Tobacco bale automatic identification loading and unloading machine

Abstract

The utility model discloses an automatic identification loading and unloading machine for cigarette packets, which comprises an annular track, a plurality of manipulators, a controller and image identification components, each manipulator is provided with the image identification component, the output end of the image identification component is electrically connected with the controller, and the output end of the controller is electrically connected with the manipulators. The mechanical arm is arranged on the sliding base and comprises a horizontal arm, a vertical arm, a gripper assembly and a gripper adjusting assembly. The loading and unloading machine can replace manual work to complete unloading work of tobacco bales, not only improves unloading efficiency, but also can reduce secondary crushing of tobacco leaf raw materials in the manual unloading process, meanwhile, the loading and unloading machine has an image recognition function, can adjust the position and the state of the mechanical gripper in real time according to an image recognition result, and improves the unloading efficiency of the tobacco bales. And the tobacco bale grabbing work can be completed more accurately.

Description

Technical Field

[0001] This utility model relates to the technical field of cigarette packaging and unloading equipment, specifically to an automatic cigarette packaging identification and loading / unloading machine. Background Technology

[0002] In the operational processes of modern tobacco leaf re-drying enterprises, the unloading of raw tobacco bales remains outdated. A common scenario is that most companies still rely on manual labor, with workers standing on the truck bed to throw the heavy bales one by one to the ground. The bales are then manually moved or transported to designated storage locations using forklifts. This traditional unloading method is fraught with drawbacks: extremely low efficiency, requiring workers to perform long hours of high-intensity labor, resulting in significant physical exhaustion. Furthermore, the frequent manual throwing and trampling inevitably cause secondary crushing and damage to the raw tobacco leaves, severely impacting their quality. The work site also harbors numerous safety hazards, with the slightest carelessness potentially leading to injuries.

[0003] To address the aforementioned problems during the unloading of raw tobacco packages, some automated loading and unloading devices have emerged in the prior art, such as those mentioned in references 1 and 2.

[0004] Reference 1: Chinese patent document with publication number CN216836048U

[0005] Reference 1 describes a tobacco bale unloading device and a robotic arm for gripping tobacco bales, relating to the field of tobacco bale unloading technology. The technical solution adopted by the tobacco bale unloading device includes a lifting device, a longitudinal moving device, a lateral moving device, a belt conveyor, an image acquisition device, and a controller. The lifting device includes a support frame, a winch, a traction rope, a gripper mounting plate, a scissor-type telescopic component, and multiple robotic arms. Each robotic arm includes a fixed frame, with a connecting component between the fixed frame and the gripper mounting plate. The fixed frame is rotatably connected to two parallel rotating shafts, each equipped with a driven gear and at least one gripper hook. A telescopic device is also provided on the fixed frame, with a drive rod on the output shaft of the telescopic device. The drive rod is equipped with a rack that meshes with the driven gear. This robotic arm has a simple structure, is easy to maintain, and replaces manual labor with a mechanical device, improving unloading efficiency and reducing secondary crushing of tobacco raw materials during unloading.

[0006] Reference 2: Chinese patent document with publication number CN206307767U

[0007] Reference 2 describes an automated unloading system for cigarette bales using a robotic arm. The system comprises two movable gripping devices. A longitudinal belt conveyor, mounted on a support column, is installed below the end of each transverse conveyor belt. The gripping devices can slide horizontally on a crossbar and rise and fall vertically. Each gripping device is connected to an electrical control system. The end of the gripping device is a robotic claw, which includes an arc-shaped hook. The path traversed by the hook during rotation always follows the circumference of the arc-shaped hook. This device can replace manual unloading methods and equipment. This method and equipment offer high unloading efficiency, completely replace manual labor, thoroughly eliminate safety hazards for unloading workers, ensure safe operation, prevent manual trampling of cigarette bales, reduce secondary breakage of cigarette bales, and are simple, reliable, and require little space. Utility Model Content

[0008] The purpose of this invention is to enrich the technical approach of automatic cigarette pack loading and unloading equipment and to provide an automatic cigarette pack identification and loading / unloading machine that differs from existing technologies.

[0009] To address the shortcomings of the aforementioned technical problems, the present invention adopts the following technical solution: an automatic cigarette pack identification and loading / unloading machine, comprising a circular track, multiple robotic arms, a controller, and an image recognition component. Each robotic arm is equipped with an image recognition component, the output end of which is electrically connected to the controller, and the output end of the controller is electrically connected to the robotic arm.

[0010] The circular track includes a track body and a slide block slidably mounted on the track body. The robotic arm is mounted on the slide block and includes a horizontal arm, a vertical arm, a gripper assembly, and a gripper adjustment assembly.

[0011] The gripper assembly includes an arm cylinder, a gripper disc, and gripper elements. The gripper disc has a central through hole. The arm cylinder is vertically fixed on the gripper disc and its interior communicates with the central through hole. The gripper disc has several elongated gripper holes arranged radially along the gripper disc. Each gripper hole is equipped with a gripper assembly. The gripper assembly includes a slider that is slidably disposed in the gripper hole and a gripper element disposed on the slider.

[0012] The gripper adjustment assembly includes an adjustment disc, a rotating shaft, and a drive assembly. The adjustment disc is located on the side of the gripper disc opposite to the boom. One end of the rotating shaft is connected to the center of the adjustment disc, and the other end extends into the boom and is connected to the drive assembly for transmission. The adjustment disc has an elongated adjustment hole corresponding to each gripper hole. The gripper element passes through the elongated adjustment hole and is fixedly connected to the slider. As the adjustment disc rotates, the gripper element slides along the gripper hole.

[0013] As a further optimization of the automatic cigarette pack identification and loading / unloading machine of this utility model: the image recognition component includes an image acquisition module, an image analysis module, an A / D conversion module and a data transmission module. The output end of the image acquisition module is unidirectionally electrically connected to the input end of the image analysis module, the output end of the image analysis module is unidirectionally electrically connected to the input end of the A / D conversion module, and the output end of the A / D conversion module is unidirectionally electrically connected to the input end of the data transmission module.

[0014] As a further optimization of the automatic cigarette pack identification and loading / unloading machine of this utility model: the data transmission module is a serial communication module.

[0015] As a further optimization of the automatic cigarette pack identification and loading / unloading machine of this utility model: the image acquisition module adopts the IMX415 industrial camera module.

[0016] As a further optimization of the automatic cigarette pack identification and loading / unloading machine of this utility model: the image analysis module adopts the Cognex IO module CIO-MICRO.

[0017] As a further optimization of the automatic cigarette pack identification and loading / unloading machine of this utility model: the gripper disc is provided with four elongated gripper holes, which are evenly distributed around the center of the gripper disc.

[0018] As a further optimization of the automatic cigarette pack identification and loading / unloading machine of this utility model: the gripper element is a clamp-type mechanical gripper.

[0019] As a further optimization of the automatic cigarette pack identification and loading / unloading machine of this utility model: the inner walls on both sides of the gripper hole are provided with sliding grooves, and the sides of the slider are provided with side wings placed in the sliding grooves.

[0020] The present invention has the following beneficial effects: The loading and unloading machine of the present invention can replace manual labor to complete the unloading of tobacco bales, which not only improves the unloading efficiency, but also reduces the secondary crushing of tobacco raw materials during manual unloading. At the same time, the loading and unloading machine has an image recognition function, which can adjust the position and state of the mechanical gripper in real time according to the image recognition results, so as to complete the tobacco bale grabbing work more accurately. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the loading and unloading machine of this utility model;

[0022] Figure 2 This is a schematic diagram of the robotic arm in the loading and unloading machine of this utility model;

[0023] Figure 3 This is a schematic diagram showing the cooperation relationship between the gripper disc and the gripper adjustment assembly in the loading and unloading machine of this utility model;

[0024] Figure 4This is a schematic diagram showing the cooperation relationship between the gripper disc and the gripper adjustment assembly in the loading and unloading machine of this utility model (with the gripper element in its maximum gripping range);

[0025] Figure 5 This is a schematic diagram showing the cooperation relationship between the gripper disc and the gripper adjustment assembly in the loading and unloading machine of this utility model (with the gripper element in its minimum gripping range);

[0026] Marked in the image:

[0027] 1. Circular track;

[0028] 2. Robotic arm;

[0029] 201. Horizontal arm;

[0030] 202. Vertical arm;

[0031] 203. Arm barrel;

[0032] 204. Handhold plate;

[0033] 205. Gripper components;

[0034] 206. Handle hole;

[0035] 207. Adjustment dial;

[0036] 208. Shaft;

[0037] 209. Adjustment hole. Detailed Implementation

[0038] To better understand this utility model, the following embodiments further illustrate the content of this utility model, but the content of this utility model is not limited to the following embodiments.

[0039] As shown in the figure: This is an automatic cigarette pack identification and loading / unloading machine. It mainly consists of a circular track 1, multiple robotic arms 2, a controller, and an image recognition component. Each robotic arm 2 is equipped with an image recognition component. The output of the image recognition component is electrically connected to the controller, and the output of the controller is electrically connected to the robotic arm 2, thus achieving precise transmission of control commands.

[0040] The circular track 1 is an important support structure for the entire loading and unloading machine. The circular track 1 includes a track body and a slide seat that is slidably mounted on the track body. The robotic arm 2 is mounted on the slide seat and includes a horizontal arm 201, a vertical arm 202, a gripper assembly, and a gripper adjustment assembly.

[0041] The power system of the slide: A motor with appropriate power and torque is selected based on the slide's mass, required operating speed, and acceleration. A small gear is installed on the motor's output shaft, meshing with a large gear ring fixed inside or outside the circular track. By adjusting the gear ratio, the motor speed can be converted to the appropriate operating speed of the slide, and the gear transmission has high efficiency and good transmission accuracy. A sliding contact line is installed beside the circular track, and brushes are installed on the slide to draw power from the contact line. The contact line can be made of copper or aluminum, with an appropriate cross-sectional area selected based on the current. This power supply method can continuously power the motor and control system on the slide, and its structure is relatively simple. If the slide's operating range is limited and power line laying is difficult, battery power can be used. A lithium battery pack with appropriate capacity and voltage is selected and installed on the slide. A programmable logic controller (PLC) or microcontroller (such as Arduino, STM32, etc.) is used as the core controller. The motor speed is controlled by adjusting the input voltage or current of the motor through the controller, thereby achieving speed control of the slide. Pulse Width Modulation (PWM) technology can be used to adjust the duty cycle of the PWM signal according to the set speed value, thereby changing the average input voltage of the motor and achieving stepless speed regulation of the slide. Position sensors, such as photoelectric switches or Hall effect sensors, are installed on the circular track. When the slide passes the sensor, the sensor sends a signal to the controller, which calculates the slide's position information based on the sensor signal. Combined with the target position of the slide, the controller can control the motor's rotation direction and amount, achieving precise positioning of the slide on the circular track. An electromagnetic brake is installed on the motor shaft. When the motor is powered off, the electromagnetic brake engages the motor shaft, causing the slide to stop quickly. The electromagnetic brake provides rapid and reliable braking and can be linked with the motor's control circuitry.

[0042] Both the horizontal arm 201 and the vertical arm 202 are telescopic robotic arms, and the working range of the robotic gripper can be adjusted through the horizontal arm 201 and the vertical arm 202.

[0043] The gripper assembly includes an arm cylinder 203, a gripper disc 204, and a gripper element 205. The gripper disc 204 has a central through-hole. The arm cylinder 203 is securely fixed vertically to the gripper disc 204, and its interior communicates with the central through-hole. The gripper disc 204 has four elongated gripper holes 206, which are radially distributed and evenly arranged around the center of the gripper disc 204. Each gripper hole 206 is equipped with a dedicated gripper assembly, consisting of a slider slidably disposed within the hole 206 and a gripper element 205 mounted on the slider. The gripper element 205 employs a clamp-type mechanical gripper, capable of stably and accurately gripping the cigarette pack. To ensure the smoothness and stability of the slider sliding within the gripper hole 206, grooves are provided on both sides of the inner wall of the gripper hole 206, and side wings are provided on both sides of the slider within the grooves. This design effectively prevents the slider from shifting or shaking during the sliding process.

[0044] The gripper adjustment assembly enables multi-functional operation of the robotic arm. It mainly consists of an adjustment disc 207, a rotating shaft 208, and a drive assembly. The adjustment disc 207 is located on the side opposite to the gripper disc 204 and the arm cylinder 203. One end of the rotating shaft 208 is tightly connected to the center of the adjustment disc 207, while the other end extends into the arm cylinder 203 to achieve a transmission connection with the drive assembly. On the adjustment disc 207, a long, narrow adjustment hole 209 is provided corresponding to each gripper hole 206. The gripper element 205 passes through this long, narrow adjustment hole 209 and is fixedly connected to the slider. The long, narrow adjustment hole 209 is an inclined hole, and the distance from its two ends to the center is the same as the distance from the center of the two ends of the gripper hole 206. When the adjusting disc 207 rotates, due to the special shape and position of the elongated adjusting hole 209, the gripper element 205 can slide along the gripper hole 206 under the push of the adjusting disc 207. Thus, the opening and closing degree of the gripper can be flexibly adjusted according to the different sizes and shapes of the cigarette packs, so as to achieve precise gripping of cigarette packs of various specifications.

[0045] The image recognition component can employ mature existing technologies and is not the innovation of this invention. For example, the image recognition component includes an image acquisition module, an image analysis module, an A / D conversion module, and a data transmission module. The image acquisition module is responsible for acquiring image information of the cigarette pack. Its output is unidirectionally electrically connected to the input of the image analysis module. The image acquisition module used here is an advanced IMX415 industrial camera module, which can quickly acquire image data of the cigarette pack at high resolution and high frame rate. The image analysis module performs in-depth analysis and processing of the acquired image data. It uses a Cognex CIO-MICRO IO module, which has powerful image recognition and processing capabilities. The output of the image analysis module is unidirectionally electrically connected to the input of the A / D conversion module. The A / D conversion module converts the processed analog signal into a digital signal for subsequent data transmission and processing. The output of the A / D conversion module is unidirectionally electrically connected to the input of the data transmission module. The data transmission module uses a serial communication module, which can stably and efficiently transmit the image recognition results to the controller. The controller accurately controls the robotic arm to perform loading and unloading operations of cigarette packs based on this information, which greatly improves the automation and accuracy of cigarette pack loading and unloading, and effectively improves the efficiency and quality of tobacco production and logistics transportation.

[0046] The loading and unloading machine of this utility model can replace manual labor to unload tobacco bales, which not only improves unloading efficiency, but also reduces secondary crushing of tobacco raw materials during manual unloading. At the same time, the loading and unloading machine has an image recognition function, which can adjust the position and state of the mechanical gripper in real time according to the image recognition results, so as to complete the tobacco bale grabbing work more accurately.

[0047] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. An automatic cigarette pack identification and loading / unloading machine, characterized in that: It includes a circular track (1), multiple robotic arms (2), a controller, and an image recognition component. Each robotic arm (2) is equipped with an image recognition component. The output end of the image recognition component is electrically connected to the controller, and the output end of the controller is electrically connected to the robotic arm (2). The circular track (1) includes a track body and a slide seat slidably disposed on the track body. The manipulator (2) is disposed on the slide seat and includes a horizontal arm (201), a vertical arm (202), a gripper assembly, and a gripper adjustment assembly. The gripper assembly includes an arm cylinder (203), a gripper disc (204), and a gripper element (205). The gripper disc (204) has a central through hole. The arm cylinder (203) is vertically fixed on the gripper disc (204) and its interior communicates with the central through hole. The gripper disc (204) is provided with a plurality of elongated gripper holes (206). The gripper holes (206) are arranged radially along the gripper disc (204). Each gripper hole (206) is provided with a gripper assembly. The gripper assembly includes a slider that is slidably disposed in the gripper hole (206) and a gripper element (205) disposed on the slider. The gripper adjustment assembly includes an adjustment disc (207), a rotating shaft (208), and a drive assembly. The adjustment disc (207) is located on the side opposite to the gripper disc (204) and the arm cylinder (203). One end of the rotating shaft (208) is connected to the center of the adjustment disc (207), and the other end extends into the arm cylinder (203) and is connected to the drive assembly for transmission. The adjustment disc (207) is provided with an elongated adjustment hole (209) corresponding to each gripper hole (206). The gripper element (205) passes through the elongated adjustment hole (209) and is fixedly connected to the slider. As the adjustment disc (207) rotates, the gripper element (205) slides along the gripper hole (206).

2. The automatic cigarette pack identification and loading / unloading machine as described in claim 1, characterized in that: The image recognition component includes an image acquisition module, an image analysis module, an A / D conversion module, and a data transmission module. The output terminal of the image acquisition module is unidirectionally electrically connected to the input terminal of the image analysis module, the output terminal of the image analysis module is unidirectionally electrically connected to the input terminal of the A / D conversion module, and the output terminal of the A / D conversion module is unidirectionally electrically connected to the input terminal of the data transmission module.

3. The automatic cigarette pack identification and loading / unloading machine as described in claim 2, characterized in that: The data transmission module is a serial communication module.

4. The automatic cigarette pack identification and loading / unloading machine as described in claim 2, characterized in that: The image acquisition module uses an IMX415 industrial camera module.

5. The automatic cigarette pack identification and loading / unloading machine as described in claim 2, characterized in that: The image analysis module uses the Cognex IO module CIO-MICRO.

6. The automatic cigarette pack identification and loading / unloading machine as described in claim 1, characterized in that: The gripper disc (204) is provided with four elongated gripper holes (206), which are evenly distributed around the center of the gripper disc (204).

7. The automatic cigarette pack identification and loading / unloading machine as described in claim 1, characterized in that: The gripper element (205) is a clamp-type mechanical gripper.

8. The automatic cigarette pack identification and loading / unloading machine as described in claim 1, characterized in that: The inner walls on both sides of the gripper hole (206) are provided with grooves, and the slider has side wings placed in the grooves on both sides.

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