Equipment for loosening adhesion packaging of large-leaf crops

Abstract

The utility model discloses a device for sticking, packaging and loosening large-leaf crops, which comprises a conveyor belt module arranged on a base, and an identification module and a three-axis manipulator which are arranged on a manipulator mounting seat, the first discharging conveying belt and the second discharging conveying belt are located on the two sides of the feeding conveying belt, the feeding conveying belt, the first discharging conveying belt and the second discharging conveying belt are consistent in conveying direction, packaged tobacco leaves are placed at the front end of the feeding conveying belt, and the mechanical arm installation base is fixed to the table top of the base. A D camera and a micro spectrometer are installed in the center of the mechanical arm installation base, the three-axis mechanical arm is installed on the mechanical arm installation base and located above the feeding conveying belt, the first discharging conveying belt and the second discharging conveying belt, and the problem that the separation efficiency is low when the adhered tobacco leaves are screened out is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, and more specifically to a device for loosely packing large-leaf crops by adhesion. Background Art

[0002] In the tobacco leaf sorting and grading equipment currently on the market, in order to grade and identify tobacco leaves, one can only rely on manual labor to sort the sticky tobacco leaves and put them into the equipment, or sort the sticky tobacco leaves and put them into a customized silo, and then a mechanism enters the silo to pick them up. This results in low efficiency of the detection equipment, slow loading speed, and high labor costs. Therefore, it is necessary to design a device that can automatically separate tobacco leaves from the sticky state. Utility Model Content

[0003] In view of the above defects or improvement needs of the prior art, the utility model provides a device for loosely packing large-leaf crops by adhesion, thereby solving the problem of low separation efficiency of adhered tobacco leaves during screening.

[0004] In order to achieve the above-mentioned purpose, according to the utility model, there is provided a device for loosening the adhesion and packaging of large-leaf crops, comprising a conveyor belt module arranged on a base, and an identification module and a three-axis manipulator arranged on a manipulator mounting seat, the conveyor belt module comprising a feed conveyor belt, and a first discharging conveyor belt and a second discharging conveyor belt located on both sides of the feed conveyor belt, the conveying directions of the feed conveyor belt, the first discharging conveyor belt and the second discharging conveyor belt are consistent, the packaged tobacco leaves are placed on the front end of the feed conveyor belt, the manipulator mounting seat is fixed on the table of the base, a D camera and a miniature spectrometer are installed at the central position of the manipulator mounting seat, the three-axis manipulator is installed on the manipulator mounting seat, and the three-axis manipulator is located above the feed conveyor belt, the first discharging conveyor belt and the second discharging conveyor belt.

[0005] Furthermore, a debris collection box is installed at the rear end of the feed conveyor belt.

[0006] Furthermore, the feeding conveyor belt is arranged at a height lower than the first discharging conveyor belt and the second discharging conveyor belt to prevent damaged tobacco leaves from falling from a height into the discharging conveyor belts on both sides.

[0007] Furthermore, a plurality of groups of three-axis manipulators are installed on the manipulator mounting seat, and the same number of groups of three-axis manipulators are respectively arranged above the first discharge conveyor belt and the second discharge conveyor belt.

[0008] In general, the above technical solutions conceived by the utility model can achieve the following beneficial effects compared with the prior art:

[0009] (1) The utility model provides a device for loosening the adhered packaging of large-leaf crops, wherein a first discharging conveyor belt and a second discharging conveyor belt for conveying in the same direction are arranged on both sides of the feed conveyor belt, and a plurality of groups of three-axis manipulators are arranged above the three conveyor belts to realize rapid screening and separation of adhered tobacco leaves.

[0010] (2) The utility model provides a device for loosely packaging large-leaf crops. The feed conveyor belt is set at a height lower than the first discharge conveyor belt and the second discharge conveyor belt to prevent damaged tobacco leaves from falling from a high place to the discharge conveyor belts on both sides. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0012] Figure 2 It is a schematic diagram of the structure of the 3D camera and the micro-spectrometer of the utility model;

[0013] Figure 3 This is a schematic diagram of the structure of a three-axis manipulator of the utility model;

[0014] Figure 4 This is a schematic diagram of the structure of the three-axis manipulator installed with the flexible clamping claw of the utility model;

[0015] In all the drawings, the same figure marks represent the same technical features, specifically: 1. feed conveyor belt; 2. first discharge conveyor belt; 3. base; 4. second discharge conveyor belt; 5. debris collection box; 6. manipulator mounting base; 7. three-axis manipulator; 8. 3D camera; 9. micro spectrometer; 10. flexible gripper; 11. X-axis; 12. Y-axis; 13. Z-axis. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and are not used to limit the utility model. In addition, the technical features involved in each embodiment of the utility model described below can be combined with each other as long as they do not conflict with each other.

[0017] like Figure 1-Figure 4As shown, this embodiment provides a device for loosening the adhesion packaging of large-leaf crops, including a conveyor belt module arranged on a base 3, and an identification module and a three-axis manipulator 7 arranged on a manipulator mounting seat 6. Among them, the conveyor belt module includes a feed conveyor belt 1, and a first discharge conveyor belt 2 and a second discharge conveyor belt 4 located on both sides of the feed conveyor belt 1. The conveying directions of the above three conveyor belts are consistent. In order to facilitate the description of the azimuth relationship, the starting point of the conveyance is defined as the "front end", the end of the conveyance is defined as the "rear end", and the conveying direction is defined as the "feeding direction". Furthermore, the worker puts the packaged tobacco leaves on the front end of the feed conveyor belt 1, and the feed conveyor belt 1 transports the tobacco leaves to the central area of ​​the base 3. The manipulator mounting seat 6 is fixed on the table of the base 3. The manipulator mounting seat 6 is located in the central position above the table and is equipped with a 3D camera 8 and a micro-spectrometer 9. The 3D camera 8 is used to capture the spatial position information of the tobacco leaves on the feed conveyor belt 1. The spatial position information includes the direction and position information of the tobacco leaves and stems. The micro-spectrometer 9 is set next to the 3D camera 8 and is used to collect the spectral information of the cigarette pack to determine the origin of the tobacco leaves. Furthermore, the three-axis manipulator 7 is installed on the manipulator mounting seat 6, located above the above three conveyor belts, and is used to select relatively complete tobacco leaves from the feed conveyor belt 1 to the first discharging conveyor belt 2 and the second discharging conveyor belt 4 to achieve the screening and separation of tobacco leaves.

[0018] Furthermore, if Figure 1 As shown, a debris collection box 5 is installed at the rear end of the feed conveyor belt 1. The tobacco leaves on the feed conveyor belt 1 are grabbed by the three-axis manipulator 7, leaving the broken tobacco leaves. The feed conveyor belt 1 continues to transport forward and transports the broken tobacco leaves into the debris collection box 5.

[0019] Preferably, the feed conveyor belt 1 is arranged at a height lower than the first discharge conveyor belt 2 and the second discharge conveyor belt 4 to prevent damaged tobacco leaves from falling from a height into the discharge conveyor belts on both sides.

[0020] Furthermore, if Figure 1 , Figure 3 and Figure 4 As shown, a plurality of three-axis manipulators 7 are installed on the manipulator mounting seat 6, and the three-axis manipulators 7 of the same number are respectively arranged above the first discharging conveyor belt 2 and the second discharging conveyor belt 4, so as to place tobacco leaves on the first discharging conveyor belt 2 or the second discharging conveyor belt 4. Further, the three-axis manipulator 7 includes an X-axis 11, a Y-axis 12, a Z-axis 13 and a flexible clamp 10, wherein the flexible clamp 10 is arranged at the bottom of the Z-axis 13, the Z-axis 13 is used to drive the flexible clamp 10 to move vertically, the Y-axis 12 is used to drive the Z-axis 13 to move along the feeding direction of the feed conveyor belt 1, the X-axis 11 drives the Y-axis 12 and the Z-axis 13 to move as a whole in a direction perpendicular to the feeding direction of the feed conveyor belt 1, and the X-axis 11 and the Y-axis 12 realize the plane position adjustment of the Z-axis 13 in the area where the three conveyor belts are located.

[0021] The specific operation process of the three-axis manipulator 7 is:

[0022] The X-axis 11 and the Y-axis 12 drive the Z-axis 13 to the top of the tobacco stems to be clamped, the Z-axis 13 descends to the tobacco stem position, the flexible grippers 10 on the three-axis manipulator 7 are driven by positive and negative air pressure to clamp the tobacco stems, the Z-axis 13 on the three-axis manipulator 7 rises to peel the tobacco leaves off the adhered cigarette packs, the X-axis 11 and the Y-axis 12 drive the Z-axis 13 to transport the tobacco leaves to the first discharging conveyor belt 2 or the second discharging conveyor belt 4, the flexible grippers 10 release the tobacco stems to the two discharging conveyor belts 2, and realize the screening and separation of relatively complete tobacco leaves from the cigarette packs.

[0023] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A device for loosely packing large-leaf crops by adhesion, characterized in that: The invention comprises a conveyor belt module arranged on a base (3), and an identification module and a three-axis manipulator (7) arranged on a manipulator mounting seat (6); the conveyor belt module comprises a feed conveyor belt (1), and a first discharge conveyor belt (2) and a second discharge conveyor belt (4) located on both sides of the feed conveyor belt (1); the feed conveyor belt (1), the first discharge conveyor belt (2) and the second discharge conveyor belt (4) have the same conveying direction; the packaged tobacco leaves are placed on the front end of the feed conveyor belt (1); the manipulator mounting seat (6) is fixed on the table of the base (3); a 3D camera (8) and a micro-spectrometer (9) are installed at the central position of the manipulator mounting seat (6); the three-axis manipulator (7) is installed on the manipulator mounting seat (6); and the three-axis manipulator (7) is located above the feed conveyor belt (1), the first discharge conveyor belt (2) and the second discharge conveyor belt.

2. The device for loosely packing large-leaf crops according to claim 1, characterized in that: A scrap collection box (5) is installed at the rear end of the feed conveyor belt (1).

3. The device for loosely packing large-leaf crops according to claim 1, characterized in that: The feed conveyor belt (1) is arranged at a height lower than the first discharge conveyor belt (2) and the second discharge conveyor belt (4).

4. The device for loosely packing large-leaf crops according to claim 1, characterized in that: A plurality of groups of three-axis manipulators (7) are installed on the manipulator mounting seat (6), and the same number of groups of the three-axis manipulators (7) are respectively arranged above the first discharge conveyor belt (2) and the second discharge conveyor belt (4).

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