis robotic arm 8 and a gripping mechanism 9 disposed on the execution end of the multi-axis robotic arm 8. The gripping mechanism 9 may preferably include a first needle 10 and a second needle 11 arranged symmetrically, and the first needle 10 and the second needle 11 are both inclined and thus form a gripping angle 25 between them. In addition, the first needle 10 and the second needle 11 are both connected to the ejection ends of corresponding, symmetrically arranged first ejection cylinders 13 and second ejection cylinders 14. Under the ejection of the two ejection cylinders, the first needle 10 and the second needle 11 can be ejected along the corresponding straight line forming the gripping angle 25.

[0035] See also Figure 2 , Figure 3 The first needle 10 and the second needle 11 are designed to be staggered, so that as the first needle 10 and the second needle 11 are ejected, they will have an overlapping portion 12 at the apex of the gripping angle 25. In the specific cigarette pack gripping, after the front of the cigarette pack is identified by the vision unit 7, the multi-axis robotic arm 8 can transfer the first needle 10 and the second needle 11 to the front of the cigarette pack. Then the first needle 10 and the second needle 11 pierce the burlap of the cigarette pack. Due to the design of the gripping angle 25, the burlap is difficult to get out between the first needle 10 and the second needle 11. Thus, with the transfer of the multi-axis robotic arm 8 and the moving frame, the cigarette pack can be transferred to the conveyor 3. Then the first needle 10 and the second needle 11 retract and release the gripping of the cigarette pack. The cigarette pack can be sent to the side of the collection basket 5 by the conveyor 3.

[0036] The staggered design of the first needle 10 and the second needle 11 makes it less likely for them to collide when they are ejected, and the expected material gripping angle 25 can be formed more reliably to achieve stable gripping of the sack-shaped cigarette pack.

[0037] See you again Figure 3Several first needles 10 can be arrayed on the ejection end of the first ejection cylinder 13, and similarly, several second needles 11 can be arrayed on the ejection end of the second ejection cylinder 14. The staggered arrangement of multiple first needles 10 and multiple second needles 11 enables a more stable gripping of the cigarette pack. Furthermore, the gripping mechanism 9 can be arranged in two pairs symmetrically along the transverse and longitudinal directions on the execution end of the multi-axis robotic arm 8. Alternatively, the four gripping mechanisms 9 can be understood as being arranged sequentially along the circumference, thereby creating more gripping positions and a larger gripping area, making it easier to grip the sack-like cigarette pack, and ensuring a more stable posture of the gripped cigarette pack, preventing it from swinging erratically in the air.

[0038] Furthermore, since the first needle 10 and the second needle 11 are pushed out a certain distance before forming the gripping angle 25, it is not required that the gripping mechanism 9 be absolutely parallel to the front of the cigarette pack. It is only necessary to ensure that the first needle 10 and the second needle 11 are located above the front of the cigarette pack so that the first needle 10 and the second needle 11 can be inserted into the burlap of the cigarette pack to achieve gripping.

[0039] The diameter of each needle is preferably 6mm, which leaves a small needle hole on the burlap sack and prevents excessive damage to the burlap packaging.

[0040] In addition, each tobacco pack can be labeled with a marker, such as a QR code, to indicate the grade of the tobacco leaves. For example, the tobacco packs can be classified as first-grade, second-grade, and third-grade. During the process of picking up the tobacco packs, the unloading robot 4 can use the vision unit 7 to identify the marker and place the tobacco packs of different grades into the corresponding storage baskets 5. If the marker falls off the tobacco pack, the unloading robot 4 can be controlled to place the tobacco pack into a preparatory basket for manual identification and sorting.

[0041] See Figure 4 , Figure 5 Alternatively, the gripping mechanism 9 may include a symmetrically arranged first clamping plate 15 and a second clamping plate 16, which can move towards each other by being ejected by the first ejection cylinder 13 and the second ejection cylinder 14 respectively. Furthermore, both clamping plates are elastically connected to the ejection ends of their respective ejection cylinders via springs or other elastic elements, enabling vertical springing.

[0042] The multi-axis robotic arm 8 is also equipped with a cam plate 17 with a cam guide surface 18 on its execution end, and the tops of the two clamping plates abut against the cam guide surface 18. The cam guide surface 18 specifically includes a straight section 19 and guide sections 20 located on both sides of the straight section 19. For example, the guide sections 20 can adopt an arc transition design towards one side of the straight section 19.

[0043] When grasping a sack-shaped tobacco bag, after the vision unit 7 identifies the front of the tobacco bag, the multi-axis robotic arm 8 can transfer the first clamping plate 15 and the second clamping plate 16 to abut against the front of the tobacco bag. Then, the two clamping plates are driven to move towards each other. As the two clamping plates approach each other, each clamping plate is gradually pushed out to one side of the tobacco bag under the abutment of the guide section 20. That is, the two clamping plates will approach each other while exerting a clamping force on the sack. This will create sufficient friction between the two clamping plates and the sack, so that the sack will gradually bulge into the space between the two clamping plates. For example, when the two clamping plates move to the middle position of the straight section 19, the two clamping plates completely close to achieve clamping and holding of the sack.

[0044] Compared to the needle-based method, the clamp is less likely to cause needle holes in the burlap sack, resulting in greater sack integrity and reducing the likelihood of tobacco leaves getting damp and damaged during storage.

[0045] In addition, the multi-axis robotic arm 8 can be mounted on the column of the gantry frame using a linear motor, which can provide the gripping unit 6 with a degree of automation in vertical movement, thereby reducing the complexity requirements of the multi-axis robotic arm 8. However, the specific selection of the multi-axis robotic arm 8 can be made according to the actual gripping accuracy and gripping position requirements, and no restrictions are imposed on it in this disclosure.

[0046] In some embodiments, the first clamping plate 15 and the second clamping plate 16 each include a plate body 21 and a toggle belt 22 rotatably disposed on the plate body 21, and a gear 23 is also disposed on the shaft of the toggle belt 22. A rack 24 that engages with the cam guide surface 18 is disposed on the cam plate 17, and the gear 23 is meshed with the rack 24.

[0047] When gripping the burlap-sack-shaped cigarette pack, as the two clamping plates move towards each other, the gear 23 rotates forward along the rack 24, thereby driving the actuating belt 22 to rotate upward. This allows more of the burlap sack to be driven between the two clamping plates, preventing the burlap sack from being gripped too little or the cigarette pack gripping from being unstable.

[0048] When the burlap sack-shaped tobacco pack is released, as the two clamps move in opposite directions, the gear 23 reverses along the rack 24, causing the actuating belt 22 to rotate downwards. At the instant the two clamps separate, the protruding part of the burlap sack sinks under the influence of tension and gravity, reducing the area of ​​the burlap sack between the two clamps. Subsequently, as the clamps move along the straight section 19, the clamps and the downward-rotating actuating belt 22 work together to flatten the protruding part of the burlap sack that was pulled up, eliminating the need for manual pulling of the burlap sack.

[0049] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An automatic unloading, conveying, and framing system for raw tobacco packages, characterized in that: include: A walking frame (1) is provided with a loading robot (2), which is adapted to be able to grab cigarette packs on the stacking area, and the walking frame (1) is adapted to be able to move along the conveying direction; Conveyor (3), the conveyor (3) is adapted to receive the cigarette packs grabbed by the feeding robot (2) and drive the cigarette packs to move along the conveying direction; A feeding robot (4) is adapted to be able to grab cigarette packs on the conveyor (3); A storage basket (5) is adapted to receive cigarette packs grabbed by the unloading robot (4).

2. The automatic unloading, conveying, and framing system for raw tobacco packages according to claim 1, characterized in that: The traveling frame (1) is a gantry moving frame.

3. The automatic unloading, conveying, and framing system for raw tobacco packages according to claim 1, characterized in that: The cigarette packs are formed by packing in burlap sacks. The loading robot (2) includes a gripping unit (6), a vision unit (7), and a controller. The execution end of the gripping unit (6) is adapted to have multiple degrees of freedom. The vision unit (7) is adapted to be able to identify the posture of the cigarette packs in the stacking area. Then the controller adjusts the gripping angle of the gripping unit (6) according to the posture of the cigarette packs.

4. The automatic unloading, conveying, and framing system for raw tobacco packages according to claim 3, characterized in that: The gripping unit (6) includes a multi-axis robotic arm (8) and a gripping mechanism (9) disposed on the execution end of the multi-axis robotic arm (8). The gripping mechanism (9) includes a first needle (10) and a second needle (11) arranged symmetrically. The first needle (10) and the second needle (11) are arranged at an angle and form a gripping angle (25). The first needle (10) and the second needle (11) are both adapted to be able to push out along the direction of the corresponding straight line that forms the gripping angle (25). The first needle (10) and the second needle (11) are arranged in an alternating manner, so that they have an intersecting part (12) at the vertex of the gripping angle (25).

5. The automatic unloading, conveying, and framing system for raw tobacco packages according to claim 4, characterized in that: The first needle (10) and the second needle (11) are arranged in an array of several.

6. The automatic unloading, conveying, and framing system for raw tobacco packages according to claim 4 or 5, characterized in that: The gripping mechanism (9) has two pairs arranged symmetrically in the horizontal and vertical directions.

7. The automatic unloading, conveying, and framing system for raw tobacco packages according to claim 4 or 5, characterized in that: The gripping mechanism (9) includes a first ejector cylinder (13) and a second ejector cylinder (14) arranged symmetrically. The first needle (10) is arranged on the ejector end of the first ejector cylinder (13), and the second needle (11) is arranged on the ejector end of the second ejector cylinder (14).

8. The automatic unloading, conveying, and framing system for raw tobacco packages according to claim 3, characterized in that: The gripping unit (6) includes a multi-axis robotic arm (8) and a gripping mechanism (9) disposed on the execution end of the multi-axis robotic arm (8). The gripping mechanism (9) includes a first clamping plate (15) and a second clamping plate (16) arranged symmetrically. The first clamping plate (15) and the second clamping plate (16) are adapted to move towards each other, and both the first clamping plate (15) and the second clamping plate (16) are adapted to bounce vertically. The multi-axis robotic arm (8) is also provided with a cam plate (17) on its execution end. The cam plate (17) is arranged to have a cam guide surface (18). The ends of the first clamping plate (15) and the second clamping plate (16) abut against the cam guide surface (18). The cam guide surface (18) includes a straight section (19) and guide sections (20) located on both sides of the straight section (19). As the first clamping plate (15) and the second clamping plate (16) move toward each other, they approach each other and gradually push out toward the side of the tobacco pack under the abutment of the corresponding guide section (20), so that the burlap of the tobacco pack gradually bulges out and enters between the first clamping plate (15) and the second clamping plate (16).

9. The automatic unloading, conveying, and framing system for raw tobacco packages according to claim 8, characterized in that: The first clamping plate (15) and the second clamping plate (16) both include a plate body (21) and a toggle belt (22) rotatably disposed on the plate body (21). A gear (23) is disposed on the shaft of the toggle belt (22). A rack (24) that meshes with the cam guide surface (18) is disposed on the cam plate (17). The gear (23) meshes with the rack (24). As the first clamping plate (15) and the second clamping plate (16) move toward each other, both of the actuating belts (22) rotate upward.

10. The automatic unloading, conveying, and framing system for raw tobacco packages according to any one of claims 3-5, characterized in that: The visual unit (7) is also adapted to be able to identify the markings on the tobacco pack used to identify the grade of the tobacco leaves.

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