Mechanical arm for feeding flue-cured tobacco raw materials

Abstract

The utility model discloses a flue-cured tobacco raw material feeding mechanical arm which comprises a supporting plate. The device has the advantages that the first linear module, the movable base, the rotating disc and the mechanical arm are arranged, so that a movable sliding table of the first linear module drives the movable base and the mechanical arm to move and adjust the position, and the position of the first linear module is adjusted; the rotating disc and the mechanical arm are rotationally adjusted through the rotating assembly in the moving base, flue-cured tobacco leaves sucked by the vacuum suction head can be conveniently subjected to position rotating transfer, classified feeding treatment is conducted according to the types of the tobacco leaves, and through the arrangement of a second industrial CCD camera, a second linear module and a first industrial CCD camera, the conveying efficiency is improved, and the production cost is reduced. The flue-cured tobacco leaves stored in a raw material box are subjected to image monitoring processing through a first industrial CCD camera on a second linear module moving sliding table, and image detection processing is carried out on the tobacco leaves fed by a vacuum suction head through a second industrial CCD camera.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of loading mechanical arm, specifically to a kind of mechanical arm of flue-cured tobacco raw material loading. BACKGROUND

[0002] Briefly, flue-cured tobacco raw material loading is the process of conveying flue-cured tobacco leaves that have been preliminarily processed through picking, curing, etc. to a cigarette or other tobacco product production line according to production requirements. The current flue-cured tobacco raw material loading mechanical arm has limitations in design, does not have a real-time image detection structure for flue-cured tobacco leaves during loading, and cannot effectively handle unqualified leaves when facing leaves with surface defects, damage or mold. SUMMARY

[0003] The utility model aims at providing a kind of mechanical arm of flue-cured tobacco raw material loading to solve the problem of limitations in design of the current flue-cured tobacco raw material loading mechanical arm, which does not have a real-time image detection structure for flue-cured tobacco leaves during loading, and cannot effectively handle unqualified leaves when facing leaves with surface defects, damage or mold.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a kind of mechanical arm of flue-cured tobacco raw material loading, comprising:

[0005] a support plate;

[0006] a first linear module installed on the top of the support plate;

[0007] a moving seat installed on the moving slide of the first linear module;

[0008] a rotating disc rotatably arranged on the top of the moving seat;

[0009] a mechanical arm installed on the top of the rotating disc;

[0010] a mounting bracket installed on the mechanical arm, the inside of the mounting bracket is provided with a connecting air tank, the bottom of the connecting air tank is provided with a plurality of vacuum suction heads equidistantly, and the vacuum suction heads are fixedly connected with the mounting bracket;

[0011] a second industrial CCD camera symmetrically installed on one side of the mounting bracket;

[0012] a rotating assembly arranged in the inside of the moving seat, and the rotating disc is connected with the rotating assembly.

[0013] As a preferred scheme of the utility model: the rotating assembly includes rotating rod, the rotating rod is rotationally arranged in the inside of mobile seat, the outside of rotating rod is fixedly connected with worm gear, the inside of mobile seat is rotationally arranged with worm, worm is engaged with worm gear, one side of mobile seat is installed with motor, the output end of motor is fixedly connected with worm.

[0014] As a preferred scheme of the utility model: the top of support plate is fixedly connected with support frame, the bottom of support frame is symmetrically installed with No.2 linear module, the movable sliding table of No.2 linear module is installed with No.1 industrial CCD camera matched with raw material box.

[0015] As a preferred scheme of the utility model: the top of support plate is installed with take-out box, the bottom of take-out box is symmetrically fixedly connected with positioning strip, the top of support plate is provided with positioning groove matched with positioning strip, one side of take-out box is fixedly connected with side limiting plate, the side limiting plate and support plate are connected through bolt.

[0016] As a preferred scheme of the utility model: one side of support plate is symmetrically provided with feeding conveyor, one side of connecting air tank is fixedly connected with vacuum air pipe, vacuum air pipe is externally connected with vacuum generating equipment through air pipe.

[0017] As a preferred scheme of the utility model: one side of support plate is provided with control panel, No.1 linear module, mechanical arm, No.2 linear module, No.1 industrial CCD camera, No.2 industrial CCD camera, motor, feeding conveyor and vacuum generating equipment are electrically connected with control panel.

[0018] Compared with the prior art, the utility model has the advantages that: through setting No.1 linear module, mobile seat, rotating disc and mechanical arm, realize that the movable sliding table of No.1 linear module drives mobile seat and mechanical arm to move and adjust position, through the rotating assembly in mobile seat, the rotating disc and mechanical arm are adjusted, it is convenient to rotate and transfer the position of the vacuum suction head to take the flue-cured tobacco leaf, according to the type of tobacco leaf, the classification and feeding treatment are carried out, through setting No.2 industrial CCD camera, No.2 linear module and No.1 industrial CCD camera, realize that the No.1 industrial CCD camera on the movable sliding table of No.2 linear module carries out image monitoring treatment to the flue-cured tobacco leaf stored in raw material box, through No.2 industrial CCD camera, the image detection treatment is carried out to the tobacco leaf of vacuum suction head feeding. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is whole structure schematic view of the utility model;

[0020] Figure 2 It is right view of the utility model;

[0021] Figure 3 is a rear view of the utility model;

[0022] Figure 4 is a schematic diagram of the internal structure of the mobile seat of the utility model.

[0023] In the figure: 1, support plate; 2, first linear module; 3, mobile seat; 4, rotating disc; 5, mechanical arm; 6, raw material box; 7, take-out box; 8, support frame; 9, second linear module; 10, first industrial CCD camera; 11, mounting bracket; 12, connecting air tank; 13, second industrial CCD camera; 14, vacuum suction head; 15, vacuum air pipe; 16, rotating rod; 17, worm gear; 18, worm; 19, motor; 20, feeding conveyor; 21, positioning strip; 22, positioning groove; 23, side limiting plate; 24, control panel. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0025] Please refer to Figures 1 to 4 The utility model provides a kind of technical scheme: a kind of mechanical arm of flue-cured tobacco raw material feeding, it include: support plate 1;First linear module 2 is installed in the top of support plate 1;Mobile seat 3 is installed in the mobile sliding table of first linear module 2;Rotating disc 4 is rotationally arranged in the top of mobile seat 3;Mechanical arm 5 is installed in the top of rotating disc 4;Mounting bracket 11 is installed on mechanical arm 5, and mounting bracket 11 is internally fixedly connected with connecting air tank 12, and the bottom of connecting air tank 12 is equidistantly fixedly connected with multiple vacuum suction heads 14, and vacuum suction head 14 is fixedly connected with mounting bracket 11;Second industrial CCD camera 13 is symmetrically installed on the side of mounting bracket 11;Rotating component is placed in the interior of mobile seat 3, and rotating disc 4 is connected with rotating component.

[0026] It can be understood that the utility model stores the flue-cured tobacco leaves needing feeding in the raw material box 6, the first industrial CCD camera 10 on the moving slide table of the second linear module 9 is used for image detection of the flue-cured tobacco leaves in the raw material box 6, and the mounting frame 11, the connecting air tank 12 and the vacuum suction head 14 are moved and adjusted by the mechanical arm 5 during feeding.The mechanical arm 5 includes a body as the basic support structure of the whole mechanical arm 5, an arm composed of connecting rods and joints to realize multi-degree-of-freedom movement, an end effector directly contacting with a work object such as a gripper and a suction cup, a driving system providing power such as a driving motor, a hydraulic device and a pneumatic device, and a control system including a controller and a sensor responsible for receiving instructions, controlling actions and monitoring states.The vacuum air pipe 15 is connected with an external vacuum generating device through the air pipe, the flue-cured tobacco leaves are sucked and treated by the various vacuum suction heads 14 at the bottom of the connecting air tank 12, the flue-cured tobacco leaves are fed by suction, the flue-cured tobacco leaves needing suction are image detected by the second industrial CCD camera 13 on one side, the flue-cured tobacco leaves of different sizes are fed according to different feeding conveyors 20, the moving seat 3, the rotating disc 4 and the mechanical arm 5 are moved by the moving slide table of the first linear module 2, the position of the vacuum suction head 14 sucking the flue-cured tobacco leaves is adjusted and treated, and when the flue-cured tobacco leaves having surface defects, damages or mold changes are detected, the mounting frame 11, the connecting air tank 12 and the vacuum suction head 14 are lifted above the lifting box 7 by the mechanical arm 5, the unqualified flue-cured tobacco leaves are stored in the lifting box 7, the worm 18 is rotated by the output end of the motor 19, the meshed worm wheel 17 is rotated by the rotation of the worm 18, the rotating rod 16 is rotated by the rotation of the worm wheel 17, and the rotating disc 4 and the mechanical arm 5 are rotated and adjusted by the rotating rod 16, so that the flue-cured tobacco leaves are fed.

[0027] Please refer to Figures 1 to 4 The rotating assembly includes the rotating rod 16, the rotating rod 16 is rotatably arranged in the interior of the moving seat 3, the worm wheel 17 is fixedly connected to the outer side of the rotating rod 16, the worm 18 is rotatably arranged in the interior of the moving seat 3, the worm 18 is meshed and connected with the worm wheel 17, and the motor 19 is installed on one side of the moving seat 3 and is fixedly connected with the output end of the motor 19.

[0028] It can be understood that the utility model rotates and adjusts the worm 18 by the output end of the motor 19, the meshed worm wheel 17 is rotated by the rotation of the worm 18, the rotating rod 16 in the interior is rotated by the rotation of the worm wheel 17, the rotating disc 4 and the mechanical arm 5 are rotated and adjusted by the rotating rod 16, and the feeding position of the flue-cured tobacco leaves is conveniently adjusted and treated.

[0029] Please refer to Figures 1 to 4The top of the support plate 1 is fixed with a support frame 8, the bottom of the support frame 8 is symmetrically provided with a second linear module 9, and the moving slide table of the second linear module 9 is provided with a first industrial CCD camera 10 matched with the raw material box 6.

[0030] It can be understood that the first industrial CCD camera 10 is moved and adjusted by the moving slide table of the second linear module 9, the first industrial CCD camera 10 performs image detection and processing on the flue-cured tobacco leaves in the raw material box 6, the core component of the industrial CCD camera is a CCD image sensor, the sensor converts optical signals into electrical signals through photoelectric effect, and then generates digital images, the working principle of the industrial CCD camera mainly includes two processes of image sensing and image acquisition, in the image sensing process, the photosensitive elements on the CCD sensor convert the received photon energy into electrons, and the electrons are accumulated in the pixel unit, in the image acquisition process, the CCD sensor outputs the charge values row by row and column by column, and converts the digital signals through an analog-to-digital converter, and finally the image processor further processes and outputs clear image data, and the flue-cured tobacco leaves are processed according to the image data.

[0031] Please refer to Figures 1 to 4 The top of the support plate 1 is provided with a lifting box 7, the bottom of the lifting box 7 is symmetrically fixed with a positioning strip 21, the top of the support plate 1 is provided with a positioning groove 22 matched with the positioning strip 21, one side of the lifting box 7 is fixedly connected with a side limiting plate 23, and the side limiting plate 23 and the support plate 1 are connected through bolts.

[0032] It can be understood that the positioning strip 21 and the positioning groove 22 are limitedly matched, the side limiting plate 23 is limitedly installed between the support plate 1 through bolts, the installation position of the lifting box 7 on the support plate 1 is limitedly processed, and the stability is improved.

[0033] Please refer to Figures 1 to 4 One side of the support plate 1 is symmetrically provided with a feeding conveyor 20, one side of the connecting gas tank 12 is fixedly connected with a vacuum air pipe 15, and the vacuum air pipe 15 is externally connected with a vacuum generating device through the air pipe.

[0034] It can be understood that the flue-cured tobacco leaves are conveyed and fed by the feeding conveyor 20.

[0035] Please refer to Figures 1 to 4 One side of the support plate 1 is provided with a control panel 24, the first linear module 2, the mechanical arm 5, the second linear module 9, the first industrial CCD camera 10, the second industrial CCD camera 13, the motor 19, the feeding conveyor 20 and the vacuum generating device are electrically connected with the control panel 24.

[0036] It can be understood that the device is centrally controlled and processed by the control panel 24, thereby improving the safety and work efficiency of the device.

[0037] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "central", "both ends" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0038] In addition, the terms "first", "second", "third", "fourth" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, so that the features with "first", "second", "third", "fourth" can be explicitly or implicitly include at least one of the features.

[0039] In the present application, unless otherwise specified and limited, the terms "mounting", "setting", "connecting", "fixing", "threading" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specified, those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0040] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm for loading flue-cured tobacco raw material, characterized in that, Include: Supporting plate (1); No. 1 linear module (2), no. 1 linear module (2) is installed on the top of supporting plate (1); Moving seat (3), moving seat (3) is installed on the moving slide of no. 1 linear module (2); Rotary disc (4), rotary disc (4) is rotatably arranged on the top of moving seat (3); Mechanical arm (5), mechanical arm (5) is installed on the top of rotary disc (4); Mounting frame (11), mounting frame (11) is installed on mechanical arm (5), the inside of mounting frame (11) is provided with connecting air tank (12), the bottom of connecting air tank (12) is provided with a plurality of vacuum suction heads (14) equidistantly, the vacuum suction heads (14) are fixedly connected with mounting frame (11); No. 2 industrial CCD camera (13), no. 2 industrial CCD camera (13) is symmetrically installed on one side of mounting frame (11); Rotary assembly, rotary assembly is arranged in the inside of moving seat (3), rotary disc (4) is connected with rotary assembly.

2. The mechanical arm for loading flue-cured tobacco raw materials according to claim 1, characterized in that: The rotary assembly comprises a rotating rod (16), the rotating rod (16) is rotatably arranged in the inside of moving seat (3), the outer side of the rotating rod (16) is fixedly connected with a worm wheel (17), the inside of the moving seat (3) is rotatably provided with a worm gear (18), the worm gear (18) is meshed and connected with the worm wheel (17), one side of the moving seat (3) is provided with a motor (19), and the output end of the motor (19) is fixedly connected with the worm gear (18).

3. The mechanical arm for loading flue-cured tobacco raw materials according to claim 2, characterized in that: The top of the supporting plate (1) is fixedly connected with a supporting frame (8), the bottom of the supporting frame (8) is symmetrically provided with a no. 2 linear module (9), and the moving slide of the no. 2 linear module (9) is provided with a no. 1 industrial CCD camera (10) matched with the raw material box (6).

4. The mechanical arm for loading flue-cured tobacco raw materials according to claim 1, characterized in that: The top of the supporting plate (1) is provided with a lifting box (7), the bottom of the lifting box (7) is symmetrically fixedly connected with a positioning strip (21), the top of the supporting plate (1) is provided with a positioning groove (22) matched with the positioning strip (21), one side of the lifting box (7) is fixedly connected with a side limiting plate (23), and the side limiting plate (23) and the supporting plate (1) are connected through bolts.

5. The mechanical arm for loading flue-cured tobacco raw materials according to claim 3, characterized in that: One side of the supporting plate (1) is symmetrically provided with a feeding conveyor (20), one side of the connecting air tank (12) is fixedly connected with a vacuum air pipe (15), and the vacuum air pipe (15) is externally connected with a vacuum generating device through the air pipe.

6. The mechanical arm for loading flue-cured tobacco raw materials according to claim 5, characterized in that: One side of the supporting plate (1) is provided with a control panel (24), and the no. 1 linear module (2), the mechanical arm (5), the no. 2 linear module (9), the no. 1 industrial CCD camera (10), the no. 2 industrial CCD camera (13), the motor (19), the feeding conveyor (20) and the vacuum generating device are electrically connected with the control panel (24).

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