Automatic feeding mechanism for tobacco flakes

Abstract

The utility model relates to the technical field of threshing and redrying equipment, in particular to an automatic feeding mechanism for tobacco flakes, which is integrally arranged on the upstream of a conveyor belt of a feeding machine, is used for automatically grabbing, laying and accurately feeding the tobacco flakes in a tobacco frame, and comprises a rack, a manipulator and a tobacco frame carrying and moving mechanism, a weighing conveyor and a control main board; the rack is erected above the weighing conveyor; the manipulator is arranged above the weighing conveyor and is mounted on the rack; the two tobacco frame carrying and moving mechanisms are arranged below the machine frame and installed on the two sides of the weighing conveyor respectively. Manual operation is completely replaced, upstream and downstream information intercommunication is achieved, and the tobacco feeding efficiency is remarkably improved.

Description

Technical Field

[0001] This utility model relates to the technical field of tobacco leaf re-drying equipment, specifically to an automatic tobacco leaf feeding mechanism. Background Technology

[0002] The process of threshing and re-drying tobacco leaves is a preparatory processing step that transforms tobacco leaves from agricultural products into industrial raw materials. The quality of each stage of the threshing and re-drying process plays an important role in the formulation and quality of cigarette making.

[0003] In order to effectively control the quality of raw materials for cigarette making, the existing tobacco leaf re-drying workshops have basically achieved fully automated operation of each production line. However, the leaf feeding section in the pre-drying and re-processing stage involves many steps. For example, there are at least two sizes of tobacco frames for placing tobacco leaves: a large frame that can hold two rows of tobacco leaves and a small frame that holds one row. Specifically, the length direction of the tobacco leaves in the large frame is consistent with the width direction of the frame, while the length direction of the tobacco leaves in the small frame is consistent with the length direction of the frame. However, when feeding tobacco leaves, the length direction of the tobacco leaves needs to be perpendicular to the feeding direction so that the part of the tobacco leaf to be cut is aligned with the blade of the cutting machine. This ensures that the tobacco leaves transported to the slitting process by the feeder conveyor belt can be cut from the waist of the tobacco leaf. Furthermore, the tobacco leaf feeding process requires simultaneous tobacco leaf assembly, which places high demands on the uniformity and quantity of feeding. In addition, the tobacco leaf feeding process also requires tobacco leaf assembly (i.e., feeding according to the leaf group formula ratio). To meet the flexibility of operation between each step, the existing technology mainly uses manual methods for tobacco leaf feeding. However, in actual production, manual feeding has at least the following problems:

[0004] 1. The manual leaf feeding process creates an information silo, preventing communication with downstream production lines and ultimately hindering the precise control of product quality.

[0005] 2. Because downstream production lines are all automated, the level of automation of manual labor is not matched with that of downstream processes. To keep up with the speed of upstream and downstream production lines, a large amount of manpower is required. The more manpower involved and the greater the labor intensity, the greater the quality risk and the greater the cost.

[0006] 3. The manual involvement process cannot be fully recorded, and therefore cannot be traced. As a result, even if the downstream equipment is fully automated and can accurately control the quality of the corresponding process, the overall production quality is still out of control.

[0007] 4. The amount and speed of manual leaf spreading are uneven, and the accuracy of feeding is poor, which cannot meet the requirement of uniform feeding of tobacco leaves.

[0008] This utility model is proposed to solve at least one of the above problems. Utility Model Content

[0009] The technical solution adopted in this utility model is:

[0010] The first aspect of this utility model provides an automatic tobacco sheet feeding mechanism, wherein the feeding mechanism is arranged upstream of the feeder conveyor belt and is used to automatically grab, lay and accurately feed tobacco sheets in the tobacco frame 0. The feeding mechanism is connected to the feeder conveyor belt.

[0011] The feeding mechanism includes: a frame 1, a robotic arm 2, a cigarette frame transfer mechanism 3, a weighing conveyor 4, and a control main board; the frame 1 is mounted above the weighing conveyor 4; the robotic arm 2 is mounted on the frame 1 and arranged above the weighing conveyor 4; there are two cigarette frame transfer mechanisms 3, both located below the frame 1 and respectively attached to both sides of the weighing conveyor 4;

[0012] The frame 1 is used to install the running track of the robotic arm 2, which can move along the running track to grasp and lay out the tobacco sheets;

[0013] The frame 1 also includes at least two support legs that are closely attached to both sides of the weighing conveyor 4, and the support legs are arranged at adjacent positions of the two smoke frame transfer mechanisms 3. A photoelectric detection device is provided on the support legs facing the smoke frame transfer mechanism 3. The photoelectric detection device is used to detect the size of the smoke frame 0. The photoelectric detection device can be any photoelectric detection device in the existing technology, as long as it can determine whether there is a smoke frame blocking the target position to determine the size of the smoke frame.

[0014] The robotic arm 2 is used to quantitatively grab tobacco sheets from the tobacco frame and lay the grabbed tobacco sheets on the belt 41 of the weighing conveyor 4; the weighing conveyor 4 is used to weigh and accurately feed the tobacco sheets laid on its belt 41; the tobacco frame carrying mechanism 3 is used to place and transport the tobacco frame 0; the control motherboard is used to control the overall operation of the automatic feeding mechanism.

[0015] Preferably, the top of the frame 1 includes two parallel beams 11, both of which are perpendicular to the long side of the belt 41 of the weighing conveyor. Each beam 11 is equipped with a guide rod 12, and a slide rod 13 connects the two guide rods 12. The slide rod 13 is perpendicular to the two guide rods 12 and can reciprocate along the length of the two guide rods 12. The cooperation between the guide rods 12 and the slide rod 13 can employ any existing technology, as long as it enables the two ends of the slide rod 13 to reciprocate synchronously and at the same speed along the two guide rods 12, thus achieving reciprocating motion of the slide rod 13 along the X-axis.

[0016] Preferably, a slider 5 is also connected to the slide rod 12, and the slider 5 can reciprocate along the length of the slide rod 12. The cooperation between the slide rod 12 and the slider 5 can adopt any existing technology, as long as the slider 5 can reciprocate along the length of the slide rod 12, so as to realize the reciprocating motion of the slider 5 along the Y-axis.

[0017] Preferably, the robotic arm 2 includes a mechanical gripper 21, a robotic arm 22, and a rotating module 23. The top end of the mechanical gripper 21 is connected to the bottom end of the robotic arm 22 via the rotating module 23, and the mechanical gripper 21 is rotatably connected to the robotic arm 22 via the rotating module 23. The rotating module 23 is designed to enable multi-angle rotation of the mechanical gripper 21, allowing adjustment of the gripping direction and the orientation of tobacco leaves when gripping them. Therefore, the specific structure and operation of the rotating module 23 can employ any existing technology, as long as it achieves the aforementioned functions.

[0018] Preferably, the robotic arm 2 is connected to the slider 5 via a robotic arm 22, and the robotic arm 22 and the slider 5 are slidably connected. The purpose of the slidable connection between the robotic arm 22 and the slider 5 is to enable the robotic arm 22 to carry the mechanical gripper 21 in a reciprocating motion along the direction perpendicular to the belt 41 of the weighing conveyor 4, that is, in the Z-axis direction. Therefore, the connection and cooperation method between the robotic arm 22 and the slider 5 can adopt any existing technology, as long as it enables the robotic arm 22 to cooperate with the mechanical gripper 21 to reciprocate in the Z-axis direction.

[0019] Preferably, the feeding mechanism further includes an X-axis servo motor, a Y-axis servo motor, and a Z-axis servo motor; the X-axis servo motor drives the slide bar 13 to reciprocate along the length of the guide rod 12; the Y-axis servo motor drives the slider 5 to reciprocate along the length of the slide bar 12; and the Z-axis servo motor drives the robotic arm 22 to reciprocate along a direction perpendicular to the belt 41 of the weighing conveyor 4. It should be noted that the specific operation of the X-axis servo motor, Y-axis servo motor, and Z-axis servo motor is controlled by the main control board.

[0020] Preferably, the cigarette frame carrying mechanism 3 includes: a fixed base 31; and a fork arm 32 slidably connected to the fixed base 31; wherein the sliding connection between the fixed base 31 and the fork arm 32 can be provided by a slide rail on the upper surface of the fixed base 31 and a roller connected to the lower surface of the fork arm 32. Through clearance fit, the roller drives the fork arm 32 to slide in the slide rail on the upper surface of the fixed base 31. Of course, the sliding connection between the fixed base 31 and the fork arm 32 can also be other methods, as long as the fork arm 32 can be slidably connected to the fixed base 31.

[0021] Specifically, the cigarette frame transfer mechanism 3 also includes an electric push rod or a pneumatic rod, which is connected to the non-open end of the fork arm 32 and can drive the fork arm 32 to reciprocate on the fixed seat 31.

[0022] The fork arm 32 is C-shaped. Each of the two arms 321 of the fork arm 32 is provided with three limiting blocks 3211. The limiting blocks 3211 are distributed sequentially from the end of the arm 321 to the root of the arm 321. The six limiting blocks 3211 on the two arms 321 correspond to each other from the end of the arm 321 to the root of the arm 321. The distance between the two limiting blocks 3211 closest to the end of the arm 321 and the two limiting blocks 3211 farthest from the end of the arm 321 is equal to the width of the large cigarette frame base. The distance between the limiting block 3211 closest to the end of the arm 321 and the adjacent limiting block 3211 is equal to the width of the small cigarette frame base.

[0023] It should be noted that the existing cigarette frame 0 has 4 bases, and the bottom of each of the 4 bases is recessed. The size and shape of the aforementioned limiting block 3211 must match the shape of the cigarette frame 0's placement feet to achieve the positioning of the cigarette frame 0. In addition, it should be further noted that a total of 6 limiting blocks 3211 are provided on the fork arm 32, with 3 on each support arm 321. The 4 limiting blocks 3211 on the two supports 321 that are closest to and farthest from the end of the support arm 321 are used to cooperate with the placement feet of the large cigarette frame 0, that is, these 4 limiting blocks 3211 are used to place and limit the large cigarette frame 0. The 4 limiting blocks 3211 on the two supports 321 that are closest to the end of the support arm 321 and adjacent to it cooperate with the placement feet of the small cigarette frame 0, that is, these 4 limiting blocks 3211 are used to place and limit the small cigarette frame 0.

[0024] Preferably, a limit switch is also provided on the side wall of the fixed seat 31 closest to the weighing conveyor 4, and the limit switch is used to detect the moving position of the smoke frame 0;

[0025] The photoelectric detection mechanism is positioned above the limiting block 3211, which is closest to the root of the fork arm 32.

[0026] Preferably, each side of the weighing conveyor 4 is provided with a baffle wing, both baffle wing being arranged at an angle, forming an inverted "V" shape; the limit switch is installed below the outward and downward flipped tail wing of the baffle wing. It should be noted that when the smoke frame 0 is placed on the smoke frame transfer mechanism 3, its overall height should not exceed the height of the lowest edge of the tail wing of the baffle wing. Furthermore, the limit switch is set below the outward and downward flipped tail wing of the baffle wing so that when the device is in operation, the edge of the smoke frame 0 closest to the weighing conveyor 4 can partially overlap with the tail wing of the baffle wing, preventing smoke sheets from falling into positions other than the smoke frame 0 and the belt 41 during the process of the robotic arm gripping and conveying the smoke sheets.

[0027] The second aspect of this utility model provides a method for feeding tobacco sheets using the automatic tobacco sheet feeding mechanism described in the first aspect, comprising the following steps:

[0028] Step (1): According to the size of the cigarette frame, place the four feet of the cigarette frame 0 containing the cigarette pieces on the four limit blocks 3211 of the fork arm 32. After the cigarette frame 0 is placed, control the fork arm 32 to carry the cigarette frame 0 towards the weighing conveyor 4 until the cigarette frame 0 touches the limit switch. The control board controls the fork arm 32 to stop moving according to the trigger signal of the limit switch. Simultaneously, when the cigarette frame 0 stops moving, the control board controls the photoelectric detection mechanism to perform photoelectric detection. If there is light reflection, it means that there is a cigarette frame on the limit block 3211 at the root of the fork arm 32. The control board judges the cigarette frame as a large cigarette frame according to the signal. If there is no light reflection, it means that there is no cigarette frame on the limit block 3211 at the root of the fork arm 32. The control board judges the cigarette frame as a small cigarette frame according to the signal.

[0029] Step (2): The mainboard controls the robotic arm 2 to perform the tobacco sheet grasping action according to the size of the tobacco frame 0.

[0030] When the tobacco frame 0 is a large tobacco frame, the control motherboard controls the robotic arm 2 to move and adjust the gripping direction of the robotic arm in the direction close to the tobacco frame, so that the robotic gripper 21 rotates to grip two rows of tobacco leaves. When the robotic arm 2 moves to the top of the tobacco frame 0, the control motherboard controls the robotic arm 2 to move vertically downward. The control motherboard controls the robotic arm 2 to move downward and then grip the tobacco leaves after a predetermined time.

[0031] When the cigarette frame 0 is a small cigarette frame, the control motherboard controls the robotic arm 2 to move and adjust the gripping direction along the direction close to the cigarette frame so that the robotic gripper 21 rotates to grip a row of tobacco leaves. When the robotic arm 2 moves to the top of the cigarette frame 0, the control motherboard controls the robotic arm 2 to move vertically downward. The control motherboard controls the robotic arm 2 to move downward for a predetermined time and then grip the tobacco leaves.

[0032] Step (3): After the robotic arm 2 finishes gripping the tobacco leaves, the control board controls the robotic arm 2 to move vertically upward and rotate the robotic arm 2 to adjust the direction of the tobacco leaves so that the length direction of the tobacco leaves is perpendicular to the conveying direction of the weighing conveyor 4. Simultaneously, the robotic arm 2 is controlled to carry the tobacco leaves to move closer to the weighing conveyor 4. When the robotic arm 2 moves directly above the belt 41 of the weighing conveyor 4, the control board controls the robotic arm 2 to move vertically downward to a preset height or after a predetermined time, and then releases the robotic gripper 21. The tobacco leaves are then laid on the belt of the weighing conveyor 4.

[0033] Step (4): After the tobacco sheet is laid out, the robotic arm 2 rises back to the starting position or continues to repeat the above steps. The weighing conveyor 4 weighs the tobacco sheet on the belt 41. The control board controls the belt 41 to move or stop according to the preset feeding amount to achieve feeding according to the preset feeding amount.

[0034] Among them, the mechanical gripper 21 can at least complete the actions of opening, grasping, and opening again. The specific structure and working principle can be referred to the mechanical gripper in the prior art. In the above step (2), when the mechanical hand 2 moves to the top of the tobacco frame 0, the mechanical gripper 21 is in the open state during the process of the control motherboard controlling the mechanical hand 2 to move vertically downward. The control motherboard can control the amount of tobacco leaves grasped by the mechanical gripper 21 by controlling the time when the mechanical gripper 21 moves upward after contacting the tobacco leaf surface. Specifically, after the mechanical gripper 21 is close to the tobacco leaf surface, the Z-axis continues to move downward. The mechanical hand and the Z-axis are displaced. After the proximity switch detects the displacement signal, the Z-axis moves upward, driving the mechanical hand to move upward. The shorter the upward movement time, the more tightly the tobacco leaf is compressed. When it moves upward to the preset time, the mechanical gripper 21 grasps again. The shorter the preset upward movement time of the mechanical hand 2, the more tobacco leaves are grasped. Therefore, the amount of tobacco leaves grasped by the mechanical hand 2 can be controlled.

[0035] The beneficial effects of this utility model are:

[0036] 1. This utility model solves the problem of manually adjusting the direction of tobacco leaves during feeding by working together with the frame 1, the robotic arm 2 and the tobacco frame carrying mechanism 3. The tobacco frame carrying mechanism 3 transports the tobacco frame to the designated position, and a photoelectric detection device is installed on the support leg of the frame 1 near the tobacco frame carrying mechanism 3 to detect whether it is a large or small tobacco frame. The robotic arm 2 can flexibly adjust the gripping direction of the mechanical gripper 21 and the material spreading direction under the control of the control motherboard.

[0037] 2. This utility model, by setting up a smoke frame transfer mechanism 3 that identifies the smoke frame type on both sides of the weighing conveyor 4, can meet the requirements of parallel feeding in batches, that is, the smoke frame on one smoke frame transfer mechanism 3 is used for feeding and the smoke frame on the other smoke frame transfer mechanism 3 is used for preparation. It also meets the requirements of smoke sheet assembly, and the smoke sheet type can be changed in time according to the requirements of smoke sheet assembly, which greatly improves the feeding efficiency.

[0038] 3. This utility model achieves precise feeding of tobacco sheets through the collaboration of the robotic arm 2 and the weighing conveyor 4. Specifically, the robotic arm 2 grasps the tobacco sheets according to a preset amount and accurately places them onto the belt 41 of the weighing conveyor 4. Under the control of the main control board, the weighing conveyor 4 will feed the tobacco according to the preset feeding amount. When the weight of the fed material reaches the preset target, the belt of the weighing conveyor 4 will stop transmitting.

[0039] 4. This utility model has a baffle on each side of the weighing conveyor 4, and the two baffles are set with a ramp travel. The two together form an inverted "V" shape. At the same time, the limit switch is installed below the outward flipping tail wing of the baffle. That is, the tobacco frame 0 will stop only when it reaches the bottom of the outward flipping tail wing of the baffle. This can effectively prevent tobacco leaves from scattering on the ground when the robot arm 2 is grasping or placing tobacco leaves. Specifically, due to the setting of the baffle, there is an overlapping area between the weighing conveyor 4 and the tobacco frame when the robot arm 2 is moving the tobacco leaves. In this way, the tobacco leaves can only fall into the tobacco frame 0 or onto the belt 41 of the weighing conveyor 4 during the conveying process from the tobacco frame to the weighing conveyor 4, and will not fall on the ground or other areas, thus avoiding the problems of material waste and increased cleaning workload.

[0040] 5. After applying the automatic feeding device of this utility model to the leaf re-drying pretreatment section, and after multiple tests and production statistics of multiple batches by the inventor, the tobacco leaf cutting rate reached 100%. Attached Figure Description

[0041] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of an automatic tobacco sheet feeding mechanism according to the present invention;

[0043] Figure 2 This is a front view of the robotic arm of this utility model mounted on the frame;

[0044] Figure 3 This is a schematic diagram of the fork arm of this utility model;

[0045] Figure 4 This is a schematic diagram illustrating the cutting principle of tobacco leaves in cooperation with a weighing conveyor and a cutter according to this utility model;

[0046] Reference numerals: 0. Smoke frame; 1. Frame; 11. Beam; 12. Guide rod; 13. Slide rod; 14. Support leg; 2. Robotic arm; 21. Mechanical gripper; 22. Robotic arm; 23. Rotating module; 3. Smoke frame transfer mechanism; 31. Fixed base; 32. Fork arm; 321. Support arm; 3211. Limit block; 4. Weighing conveyor; 41. Belt; 5. Slider; 6. AGV trolley. Detailed Implementation

[0047] The present invention will be further described in detail below with reference to embodiments, but this is not intended to limit the present invention. Any modifications or improvements made based on the teachings of the present invention shall fall within the protection scope of the present invention. Where specific techniques or conditions are not specified in the embodiments, they shall be performed in accordance with the techniques or conditions described in the literature in the field or in accordance with the product manual.

[0048] Example 1

[0049] like Figure 1-3 The present invention provides an automatic tobacco sheet feeding mechanism. The feeding mechanism is arranged upstream of the feeder conveyor belt and is used to automatically grab, lay and accurately feed tobacco sheets in the tobacco frame 0. It is connected to the belt of the weighing conveyor 4 and the feeder conveyor belt.

[0050] The feeding mechanism includes: a frame 1, a robotic arm 2, a cigarette frame transfer mechanism 3, a weighing conveyor 4, and a control main board; the frame 1 is mounted above the weighing conveyor 4; the robotic arm 2 is mounted on the frame 1 and arranged above the weighing conveyor 4; there are two cigarette frame transfer mechanisms 3, both located below the frame 1 and respectively attached to both sides of the weighing conveyor 4;

[0051] The frame 1 is used to install the running track of the robotic arm 2, which can move along the running track to grasp and lay out the tobacco sheets;

[0052] The frame 1 includes four legs that are closely attached to both sides of the weighing conveyor 4, and the legs are arranged adjacent to the two smoke frame transfer mechanisms 3. A photoelectric detection device is installed on each of the legs on both sides of the weighing conveyor 4 at the position closest to the smoke frame wall of the smoke frame transfer mechanism 3. The photoelectric detection device is used to detect the size of the smoke frame 0. The photoelectric detection device can be any photoelectric detection device in the existing technology, as long as it can determine whether there is a smoke frame blocking the target position to determine the size of the smoke frame.

[0053] The robotic arm 2 is used to quantitatively grab tobacco sheets from the tobacco frame and lay the grabbed tobacco sheets on the belt 41 of the weighing conveyor 4; the weighing conveyor 4 is used to weigh and accurately feed the tobacco sheets laid on its belt 41; the tobacco frame carrying mechanism 3 is used to place and transport the tobacco frame 0; the control motherboard is used to control the overall operation of the automatic feeding mechanism.

[0054] The top of the frame 1 includes two parallel beams 11, both of which are perpendicular to the long side of the belt 41 of the weighing conveyor. Each beam 11 is equipped with a guide rod 12, and a slide rod 13 is connected between the two guide rods 12. The slide rod 13 is perpendicular to the two guide rods 12 and can reciprocate along the length of the two guide rods 12.

[0055] The slide bar 12 is also connected to a slider 5, which can reciprocate along the length of the slide bar 12.

[0056] The robotic arm 2 includes a robotic gripper 21, a robotic arm 22, and a rotating module 23. The top end of the robotic gripper 21 is connected to the bottom end of the robotic arm 22 through the rotating module 23, and the robotic gripper 21 is rotatably connected to the robotic arm 22 through the rotating module 23.

[0057] The robotic arm 2 is connected to the slider 5 via a robotic arm 22, and the robotic arm 22 is slidably connected to the slider 5.

[0058] The feeding mechanism also includes an X-axis servo motor, a Y-axis servo motor, and a Z-axis servo motor. The X-axis servo motor drives the slide bar 13 to reciprocate along the length of the guide rod 12. The Y-axis servo motor drives the slider 5 to reciprocate along the length of the slide bar 12. The Z-axis servo motor drives the robotic arm 22 to reciprocate along a direction perpendicular to the belt 41 of the weighing conveyor 4. It should be noted that the specific operation of the X-axis, Y-axis, and Z-axis servo motors is controlled by the main control board.

[0059] The cigarette frame carrying mechanism 3 includes: a fixed base 31; and a fork arm 32 slidably connected to the fixed base 31; wherein the sliding connection between the fixed base 31 and the fork arm 32 is such that a slide rail is provided on the upper surface of the fixed base 31, and a roller is connected to the lower surface of the fork arm 32. Through clearance fit, the roller drives the fork arm 32 to slide in the slide rail on the upper surface of the fixed base 31.

[0060] Specifically, the cigarette frame transfer mechanism 3 also includes an electric push rod, which is connected to the non-open end of the fork arm 32 and can drive the fork arm 32 to reciprocate on the fixed base 31. The electric push rod is also controlled by the control motherboard.

[0061] The fork arm 32 is C-shaped. Each of the two arms 321 of the fork arm 32 is provided with three limiting blocks 3211. The limiting blocks 3211 are distributed sequentially from the end of the arm 321 to the root of the arm 321. The six limiting blocks 3211 on the two arms 321 correspond to each other from the end of the arm 321 to the root of the arm 321. The distance between the two limiting blocks 3211 closest to the end of the arm 321 and the two limiting blocks 3211 farthest from the end of the arm 321 is equal to the width of the large cigarette frame base. The distance between the limiting block 3211 closest to the end of the arm 321 and the adjacent limiting block 3211 is equal to the width of the small cigarette frame base.

[0062] It should be noted that the existing cigarette frame 0 has 4 bases, and the bottom of each of the 4 bases is recessed. The size and shape of the aforementioned limiting block 3211 must match the shape of the cigarette frame 0's placement feet to achieve the positioning of the cigarette frame 0. In addition, it should be further noted that a total of 6 limiting blocks 3211 are provided on the fork arm 32, with 3 on each support arm 321. The 4 limiting blocks 3211 on the two supports 321 that are closest to and farthest from the end of the support arm 321 are used to cooperate with the placement feet of the large cigarette frame 0, that is, these 4 limiting blocks 3211 are used to place and limit the large cigarette frame 0. The 4 limiting blocks 3211 on the two supports 321 that are closest to the end of the support arm 321 and adjacent to it cooperate with the placement feet of the small cigarette frame 0, that is, these 4 limiting blocks 3211 are used to place and limit the small cigarette frame 0.

[0063] A limit switch is also provided on the side wall of the fixed seat 31 closest to the weighing conveyor 4. The limit switch is used to detect the moving position of the smoke frame 0.

[0064] The photoelectric detection mechanism is installed on the support leg of the frame 1, and the detection end is directly above the limiting block 3211 closest to the root of the fork arm 32. The specific detection principle is that when it is a large smoke frame, a large smoke frame will be placed on the limiting block 3211 closest to the root of the fork arm 32. At this time, the photoelectric detection device determines that the smoke frame is a large smoke frame by detecting that there is a smoke frame at this position. When a large smoke frame is not placed on the limiting block 3211 closest to the root of the fork arm 32, it is assumed that a small smoke frame is placed there.

[0065] The weighing conveyor 4 is also equipped with a baffle wing on each side. Both baffle wing wing are arranged at an angle, and together they form an inverted "V" shape. The limit switch is installed below the outward and downward flipped tail wing of the baffle wing. It should be noted that when the smoke frame 0 is placed on the smoke frame transfer mechanism 3, its overall height should not exceed the height of the lowest edge of the tail wing of the baffle wing. The limit switch is further set below the outward and downward flipped tail wing of the baffle wing so that when the device is in operation, the edge of the smoke frame 0 closest to the weighing conveyor 4 can partially overlap with the tail wing of the baffle wing, so as to prevent smoke sheets from falling into positions other than the smoke frame 0 and the belt 41 during the process of the robotic arm gripping and conveying the smoke sheets.

[0066] Example 2

[0067] This embodiment provides a method for feeding tobacco sheets using the automatic tobacco sheet feeding mechanism described in the first aspect, including the following steps:

[0068] Step (1): According to the size of the smoke frame, the AGV trolley places the smoke frame 0 containing the smoke sheet on the fork arm 32. Specifically, the four feet of the smoke frame 0 are placed on the four limit blocks 3211 of the fork arm 32. After the smoke frame 0 is placed, the fork arm 32 is controlled to move the smoke frame 0 towards the weighing conveyor 4 until the smoke frame 0 touches the limit switch. The control board controls the fork arm 32 to stop moving according to the trigger signal of the limit switch. Simultaneously, when the smoke frame 0 stops moving, the control board controls the photoelectric detection mechanism to perform photoelectric detection. If there is light reflection, it means that there is a smoke frame on the limit block 3211 at the root of the fork arm 32. The control board judges the smoke frame as a large smoke frame according to the signal. If there is no light reflection, it means that there is no smoke frame on the limit block 3211 at the root of the fork arm 32. The control board judges the smoke frame as a small smoke frame according to the signal.

[0069] Step (2): The mainboard controls the robotic arm 2 to perform the tobacco sheet grasping action according to the size of the tobacco frame 0.

[0070] When the tobacco frame 0 is a large tobacco frame, the control motherboard controls the robotic arm 2 to move and adjust the gripping direction of the robotic arm in the direction close to the tobacco frame, so that the robotic gripper 21 rotates to grip two rows of tobacco leaves. When the robotic arm 2 moves to the top of the tobacco frame 0, the control motherboard controls the robotic arm 2 to move vertically downward. The control motherboard controls the robotic arm 2 to move downward and then grip the tobacco leaves after a predetermined time.

[0071] When the cigarette frame 0 is a small cigarette frame, the control motherboard controls the robotic arm 2 to move and adjust the gripping direction along the direction close to the cigarette frame so that the robotic gripper 21 rotates to grip a row of tobacco leaves. When the robotic arm 2 moves to the top of the cigarette frame 0, the control motherboard controls the robotic arm 2 to move vertically downward. The control motherboard controls the robotic arm 2 to move downward for a predetermined time and then grip the tobacco leaves.

[0072] Step (3), as Figure 4 As shown, after the robotic arm 2 finishes gripping the tobacco leaf, the control board controls the robotic arm 2 to move vertically upward and rotate the robotic arm 2 to adjust the direction of the tobacco leaf so that the length direction of the tobacco leaf is perpendicular to the conveying direction of the weighing conveyor 4, so that the part of the tobacco leaf that needs to be cut corresponds to the cutter of the subsequent slicing section. Simultaneously, the control board controls the robotic arm 2 to carry the tobacco leaf to move closer to the weighing conveyor 4. When the robotic arm 2 moves directly above the belt 41 of the weighing conveyor 4, the control board controls the robotic arm 2 to move vertically downward to a preset height or after a predetermined time, and then releases the robotic gripper 21 and the tobacco leaf is laid on the belt of the weighing conveyor 4.

[0073] Step (4): After the tobacco sheet is laid out, the robotic arm 2 rises back to the starting position or continues to repeat the above steps. The weighing conveyor 4 weighs the tobacco sheet on the belt 41. The control board controls the belt 41 to move or stop according to the preset feeding amount to achieve feeding according to the preset feeding amount.

[0074] Among them, the mechanical gripper 21 can at least complete the actions of opening, grasping, and opening again. The specific structure and working principle can be referred to the mechanical gripper in the prior art. In the above step (2), when the mechanical hand 2 moves to the top of the tobacco frame 0, the mechanical gripper 21 is in the open state during the process of the control motherboard controlling the mechanical hand 2 to move vertically downward. The control motherboard can control the amount of tobacco leaves grasped by the mechanical gripper 21 by controlling the time when the mechanical gripper 21 moves upward after contacting the tobacco leaf surface. Specifically, after the mechanical gripper 21 is close to the tobacco leaf surface, the Z-axis continues to move downward. The mechanical hand and the Z-axis are displaced. After the proximity switch detects the displacement signal, the Z-axis moves upward, driving the mechanical hand to move upward. The shorter the upward movement time, the more tightly the tobacco leaf is compressed. When it moves upward to the preset time, the mechanical gripper 21 grasps again. The shorter the preset upward movement time of the mechanical hand 2, the more tobacco leaves are grasped. Therefore, the amount of tobacco leaves grasped by the mechanical hand 2 can be controlled.

[0075] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of this application; the dimensions described in the drawings and embodiments are not related to the specific physical object and are not used to limit the protection scope of this application. The physical dimensions can be selected and changed according to actual needs.

Claims

1. A tobacco sheet automatic feeding mechanism, said feeding mechanism is arranged integrally upstream of the feeding machine conveying belt, for automatic grabbing, laying and accurate feeding of tobacco sheets in a tobacco frame (0), characterized in that, The feeding mechanism comprises a rack (1), a mechanical hand (2), a cigarette frame carrying mechanism (3), a weighing conveyor (4) and a control mainboard; the rack (1) is arranged above the weighing conveyor (4); the mechanical hand (2) is installed on the rack (1) and arranged above the weighing conveyor (4); the cigarette frame carrying mechanism (3) is two in number and arranged on the two sides of the weighing conveyor (4) respectively. The rack (1) is used for mounting the running track of the mechanical hand (2), and the mechanical hand (2) can move along the running track; the rack (1) further comprises at least two supporting legs arranged on the two sides of the weighing conveyor (4) respectively, and the supporting legs are arranged at the adjacent positions of the two cigarette frame carrying mechanisms (3); the position of the supporting leg opposite to the cigarette frame carrying mechanism (3) is provided with a photoelectric detection device, and the photoelectric detection device is used for detecting the size of the cigarette frame (0). The mechanical hand (2) is used for quantitatively grabbing cigarette pieces from the cigarette frame and laying the grabbed cigarette pieces on the belt (41) of the weighing conveyor (4); the weighing conveyor (4) is used for weighing and accurately feeding the cigarette pieces laid on the belt (41) thereof; the cigarette frame carrying mechanism (3) is used for placing and carrying the cigarette frame (0); and the control mainboard is used for controlling the overall action of the feeding mechanism.

2. The automatic tobacco sheet feeding mechanism according to claim 1, wherein The top of the rack (1) comprises two beams (11) parallel to each other, the two beams (11) are perpendicular to the long side of the belt (41) of the weighing conveyor, each of the beams (11) is provided with a guide rod (12), and the two guide rods (12) are connected with a slide rod (13) perpendicular to the two guide rods (12), and the slide rod (13) can reciprocate along the length direction of the two guide rods (12).

3. The automatic tobacco sheet feeding mechanism according to claim 2, wherein The slide rod (13) is further connected with a sliding block (5), and the sliding block (5) can reciprocate along the length direction of the slide rod (13).

4. The automatic tobacco sheet feeding mechanism according to claim 1, wherein The mechanical hand (2) comprises a mechanical grab hand (21), a mechanical arm (22) and a rotating module (23), the top end of the mechanical grab hand (21) is connected to the bottom end of the mechanical arm (22) through the rotating module (23), and the mechanical grab hand (21) is rotationally connected with the mechanical arm (22) through the rotating module (23).

5. The automatic tobacco sheet feeding mechanism according to claim 4, wherein The mechanical hand (2) is connected to the sliding block (5) through the mechanical arm (22), and the mechanical arm (22) is slidingly connected with the sliding block (5).

6. The automatic tobacco sheet feeding mechanism according to claim 1, wherein The feeding mechanism further comprises an X-axis servo motor, a Y-axis servo motor and a Z-axis servo motor; the X-axis servo motor is used for driving the slide rod (13) to reciprocate along the length direction of the guide rod (12); the Y-axis servo motor is used for driving the sliding block (5) to reciprocate along the length direction of the slide rod (13); and the Z-axis servo motor is used for driving the mechanical arm (22) to reciprocate along the direction perpendicular to the belt (41) of the weighing conveyor (4).

7. The automatic tobacco sheet feeding mechanism according to claim 1, wherein The cigarette frame carrying mechanism (3) comprises: a fixed seat (31); And the fork arm (32) is in sliding connection with the fixed seat (31), the fork arm (32) is in the shape of "C" as a whole, three limiting blocks (3211) are arranged on each of the two branches (321) of the fork arm (32) respectively, the limiting blocks (3211) are sequentially distributed from the end of the branch (321) to the root of the branch (321), the six limiting blocks (3211) on the two branches (321) correspond to each other in pairs from the end of the branch (321) to the root of the branch (321), wherein the distance between the two limiting blocks (3211) closest to the end of each branch (321) and the farthest from the end is equal to the width of the large tobacco frame base, and the distance between the limiting block (3211) closest to the end of the branch (321) and the limiting block (3211) adjacent to it is equal to the width of the small tobacco frame base.

8. The automatic tobacco sheet feeding mechanism according to claim 7, wherein The fixed seat (31) is further provided with a travel switch closest to the side wall of the weighing conveyor (4), and the travel switch is used for detecting the transfer position of the tobacco frame (0); The photoelectric detection device is directly above the limiting block (3211) closest to the root of the branch (321).

9. The automatic tobacco sheet feeding mechanism according to claim 8, wherein The weighing conveyor (4) is further provided with a baffle wing on each side, the two baffle wings are arranged in a slope, and the two baffle wings form an inverted "8" as a whole; the travel switch is installed below the tail wing of the baffle wing which is outwardly and downwardly turned; the height of the tail wing of the baffle wing which is outwardly turned is higher than the height of the tobacco frame (0) plus the height of the tobacco frame carrying and transferring mechanism (3).

Images