Automatic unloading equipment system for gunny raw tobacco bales

Abstract

The utility model belongs to the technical field of design and manufacturing of crude tobacco transportation, loading and unloading equipment in the tobacco industry, and particularly relates to an automatic unloading equipment system for gunny-bag-contained crude tobacco bales. According to the equipment system, horizontal and vertical movement is achieved through the roadway type track walking body mechanism, the rapid lifting mechanism and the movable position finding mechanism, and the movable position finding mechanism and the modular grabbing mechanism are matched to accurately position and grab cigarette packets. The truck carriage position detection device ensures that the truck is accurately positioned, and the lifting material receiving belt conveyor realizes compensation of the falling height of the tobacco bales and adaptation of the height of downstream equipment. According to the equipment system, the unloading efficiency is improved, the equipment system is suitable for transport trucks of different specifications and models and unordered stacked crude tobacco bales, meanwhile, the intelligent degree and efficiency are high, installation and maintenance are convenient, and the requirements for automatic and intelligent production in the tobacco industry are met.

Description

Technical Field

[0001] The utility model belongs to the technical field of design and manufacturing of raw tobacco transportation and loading and unloading equipment in the tobacco industry, and particularly relates to an automatic unloading equipment system for raw tobacco packages packed in sacks. Background Art

[0002] In the tobacco industry, the transfer of sacked raw tobacco bales from tobacco stations to redrying plants is a crucial process. Redrying plants and tobacco equipment suppliers are exploring new methods for unloading tobacco bales and developing supporting automated equipment. While some solutions have emerged on the market, they still face numerous challenges in practical application.

[0003] CN106516804A discloses an automatic unloading system for cigarette packs using a manipulator. The main frame of the system is composed of vertical support columns and crossbars on both sides of the ground. A gripping device is mounted on the crossbars, and a transverse conveyor belt and a longitudinal belt conveyor discharger serve as the conveying system. The gripping device grabs the cigarette packs on the transport vehicle and then transports them to the transverse conveyor belt for unloading. The materials are transported on the transverse conveyor belt and, after reaching the end, fall onto the longitudinal belt conveyor discharger and are then transported to downstream equipment. This solves the problems of cigarette packs being trampled and broken, as well as safety hazards, caused by manual unloading, while also achieving high unloading efficiency. However, the following shortcomings still exist:

[0004] First, the system's frame, which consists of support columns, crossbars, etc., is fixed and cannot be moved. The driver is required to park the truck precisely at the guide position. Manual control of the guide position by the driver is not accurate enough and is not easy to operate. This unloading system uses mechanical control of a movable walking body on the track to more accurately move the grabbing device to the working position.

[0005] Secondly, the horizontal conveyor belt and longitudinal conveyor discharging machine of the belt conveyor system in this system are both installed on the top of the truck. This means that either the belt conveyor system must be installed at a higher position, making the installation and maintenance of the equipment system inconvenient, or the truck needs to be restricted in height, which makes it impossible to adapt to various unloading scenarios.

[0006] In addition, all components involved in grasping and conveying should be able to flexibly adjust the height. This can not only reduce the problem of cigarette pack breakage caused by excessive height differences between devices, but also enable flexible matching with downstream conveying equipment and facilitate installation, commissioning and maintenance.

[0007] Furthermore, cigarette packs are transported in a variety of vehicles, sizes, and side positions. Furthermore, the position, posture, size, and shape of the original cigarette packs can vary due to factors such as the truck's loading method and the bumpy conditions of transportation. If the system cannot flexibly adjust to these changes in real time, it can lead to inefficient unloading, broken packs, and inability to complete the unloading task. With the widespread application of visual inspection systems in automated equipment, integrating them into cigarette pack unloading systems has become a trend. By introducing visual inspection systems, key parameters such as cigarette pack position, size, and shape can be captured in real time and accurately identified, enabling unloading equipment to complete unloading tasks accurately and efficiently.

[0008] To sum up, how to provide a more efficient, accurate and adaptable new type of automatic unloading equipment system for raw tobacco bags has become a technical problem that needs to be solved urgently. Utility Model Content

[0009] In response to the work needs and existing problems in the above-mentioned background technology, the inventors conducted research on the unloading mode of raw tobacco packages packed in sacks, and developed an automatic unloading equipment system for raw tobacco packages packed in sacks to meet the relevant needs of enterprises for intelligent and efficient production.

[0010] In order to solve the above problems and achieve the above objectives, the present invention adopts the following technical solutions:

[0011] An automatic unloading equipment system for raw tobacco packages packed in sacks, comprising a control system and a visual inspection system, is characterized in that it also includes:

[0012] A lane-type track walking body mechanism (1), wherein the lane-type track walking body mechanism (1) comprises two, which are installed on two parallel tracks and can perform linear motion on the tracks, and comprises:

[0013] The alleyway track walking body (11) is in the shape of a hollow rectangular structure, one end of which is connected to a walking mechanism (12) and the other end of which is connected to a fast lifting mechanism (2).

[0014] A walking mechanism (12), one end of which is connected to the lane-type track walking body (11), and the other end is connected to a parallel track.

[0015] A travel drive mechanism (13), wherein the travel drive mechanism (13) is connected to the travel mechanism (12);

[0016] A rapid lifting mechanism (2), wherein one end of the rapid lifting mechanism (2) is connected to one of the lane-type track walking body mechanisms (1), and the other end is connected to the other lane-type track walking body mechanism (1);

[0017] A mobile positioning mechanism (3), wherein the mobile positioning mechanism (3) is connected to two parallel tracks of the rapid lifting mechanism (2) and can perform linear motion on the tracks;

[0018] A modular grabbing mechanism (4), wherein the modular grabbing mechanism (4) is provided in plurality and is detachably connected to the mobile positioning mechanism (3);

[0019] A truck carriage position detection device (5), the truck carriage position detection device (5) being installed on a lane-type track running body mechanism (1) on one side of the track. The truck carriage position detection device (5) is a photoelectric detector, and there are a plurality of them, which are evenly distributed on the lane-type track running body (11) of the lane-type track running body mechanism (1) on one side of the track.

[0020] A lifting material receiving belt conveyor (6) is provided beside the lane-type track running body mechanism (1) on the other side of the track where the truck compartment position detection device (5) is not installed, and comprises:

[0021] The lifting mechanism (61) is composed of a plurality of movable rods that cross into an "X" shape.

[0022] A conveyor pulley mechanism (62), wherein the conveyor pulley mechanism (62) is connected to the lifting mechanism (61),

[0023] A belt conveyor driving mechanism (63) is fixedly connected to one side of the conveyor pulley mechanism (62).

[0024] As a preferred solution of the present utility model, the rapid lifting mechanism (2) comprises:

[0025] A lifting platform (21) is in the form of a hollow rectangular structure and has two parallel tracks. The lifting platform (21) is connected to the lane-type track walking body (11) and can move up and down on the lane-type track walking body (11);

[0026] A lifting drive mechanism (22), wherein the lifting drive mechanism (22) is connected to the lower end of the lane-type track walking body (11);

[0027] a transmission belt (23), wherein the transmission belt (23) is connected to the lifting drive mechanism (22);

[0028] A transmission wheel (24), the transmission wheel (24) is connected to one end of the transmission belt (23) and has a center hole;

[0029] a transmission shaft (25), wherein the transmission shaft (25) passes through a center hole of the transmission wheel (24) and is connected to the transmission wheel (24);

[0030] A lifting speed limiting mechanism (26) is fixed to one side of the lane-type track walking body (11) and connected to the lifting platform (21).

[0031] As a preferred solution of the present utility model, the lifting drive mechanism (22) includes:

[0032] A driving motor (221), wherein the driving motor (221) is fixedly connected to the lower end of the lane-type track walking body (11);

[0033] A drive shaft (222), one end of the drive shaft (222) is connected to the drive motor (221), and the other end is connected to the drive wheel (223);

[0034] The driving wheel (223) has a central hole, the driving wheel (223) is connected to the driving shaft (222) passing through the central hole, and the outer ring is connected to the other end of the transmission belt (23).

[0035] As a preferred solution of the present utility model, the lifting speed limiting mechanism (26) includes:

[0036] Speed ​​limiting wheels (261), there are two speed limiting wheels (261), which are respectively fixed at the upper and lower ends of the lane type track walking body (11);

[0037] A speed limiting rope (262) is connected to the speed limiting wheels (261) at both ends of the lane type track walking body (11) and is connected to the lifting platform (21).

[0038] As a preferred solution of the present utility model, the mobile positioning mechanism (3) includes:

[0039] A moving mechanism (31), wherein there are two moving mechanisms (31) connected to two parallel tracks of the lifting platform (21);

[0040] A gripping mechanism seat (32), one end of which is connected to one of the moving mechanisms (31), and the other end of which is connected to the other moving mechanism (31);

[0041] A mobile positioning drive mechanism (33) is fixedly connected to the mobile mechanism (31).

[0042] As a preferred solution of the present utility model, the modular gripping mechanism (4) comprises:

[0043] A mechanical arm (41), one end of which is connected to the gripping mechanism seat (32), and the mechanical arm (41) is a rectangular frame structure with a hollow interior, and two connecting columns (411) are fixedly connected therein;

[0044] A flexible gripping claw (42), the flexible gripping claw (42) being connected below two connecting columns (411) of the mechanical arm (41) and connected to the cylinder assembly (44);

[0045] A visual detection device (43), wherein the visual detection device (43) is connected to the flexible grasping claw (42), and the visual detection device (43) is a visual detection camera;

[0046] The cylinder assembly (44) is fixedly connected to the mechanical arm (41) and connected to the flexible grasping claw (42). One end of the telescopic rod of the cylinder assembly (44) is provided with a hinged part, which is hinged with an action gear (441).

[0047] As a preferred embodiment of the present invention, the flexible gripping claw (42) comprises:

[0048] a transmission gear (421), wherein the transmission gear (421) is engaged with an action gear (441) of the cylinder assembly (44);

[0049] The grab hook (422) is fixedly connected to the transmission gear (421) through a connecting piece. There are two grab hooks (422) in total, which are arc-shaped sharp hooks.

[0050] The shell (423) has arc-shaped structures on both sides, a hollow bottom and smooth edges.

[0051] The working principle of this utility model is:

[0052] A truck (8) carrying sacks of raw tobacco and cigarette packs reverses into a designated area between the tracks of a lane-type track-type running body mechanism (1); a truck (8) carriage position detection device (5), i.e., a photoelectric detector, installed on the lane-type track-type running body (11) detects the rear of the truck (8), controls the truck (8) to reverse into the site, and feeds back the truck (8) arrival position to a control system, and the lane-type track-type running body mechanism (1) accurately moves to a set position according to a signal sent by the control system; then, a truck (8) carriage position detection device (5) installed on the lane-type track-type running body (11) detects the position of the truck (8) side, and feeds back the signal to the control system, and the control system sends a signal to a mobile positioning mechanism (3) It is moved horizontally on the track of the lifting platform (21) to adjust the position of the modular grabbing mechanism (4) installed on the mobile positioning mechanism (3); the modular grabbing mechanism (4) reaches the corresponding upper area of ​​the compartment space under the control of the mobile positioning mechanism (3); after the modular grabbing mechanism (4) is in the horizontal position, the visual detection device (43) identifies the presence of the original cigarette pack (7) and its position and posture on the truck, and transmits the position, posture and other information of the original cigarette pack (7) to the visual detection system and the control system, and then the control system sends a signal to the fast lifting mechanism (2) to make it move downward. After it is in the downward position, the fast lifting mechanism (2) stops, and the flexible grabbing claw (42) is tightly attached to the original cigarette pack (7). ), and then the control system sends a signal to the cylinder assembly (44) to control the flexible grabbing claw (42) to close the grab hook (421) to flexibly grab the bag; the control system sets a scientific opening and closing time of the grab hook (421), and the visual detection device (43) controls the falling position of the flexible grabbing claw (42), and while retracting and lifting, the fast lifting mechanism (2) starts to rise back to the original position with each actuator; after the fast lifting mechanism (2) returns to the original position, the mobile positioning mechanism (3) moves horizontally to the top of the lifting material receiving belt conveyor (6). Due to the existence of the truck (8) side, the height of the fast lifting mechanism (2) is limited, so the control system sends a signal to control the lifting material receiving belt conveyor (6) to rise to the side of the truck (8). After reaching the level height, the rapid lifting mechanism (2) moves downward again. When the lifting material receiving belt conveyor (6) receives the cigarette pack, a signal is given to the control system. The control system sends a signal to the cylinder assembly (44) to control the grab hook (421) to release the original cigarette pack (7). Then the rapid lifting mechanism (2) rises back to its original position. The lifting material receiving belt conveyor (6) is started after descending to a height matching the downstream conveying equipment, and outputs the original cigarette pack (7) to the downstream equipment. The lane-type track walking body mechanism (1) walks from the track to the next designated point according to the step-by-step set walking distance, and then starts the next cycle of grabbing behavior, and repeats this process until all the original cigarette packs (7) are unloaded from the truck (8) and transported to the downstream equipment.

[0053] Beneficial effects of the utility model:

[0054] 1. The utility model has strong adaptability: the utility model of the automatic unloading equipment system for sacked raw cigarettes and cigarette bales is designed to have strong adaptability in view of the characteristics of different types of transport vehicles and disordered stacking of sacked raw cigarettes and cigarette bales. It can adapt to the actual conditions of various specifications and models of transport trucks and their disordered stacking of cigarette bales, uneven shapes and positions of sacked raw cigarette bales, and easy deviations in the position of trucks. The design of the aisle-type track moving body can adapt to the width and length of the carriages of various types of transport trucks. At the same time, the number of manipulators can be flexibly configured to meet the specifications of the trucks while taking into account the requirements of production efficiency. When grabbing, the manipulator automatically determines the position of the truck side to avoid misgrabbing. It fully adapts to the actual conditions of no restrictions on vehicle sizes, parking in the wrong place left or right, non-standard and self-made vehicle sides, good or bad quality after sack packing and extrusion, and sacks loaded and stacked in a disorderly manner.

[0055] 2. The present invention improves the accuracy and efficiency of unloading and reduces the risk of cigarette bales being crushed: by coordinating the lane-type track running body mechanism with the truck compartment position detection device, precise control of the truck parking position is achieved, avoiding the inaccuracy and operational difficulty of manual guidance, thereby improving the accuracy and overall efficiency of unloading. Through the real-time capture and recognition of the position and posture of the raw cigarette bales by the visual detection device, the precise control of the rapid lifting mechanism and flexible gripping claws, and the compensation and adaptation of the height of the raw cigarette bales by the lifting and receiving belt conveyor, the problem of cigarette bales being crushed due to excessive height differences between devices or improper gripping is effectively reduced, thereby ensuring the quality of the raw cigarette bales.

[0056] 3. This utility model improves the technical level of equipment: Through the design of various automated equipment, and the introduction of control systems and visual inspection systems, this patent achieves adaptation to transport trucks of various specifications and models, and captures and accurately identifies key parameters such as the position, size, and shape of cigarette packages in real time, providing an intelligent control basis for unloading equipment, improving the accuracy and efficiency of unloading, and promoting the development of automated and intelligent equipment in the tobacco industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 This is one of the working status diagrams of the automatic unloading equipment system for raw tobacco packages packed in sacks;

[0058] Figure 2 This is the second working state diagram of the automatic unloading equipment system for raw tobacco packages packed in sacks;

[0059] Figure 3 This is the third working state diagram of the automatic unloading equipment system for raw tobacco packages packed in sacks;

[0060] Figure 4 This is the fourth working state diagram of the automatic unloading equipment system for raw tobacco packages packed in sacks;

[0061] Figure 5 This is a schematic diagram of the working state of the rapid lifting mechanism of the automatic unloading equipment system for raw tobacco packages in sacks;

[0062] Figure 6 This is a schematic diagram of the working state of the mobile positioning mechanism of the automatic unloading equipment system for raw tobacco packages in sacks;

[0063] Figure 7 This is one of the working state diagrams of the modular grabbing mechanism of the automatic unloading equipment system for raw tobacco packages in sacks;

[0064] Figure 8 This is the second working state diagram of the modular grabbing mechanism of the automatic unloading equipment system for raw tobacco packages in sacks;

[0065] Figure 9 This is a schematic diagram of the working state of the lifting and receiving belt conveyor of the automatic unloading equipment system for raw tobacco bags;

[0066] Figure 10 This is a schematic diagram of the overall three-dimensional structure of the automatic unloading equipment system for raw tobacco packages packed in sacks;

[0067] Figure 11 This is one of the partial structural diagrams of the automatic unloading equipment system for raw tobacco packages packed in sacks;

[0068] Figure 12 This is the second partial structural diagram of the automatic unloading equipment system for raw tobacco packages packed in sacks;

[0069] Figure 13 This is the third partial structural diagram of the automatic unloading equipment system for raw tobacco packages packed in sacks;

[0070] Figure 14 This is a schematic diagram of the overall three-dimensional structure of the modular gripping mechanism of the automatic unloading equipment system for raw tobacco packages in sacks;

[0071] Figure 15 This is an axonometric diagram of the automatic unloading equipment system for raw tobacco packages in sacks in Example 1;

[0072] Figure 16 This is a front view of the automatic unloading equipment system for raw tobacco packages in sacks in Example 1;

[0073] Figure 17 This is an axonometric view of the tunnel-type track running body in Example 1;

[0074] Figure 18 This is an axonometric view of the rapid lifting mechanism in Example 1;

[0075] Figure 19 This is an axonometric diagram of the mobile positioning mechanism in Example 1;

[0076] Figure 20 This is an axonometric view of the modular gripping mechanism in Example 1;

[0077] Figure 21 This is an axonometric view of the lifting material receiving belt conveyor in Example 1;

[0078] Among them, the numbers in the figure are: 1-channel type track walking body mechanism, 11-channel type track walking body, 12-walking mechanism, 13-walking drive mechanism; 2-fast lifting mechanism, 21-lifting platform, 22-lifting drive mechanism, 221-drive motor, 222-drive shaft, 223-drive wheel, 23-drive belt, 24-drive wheel, 25-drive shaft, 26-speed limiting mechanism, 261-speed limiting wheel, 262-speed limiting rope; 3-mobile positioning mechanism, 31-mobile mechanism, 32 —Grabbing mechanism seat, 33—mobile positioning drive mechanism; 4—modular grabbing mechanism, 41—mechanical arm, 411—connecting column, 42—flexible grabbing claw, 421—grabbing hook, 422—transmission gear, 423—housing, 43—visual detection device, 44—cylinder assembly, 441—action gear; 5—truck compartment position detection device; 6—lifting and receiving belt conveyor, 61—lifting mechanism, 62—conveyor pulley mechanism, 63—belt conveyor drive mechanism; 7—raw cigarette packs; 8—truck. DETAILED DESCRIPTION

[0079] In order to make the purpose, technical solutions and advantages of the present utility model patent more clear, the present utility model patent is further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present utility model patent. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present utility model patent.

[0080] Example 1

[0081] like Figure 1 — Figure 21 The automatic unloading equipment system for raw tobacco packages in sacks shown includes a control system and a visual inspection system, and is characterized in that it also includes:

[0082] The lane-type track walking body mechanism 1 has two lane-type track walking body mechanisms 1, which are installed on two parallel tracks and can perform linear motion on the tracks. It includes:

[0083] The tunnel type track walking body 11 has an overall shape of a hollow rectangular structure, one end of which is connected to the walking mechanism 12 and the other end is connected to the fast lifting mechanism 2.

[0084] The walking mechanism 12 has one end connected to the lane-type track walking body 11 and the other end connected to the parallel track.

[0085] The travel drive mechanism 13 is connected to the travel mechanism 12.

[0086] The track-mounted walking mechanism 1 is the basic framework of the present invention and serves as the mounting base for each actuator. The track-mounted walking mechanism 1 is configured to span the maximum vehicle size required to accommodate the entry and unloading of various types of transport trucks. The walking mechanism 12 mounted on the track-mounted walking mechanism 1 is driven by a travel drive mechanism 13, achieving sequential coverage along the vehicle length.

[0087] A rapid lifting mechanism 2, one end of which is connected to one of the lane-type track walking body mechanisms 1, and the other end of which is connected to the other lane-type track walking body mechanism 1;

[0088] A mobile positioning mechanism 3, which is connected to two parallel tracks of the rapid lifting mechanism 2 and can perform linear motion on the tracks;

[0089] A modular grabbing mechanism 4, wherein the modular grabbing mechanism 4 is provided in multiple pieces and is detachably connected to the mobile positioning mechanism 3;

[0090] A truck carriage position detection device 5 is installed on the lane-type track running body mechanism 1 on one side of the track. The truck carriage position detection device 5 is a photoelectric detector, and there are several of them, which are evenly distributed on the lane-type track running body 11 of the lane-type track running body mechanism 1 on one side of the track.

[0091] The truck carriage position detection device 5 is installed on one side of the lane-type track walking body mechanism 1, and is used to control the mobile positioning mechanism 3, and then control the modular gripping mechanism 4. It does not need to detect the parking position of the entire truck, and can achieve local real-time positioning of the side of the truck in a small area. The position of the side of the truck below is determined within the width range of the modular gripping mechanism 4, so as to achieve more accurate control of the lower gripping position of the flexible gripping claw 42.

[0092] The lifting and receiving belt conveyor 6 is arranged next to the lane-type track walking body mechanism 1 on the other side of the track where the truck compartment position detection device 5 is not installed, and includes:

[0093] The lifting mechanism 61 is composed of a plurality of movable rods that cross in an "X" shape.

[0094] The conveyor pulley mechanism 62 is connected to the lifting mechanism 61.

[0095] A belt conveyor drive mechanism 63, wherein the belt conveyor drive mechanism 63 is fixedly connected to one side of the conveyor pulley mechanism 62;

[0096] The lifting and receiving belt conveyor 6 adopts a lifting mode to compensate and adapt the height of the cigarette packs at different heights. After grabbing, it gently grasps and places low to avoid the tobacco leaves from being broken due to placing the packs too high, and at the same time it can match the height of the downstream conveying equipment.

[0097] Further, such as Figure 6 — Figure 7 、 Figure 18 As shown, the rapid lifting mechanism 2 includes:

[0098] The lifting platform 21 is a hollow rectangular structure with two parallel tracks. The lifting platform 21 is connected to the lane-type track walking body 11 and can move up and down on the lane-type track walking body 11;

[0099] A lifting drive mechanism 22 connected to the lower end of the lane-type track walking body 11;

[0100] a transmission belt 23 connected to the lifting drive mechanism 22;

[0101] A transmission wheel 24, which is connected to one end of the transmission belt 23 and has a center hole;

[0102] a transmission shaft 25 passing through a center hole of the transmission wheel 24 and connected to the transmission wheel 24;

[0103] The lifting speed limiting mechanism 26 is fixed to one side of the tunnel-type track traveling body 11 and connected to the lifting platform 21 .

[0104] Specifically, such as Figure 7 、 Figure 18 As shown, the lifting drive mechanism 22 includes:

[0105] A drive motor 221, wherein the drive motor 221 is fixedly connected to the lower end of the lane-type track traveling body 11;

[0106] A drive shaft 222 , one end of which is connected to the drive motor 221 , and the other end of which is connected to the drive wheel 223 ;

[0107] The driving wheel 223 has a center hole. The driving wheel 223 is connected to the driving shaft 222 passing through the center hole, and the outer ring is connected to the other end of the transmission belt 23.

[0108] The lifting speed limiting mechanism 26 includes:

[0109] There are two speed limiting wheels 261, which are fixed to the upper and lower ends of the lane-type track walking body 11 respectively;

[0110] The speed limiting rope 262 is connected to the speed limiting wheels 261 at both ends of the tunnel type track walking body 11 and is connected to the lifting platform 21.

[0111] Further, such as Figure 8 — Figure 9 、 Figure 19 As shown, the mobile positioning mechanism 3 includes:

[0112] There are two moving mechanisms 31 connected to two parallel tracks of the lifting platform 21;

[0113] a gripping mechanism seat 32 , one end of which is connected to one of the moving mechanisms 31 , and the other end of which is connected to the other moving mechanism 31 ;

[0114] The mobile positioning drive mechanism 33 is fixedly connected to the mobile mechanism 31 .

[0115] The mobile positioning mechanism 3 is connected to the top of the rapid lifting mechanism 2. The mobile positioning mechanism 3 controls the position of the modular grabbing mechanism 4 according to the position of the vehicle side detected by the truck compartment position detection device 5, so that the modular grabbing mechanism 4 does not contact or collide with the truck vehicle side when it goes down through the rapid lifting mechanism 2 to grab the package, thereby realizing automated grabbing behavior and driving the modular grabbing mechanism 4 after grabbing the package to move to the top of the lifting and receiving belt conveyor 6 to release the package.

[0116] Furthermore, Figure 11 — Figure 13 、 Figure 20 As shown, the modular gripping mechanism 4 includes:

[0117] A robotic arm 41, one end of which is connected to the gripping mechanism base 32. The robotic arm 41 is a rectangular frame structure with a hollow interior, and two connecting columns 411 are fixedly connected thereto.

[0118] A flexible gripping claw 42 is connected to the bottom of the two connecting columns 411 of the robot arm 41 and is connected to the cylinder assembly 44;

[0119] A visual inspection device 43, which is connected to the flexible gripping claw 42 and is a visual inspection camera;

[0120] The cylinder assembly 44 is fixedly connected to the mechanical arm 41 and connected to the flexible grasping claw 42. One end of the telescopic rod of the cylinder assembly 44 is provided with a hinged part, which is hinged with an action gear 441.

[0121] Specifically, such as Figure 12 — Figure 13 As shown, the flexible gripping claw 42 includes:

[0122] a transmission gear 421 , the transmission gear 421 being engaged with an actuating gear 441 of the cylinder assembly 44 ;

[0123] The grab hook 422 is fixedly connected to the transmission gear 421 through a connecting piece. There are two grab hooks 422, which are curved sharp hooks.

[0124] The outer shell 423 has arc-shaped structures on both sides, a hollow bottom and smooth edges.

[0125] The modular grabbing mechanism 4 can flexibly configure the number of modules according to the width of the car in real time, so as to achieve the action of grabbing the bag in the car without touching the side of the car. The visual detection device 43 controls the height of the flexible grabbing claw 42 from the bag. Through the pneumatic flexibility, the flexible grabbing claw 42 controlled by the cylinder assembly 44 automatically adapts to the uneven cigarette bags and avoids impact and damage to the sacks.

[0126] In summary, the specific use process of the utility model is:

[0127] The truck 8 carrying sacks of raw tobacco and cigarette packs reverses into the designated area between the running tracks of the aisle-type rail traveling body mechanism 1; the truck 8 carriage position detection device 5, i.e., the photoelectric detector, installed on the aisle-type rail traveling body 11 detects the rear end of the truck 8, controls the truck 8 to reverse into the site, and feeds back the position of the truck 8 to the control system. The aisle-type rail traveling body mechanism 1 accurately runs to the set position according to the signal sent by the control system.

[0128] Furthermore, the truck 8 carriage position detection device 5 installed on the tunnel-type track walking body 11 detects the position of the truck 8 side and feeds back the signal to the control system. The control system sends a signal to the mobile positioning mechanism 3 to make it move horizontally on the track of the lifting platform 21, and adjusts the position of the modular grasping mechanism 4 installed on the mobile positioning mechanism 3; under the control of the mobile positioning mechanism 3, the modular grasping mechanism 4 reaches the upper area corresponding to the carriage space.

[0129] Furthermore, after the modular grabbing mechanism 4 is in place in the horizontal direction, the visual detection device 43 identifies the presence or absence of the original cigarette package 7 and its position and posture on the truck, and transmits information such as the position and posture of the original cigarette package 7 to the visual detection system and the control system. The control system then sends a signal to the rapid lifting mechanism 2 to make it move downward. After it moves downward into place, the rapid lifting mechanism 2 stops, and the flexible grabbing claw 42 is tightly attached to the original cigarette package 7. The control system then sends a signal to the cylinder assembly 44 to control the flexible grabbing claw 42 to close the grab hook 421 to flexibly grab the package; the control system sets a scientific opening and closing time for the grab hook 421, and the visual detection device 43 controls the falling position of the flexible grabbing claw 42. While retracting and lifting, the rapid lifting mechanism 2 starts to rise back to its original position with each actuator.

[0130] Furthermore, after the rapid lifting mechanism 2 returns to its original position, the mobile positioning mechanism 3 moves horizontally to above the lifting and receiving belt conveyor 6. Due to the presence of the side of the truck 8, the rapid lifting mechanism 2 is limited in its descending height, so the control system sends a signal to control the lifting and receiving belt conveyor 6 to rise to a height flush with the side of the truck 8, and then the rapid lifting mechanism 2 moves downward again. When the lifting and receiving belt conveyor 6 receives the cigarette package, it gives the control system a signal. The control system sends a signal to the cylinder assembly 44 to control the grabbing hook 421 to release the original cigarette package 7, and then the rapid lifting mechanism 2 rises back to its original position, and the lifting and receiving belt conveyor 6 starts after descending to a height matching the downstream conveying equipment, and outputs the original cigarette package 7 to the downstream equipment; the tunnel type track walking body mechanism 1 walks from the track to the next specified point according to the step-by-step walking distance, and then starts the next cycle of bag grabbing behavior, and so on.

[0131] As time goes by, all the raw cigarette packs 7 are unloaded from the truck 8 and transported to the downstream equipment. At this time, the truck can leave the designated area between the tracks, completing the unloading process.

[0132] Finally, it should be understood that the above-described specific embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the scope of protection of the present invention. In addition, the appended claims of the present invention are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. An automatic unloading equipment system for raw tobacco packages packed in sacks, including a control system and a visual inspection system, characterized in that: It also includes: A lane-type track walking body mechanism (1), wherein the lane-type track walking body mechanism (1) comprises two, which are installed on two parallel tracks and can perform linear motion on the tracks, and comprises: The alleyway track walking body (11) is in the form of a hollow rectangular structure, one end of which is connected to a walking mechanism (12) and the other end of which is connected to a fast lifting mechanism (2). A walking mechanism (12), one end of which is connected to the lane-type track walking body (11), and the other end is connected to a parallel track. A travel drive mechanism (13), wherein the travel drive mechanism (13) is connected to the travel mechanism (12); A rapid lifting mechanism (2), wherein one end of the rapid lifting mechanism (2) is connected to one of the lane-type track walking body mechanisms (1), and the other end is connected to the other lane-type track walking body mechanism (1); A mobile positioning mechanism (3), wherein the mobile positioning mechanism (3) is connected to two parallel tracks of the rapid lifting mechanism (2) and can perform linear motion on the tracks; A modular grabbing mechanism (4), wherein the modular grabbing mechanism (4) is provided in plurality and is detachably connected to the mobile positioning mechanism (3); A truck carriage position detection device (5), the truck carriage position detection device (5) being installed on a lane-type track running body mechanism (1) on one side of the track. The truck carriage position detection device (5) is a photoelectric detector, and there are a plurality of them, which are evenly distributed on the lane-type track running body (11) of the lane-type track running body mechanism (1) on one side of the track. A lifting material receiving belt conveyor (6) is provided beside the lane-type track running body mechanism (1) on the other side of the track where the truck compartment position detection device (5) is not installed, and comprises: The lifting mechanism (61) is composed of a plurality of movable rods that cross in an "X" shape. A conveyor pulley mechanism (62), wherein the conveyor pulley mechanism (62) is connected to the lifting mechanism (61), A belt conveyor driving mechanism (63) is fixedly connected to one side of the conveyor pulley mechanism (62).

2. The automatic unloading equipment system for raw tobacco packages packed in sacks according to claim 1 is characterized in that: The rapid lifting mechanism (2) comprises: A lifting platform (21) is in the form of a hollow rectangular structure and has two parallel tracks. The lifting platform (21) is connected to the lane-type track walking body (11) and can move up and down on the lane-type track walking body (11); A lifting drive mechanism (22), wherein the lifting drive mechanism (22) is connected to the lower end of the lane-type track walking body (11); a transmission belt (23), wherein the transmission belt (23) is connected to the lifting drive mechanism (22); A transmission wheel (24), the transmission wheel (24) is connected to one end of the transmission belt (23) and has a center hole; a transmission shaft (25), wherein the transmission shaft (25) passes through a center hole of the transmission wheel (24) and is connected to the transmission wheel (24); A lifting speed limiting mechanism (26) is fixed to one side of the lane-type track walking body (11) and connected to the lifting platform (21).

3. The automatic unloading equipment system for raw tobacco packages packed in sacks according to claim 2 is characterized in that: The lifting drive mechanism (22) comprises: A driving motor (221), wherein the driving motor (221) is fixedly connected to the lower end of the lane-type track walking body (11); A drive shaft (222), one end of the drive shaft (222) is connected to the drive motor (221), and the other end is connected to the drive wheel (223); The driving wheel (223) has a central hole, the driving wheel (223) is connected to the driving shaft (222) passing through the central hole, and the outer ring is connected to the other end of the transmission belt (23).

4. The automatic unloading equipment system for raw tobacco packages packed in sacks according to claim 2 is characterized in that: The lifting speed limiting mechanism (26) comprises: Speed ​​limiting wheels (261), there are two speed limiting wheels (261), which are respectively fixed at the upper and lower ends of the lane type track walking body (11); A speed limiting rope (262) is connected to the speed limiting wheels (261) at both ends of the lane type track walking body (11) and is connected to the lifting platform (21).

5. The automatic unloading equipment system for raw tobacco packages packed in sacks according to claim 1 is characterized in that: The mobile positioning mechanism (3) comprises: A moving mechanism (31), wherein there are two moving mechanisms (31) connected to two parallel tracks of the lifting platform (21); A gripping mechanism seat (32), one end of which is connected to one of the moving mechanisms (31), and the other end of which is connected to the other moving mechanism (31); A mobile positioning drive mechanism (33) is fixedly connected to the mobile mechanism (31).

6. The automatic unloading equipment system for raw tobacco packages packed in sacks according to claim 1 is characterized in that: The modular gripping mechanism (4) comprises: A mechanical arm (41), one end of which is connected to the gripping mechanism seat (32), and the mechanical arm (41) is a rectangular frame structure with a hollow interior, and two connecting columns (411) are fixedly connected therein; A flexible gripping claw (42), the flexible gripping claw (42) being connected below two connecting columns (411) of the mechanical arm (41) and connected to the cylinder assembly (44); A visual detection device (43), wherein the visual detection device (43) is connected to the flexible grasping claw (42), and the visual detection device (43) is a visual detection camera; The cylinder assembly (44) is fixedly connected to the mechanical arm (41) and connected to the flexible grasping claw (42). One end of the telescopic rod of the cylinder assembly (44) is provided with a hinged part, which is hinged with an action gear (441).

7. The automatic unloading equipment system for raw tobacco packages packed in sacks according to claim 6 is characterized in that: The flexible gripping claw (42) comprises: a transmission gear (421), wherein the transmission gear (421) is engaged with an action gear (441) of the cylinder assembly (44); The grab hook (422) is fixedly connected to the transmission gear (421) through a connecting piece. There are two grab hooks (422) in total, which are arc-shaped sharp hooks. The shell (423) has arc-shaped structures on both sides, a hollow bottom and smooth edges.

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