Equipment for quickly loosening adhesion package of large-leaf crops

Abstract

The utility model discloses a device for quickly loosening adhesion package of big-leaf crops, which comprises a material box (2), a conveyor belt module and a jacking mechanism which are arranged on a base (1), and a parallel manipulator (9) arranged on a manipulator mounting seat (7), the manipulator mounting seat (7) is fixed on the base (1), and the manipulator mounting seat (7) is fixed on the base (1). An operation space is formed between the manipulator mounting seat (7) and the upper surface of the base (1), an identification module is arranged on the parallel manipulator (9), and the parallel manipulator (9) performs clamping operation in the operation space; the jacking mechanism is installed on the base (1), the jacking mechanism ejects the tobacco leaves to be packaged in the material box (2) out, the conveying belt module conveys the tobacco leaves outwards from the two sides of the material box (2), and the problem that the tobacco leaves cannot be rapidly separated in the adhesion and scattering state is solved.

Description

Technical Field

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

[0002] The tobacco leaf sorting and grading equipment currently on the market needs to grade and identify the tobacco leaves. The only way is to manually 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 method of transporting and separating tobacco leaves leads to low efficiency of detection equipment, slow loading speed, and high labor costs. Therefore, it is necessary to provide an automated device for efficiently separating sticky tobacco leaves, so as to quickly loosen the sticky packaging of large-leaf crops such as tobacco leaves. Utility Model Content

[0003] In view of the above defects or improvement needs of the prior art, the utility model provides a device for quickly loosening the adhered and packaged large-leaf crops, which solves the problem that tobacco leaves cannot be quickly separated in a stuck and scattered state.

[0004] In order to achieve the above-mentioned purpose, according to the utility model, there is provided a device for quickly loosening the adhesion packaging of large-leaf crops, including a material box, a conveyor belt module and a lifting mechanism arranged on a base, and a parallel manipulator arranged on a manipulator mounting seat, the manipulator mounting seat is fixed on the base, and an operating space is formed between the manipulator mounting seat and the upper surface of the base, the parallel manipulator is provided with an identification module, and the parallel manipulator performs clamping operations in the operating space; the lifting mechanism is installed on the base, and the lifting mechanism pushes out the packaged tobacco leaves in the material box, and the conveyor belt module transports the tobacco leaves outward from both sides of the material box.

[0005] A lifting mechanism is used to push the tobacco leaves out of the top opening of the material box. The position information of the tobacco stems is identified by the recognition module. The flexible rubber claws on the robot arm locate and clamp the tobacco stems. Finally, the loose tobacco leaves are transported outward through the conveyor belt module to separate the stuck tobacco leaves.

[0006] Furthermore, the recognition module includes a D camera and a micro-spectrometer. The D camera captures the spatial position of tobacco leaves, and the micro-spectrometer collects spectral information of cigarette packs. The position of tobacco leaves can be quickly located through shooting and recognition, and the parallel manipulator can quickly locate and clamp tobacco leaves through position information.

[0007] Furthermore, a linear guide rail is arranged on the base, and the bottom plate slides along the linear guide rail. A module servo motor and a screw module are installed on the bottom plate. The material box is horizontally fixed to the upper part of the screw module. A tobacco placement plate is slidably connected in the material box. A lifting plate is horizontally arranged at the lower part of the screw module. The lifting plate supports the tobacco placement plate to slide in the material box through a plurality of columns. The screw module is driven by the module servo motor, and can quickly take the tobacco leaves out of the package, preparing for the parallel manipulator to clamp and separate the tobacco leaves.

[0008] Furthermore, two groups of conveyor belt modules are provided, which are respectively located on the base table on the left and right sides of the tobacco leaf ejection position, so as to facilitate the rapid conveyance of the scattered tobacco leaves out of the working area.

[0009] Furthermore, the conveyor belt module on the left side includes a first discharging conveyor belt and a first slope conveyor belt, and the conveyor belt module on the right side includes a second discharging conveyor belt and a second slope conveyor belt. The first slope conveyor belt and the second slope conveyor belt are set with slopes that adapt to the height of the ejection position. The conveying direction of the first slope conveyor belt is from the material box to the first discharging conveyor belt, and the conveying direction of the second slope conveyor belt is from the material box to the second discharging conveyor belt. The first discharging conveyor belt and the second discharging conveyor belt are used to transport tobacco leaves out of the table top of the base. Combining multiple conveyor belts can adapt to the tobacco leaf ejection height and realize rapid conveying of separated tobacco leaves.

[0010] Furthermore, a flexible clamp is provided at the end of the parallel manipulator, and an angle adjustment servo motor is installed on the parallel manipulator. The angle adjustment servo motor drives the flexible clamp to adjust the clamping angle, so that the flexible clamp can flexibly adapt to different tobacco stem angles.

[0011] Furthermore, the base and the manipulator mounting seat are both welded frame structures, the manipulator mounting seat is fixed on the table top of the base, and the two are connected by welding or bolts.

[0012] Furthermore, the material box and the lifting mechanism are arranged at a middle position on the base.

[0013] In general, the above technical solutions conceived by the utility model can achieve the following beneficial effects compared with the prior art:

[0014] (1) The utility model provides a device for quickly loosening the stuck packages of large-leaf crops. The device uses a lifting mechanism to push tobacco leaves out of the top opening of a material box. The flexible rubber clamps on the parallel manipulator clamp the tobacco stems after visual positioning to achieve the transportation and separation of the tobacco leaves. Finally, the loose tobacco leaves are transported outward through a conveyor belt module, solving the problem that tobacco leaves cannot be quickly separated when they are stuck and scattered.

[0015] (2) The utility model provides a device for quickly loosening the stuck packages of large-leaf crops. Two groups of conveyor belt modules are arranged, which are respectively located on the base table on the left and right sides of the tobacco leaf ejection position, so as to facilitate the rapid conveyance of the scattered tobacco leaves out of the working area. The left and right conveyor belt modules both include a conveyor belt with a slope and a conveyor belt for conveying the tobacco leaves onto the table. The combination of multiple conveyor belts can adapt to the height of tobacco leaf ejection and realize the rapid conveyance of separated tobacco leaves.

[0016] (3) The utility model provides a device for quickly loosening the adhered packages of large-leaf crops. The lifting mechanism can quickly push out the tobacco leaves in the package, making it convenient for the parallel manipulator to perform clamping and separation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of a device for quickly clamping and separating stuck tobacco leaves using a parallel manipulator according to the utility model;

[0018] Figure 2 This is a schematic diagram of a material box of the utility model;

[0019] Figure 3 This is a schematic diagram of the utility model's parallel manipulator, 3D camera, and micro-spectrometer;

[0020] Figure 4 It is a schematic diagram of the servo motor and the flexible gripper installed on the parallel manipulator of the utility model;

[0021] In all the drawings, the same figure marks represent the same technical features, specifically: 1. Base; 2. Material box; 3. First discharging conveyor belt; 4. Second discharging conveyor belt; 5. First slope conveyor belt; 6. Second slope conveyor; 7. Manipulator mounting seat; 8. 3D camera; 9. Parallel manipulator; 10. Linear guide rail; 11. Module servo motor; 12. Screw module; 13. Lifting plate; 14. Tobacco leaf placement plate; 15. Miniature spectrometer; 16. Angle adjustment servo motor; 17. Flexible clamp. DETAILED DESCRIPTION

[0022] 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.

[0023] Embodiment 1

[0024] like Figure 1 and Figure 2 As shown, this embodiment includes a material box 2, a conveyor belt module and a lifting mechanism arranged on a base 1, and a parallel manipulator 9 arranged on a manipulator mounting seat 7, wherein the manipulator mounting seat 7 is fixed on the base 1, and an operating space is formed between the manipulator mounting seat 7 and the upper surface of the base 1, and the parallel manipulator 9 is movable in the operating space for clamping operations. The lifting mechanism is installed on the base 1, and is used to receive and move the material box 2, and lift the packaged tobacco leaves in the material box 2 out of the material box 2. After the lifting is completed, the parallel manipulator 9 places the tobacco leaves on the conveyor belt modules on the left and right sides, and the conveyor belt modules transport the loose tobacco leaves outward from both sides of the material box 2, so as to realize the unpacking and dispersion of the packaged tobacco leaves.

[0025] Furthermore, if Figure 1 As shown, the base 1 and the manipulator mounting seat 7 are both welded frame structures, and the manipulator mounting seat 7 is fixed on the table top of the base 1, and the two are connected by welding or bolts.

[0026] Embodiment 2

[0027] On the basis of the first embodiment, it also includes an identification module arranged on the parallel manipulator 9, which has visual perception and spectral sensing functions, and is used to obtain the coordinate information of tobacco leaves and stems and the origin information of tobacco leaves respectively, and the parallel manipulator clamps the tobacco leaves and places them on the discharge conveyor belt module. The coordinate information of the tobacco leaves and stems is sent to the parallel manipulator 9 to provide an accurate spatial position for the parallel manipulator 9 to clamp the tobacco leaves.

[0028] Furthermore, if Figure 3 As shown, the recognition module includes a 3D camera 8 and a micro-spectrometer 15. The 3D camera 8 is used to photograph the spatial position of tobacco leaves in the material box 2. The 3D camera 8 photographs the direction and position of tobacco stems. The parallel manipulator 9 places the tobacco leaves on the conveying module on the left or right side of the material box 2. The micro-spectrometer 15 is used to collect spectral information of the cigarette pack.

[0029] Embodiment 3

[0030] like Figure 2 As shown, on the basis of the above embodiment, a specific structure of the lifting mechanism is provided, a linear guide rail 10 is arranged on the base 1, which is used to push the bottom plate to slide along the linear guide rail 10, a module servo motor 11 and a screw module 12 are installed on the bottom plate, the material box 2 is horizontally fixed to the upper part of the screw module 12, a horizontal tobacco placement plate 14 is slidably connected in the material box 2, a lifting plate 13 is horizontally arranged at the lower part of the screw module 12, the lifting plate 13 is supported by a plurality of columns to slide the tobacco placement plate 14 in the material box 2, the screw module 12 is driven by the module servo motor 11, thereby driving the lifting plate 13 and the tobacco placement plate 14 to rise, and ejecting the tobacco from the top opening of the material box 2.

[0031] The operation process of the lifting mechanism is as follows: the worker places the packaged tobacco leaves on the tobacco placement plate 14 in the material box 2, and the worker pushes the material box 2 to the center of the base 1. The module servo motor 11 drives the screw module 12 to rise and lift the lifting plate 13. The lifting plate 13 drives the tobacco placement plate 14 to lift the tobacco leaves out of the material box 2.

[0032] Preferably, the material box 2 and the lifting mechanism are arranged at a middle position on the base 1 .

[0033] Embodiment 4

[0034] like Figure 1 As shown, on the basis of the above embodiments, the present embodiment provides a specific structure of a conveyor belt module, wherein two groups of conveyor belt modules are arranged, which are respectively located on the table top of the base 1 on the left and right sides of the tobacco leaf ejection position, the left conveyor belt module comprises a first discharge conveyor belt 3 and a first slope conveyor belt 5, and the right conveyor belt module comprises a second discharge conveyor belt 4 and a second slope conveyor belt 6, wherein the first slope conveyor belt 5 and the second slope conveyor belt 6 are provided with a certain slope to adapt to the height of the ejection position, the conveying direction of the first slope conveyor belt 5 is from the material box 2 to the first discharge conveyor belt 3, and the conveying direction of the second slope conveyor belt 6 is from the material box 2 to the second discharge conveyor belt 4, and the first discharge conveyor belt 3 and the second discharge conveyor belt 4 are used to transport the loose tobacco leaves out of the table top of the base 1.

[0035] Embodiment 5

[0036] like Figure 1-Figure 4 As shown, based on the above embodiment, this embodiment provides the operation process of the parallel manipulator 9. After the parallel manipulator 9 receives the coordinate information of the tobacco leaves and stems from the system, it goes to the position of the tobacco leaves and stems.

[0037] Specifically, a flexible clamp 17 is provided at the end of the parallel manipulator 9. The angle adjustment servo motor 16 installed on the parallel manipulator 9 drives the flexible clamp 17 to adjust the clamping angle according to the coordinates to adapt to the direction of the tobacco stems. The flexible clamp 17 clamps the tobacco stems by the drive of positive and negative air pressure. After the flexible clamp 17 clamps the tobacco stems, the parallel manipulator 9 rises to peel the tobacco leaves from the adhered cigarette packs and transport them to the first slope conveyor belt 5 or the second slope conveyor belt 6. The tobacco leaves on the first slope conveyor belt 5 or the second slope conveyor belt 6 are quickly transported to the first discharging conveyor belt 3 or the second discharging conveyor belt 4 under the influence of the gravity of the slope, thereby realizing the dispersion of the tobacco leaves.

[0038] Preferably, the parallel manipulator 9 may also be a common spider arm manipulator or a sorting manipulator.

[0039] 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 quickly loosening the adhesion packaging of large-leaf crops, characterized in that: The invention comprises a material box (2) arranged on a base (1), a conveyor belt module and a lifting mechanism, and a parallel manipulator (9) arranged on a manipulator mounting seat (7), wherein the manipulator mounting seat (7) is fixed on the base (1), an operation space is formed between the manipulator mounting seat (7) and the upper surface of the base (1), an identification module is provided on the parallel manipulator (9), and the parallel manipulator (9) performs clamping operations in the operation space; the lifting mechanism is installed on the base (1), and the lifting mechanism pushes out the packaged tobacco leaves in the material box (2), and the conveyor belt module transports the tobacco leaves outward from both sides of the material box (2).

2. The device for quickly loosening the adhesive packaging of large-leaf crops according to claim 1, characterized in that: The recognition module comprises a 3D camera (8) and a micro-spectrometer (15), wherein the 3D camera (8) photographs the spatial position of tobacco leaves, and the micro-spectrometer (15) collects spectral information of the cigarette pack.

3. The device for quickly loosening the adhesive packaging of large-leaf crops according to claim 1, characterized in that: A linear guide rail (10) is arranged on the base (1), and a bottom plate slides along the linear guide rail (10). A module servo motor (11) and a screw module (12) are installed on the bottom plate. The material box (2) is horizontally fixed to the upper part of the screw module (12). A tobacco placement plate (14) is slidably connected inside the material box (2). A lifting plate (13) is horizontally arranged at the lower part of the screw module (12). The lifting plate (13) supports the tobacco placement plate (14) to slide inside the material box (2) through a plurality of columns. The screw module (12) is driven by the module servo motor (11).

4. The device for quickly loosening the adhesive packaging of large-leaf crops according to claim 1, characterized in that: The conveyor belt modules are arranged in two groups, and are respectively located on the table surface of the base (1) on the left and right sides of the tobacco leaf ejection position.

5. The device for quickly loosening the adhesive packaging of large-leaf crops according to claim 4, characterized in that: The conveyor belt module on the left side includes a first discharge conveyor belt (3) and a first slope conveyor belt (5), and the conveyor belt module on the right side includes a second discharge conveyor belt (4) and a second slope conveyor belt (6). The first slope conveyor belt (5) and the second slope conveyor belt (6) are provided with slopes adapted to the height of the ejection position. The conveying direction of the first slope conveyor belt (5) is from the material box (2) to the first discharge conveyor belt (3), and the conveying direction of the second slope conveyor belt (6) is from the material box (2) to the second discharge conveyor belt (4). The first discharge conveyor belt (3) and the second discharge conveyor belt (4) are used to transport tobacco leaves out of the table top of the base (1).

6. The device for quickly loosening the adhesive packaging of large-leaf crops according to claim 1, characterized in that: A flexible clamping claw (17) is arranged at the end of the parallel manipulator (9), and an angle adjustment servo motor (16) is installed on the parallel manipulator (9). The angle adjustment servo motor (16) drives the flexible clamping claw (17) to adjust the clamping angle.

7. A device for quickly loosening the adhesive packaging of large-leaf crops according to any one of claims 1 to 6, characterized in that: The base (1) and the manipulator mounting seat (7) are both frame structures formed by welding, and the manipulator mounting seat (7) is fixed on the table surface of the base (1), and the two are connected by welding or bolts.

8. The device for quickly loosening the adhesive packaging of large-leaf crops according to any one of claims 1 to 6, characterized in that: The material box (2) and the lifting mechanism are arranged at a middle position on the base (1).

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