Device for quantitatively grabbing tobacco leaves based on contact feedback and self-adaptive control

Abstract

The utility model relates to the technical field of threshing and re-drying equipment, in particular to a device for quantitatively grabbing tobacco leaves based on contact feedback and self-adaptive control, which is connected with a controller and comprises a connecting seat, an outer driving arm capable of driving the connecting seat to reciprocate along the direction perpendicular to the horizontal plane, and an outer driving arm capable of driving the outer driving arm to reciprocate along the direction perpendicular to the horizontal plane. The rotary connecting mechanism comprises a fixed end and a rotary end, the fixed end is connected with the other end of the connecting seat, and the rotary end can rotate along the central axis of the rotary end; and the top end of the feeding and taking gripper is in sliding connection with the rotating end of the rotating connecting mechanism through an elastic guide mechanism. Through combination of contact feedback and self-adaptive control, the system can accurately control the rising distance and the grabbing time when the tobacco leaves are grabbed, so that stable quantification of the weight of the tobacco leaves each time is achieved, and errors caused by environmental interference of a traditional weighing sensor and infrared detection are avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to a threshing and redrying equipment technical field, concretely relates to a device based on contact feedback and adaptive control quantitative grabbing tobacco leaf. BACKGROUND

[0002] In the current tobacco leaf processing production, the tobacco leaf laying and feeding process in the pre-treatment stage of threshing and redrying mainly relies on manual handling and feeding of tobacco leaves in the tobacco frame, that is, workers take tobacco leaves from the tobacco frame and place them on the tobacco laying line for subsequent processing. This traditional method has the problems of high labor intensity and low automation, and the feeding amount is difficult to keep stable each time, resulting in reduced production efficiency and increased labor cost.

[0003] To improve production efficiency and reduce labor cost, the prior art attempts to realize the automation of the tobacco leaf laying and feeding process by designing an automatic tobacco leaf grabbing device. However, the current automatic grabbing device still has deficiencies in the control of quantitative grabbing effect. For example, some devices introduce a weighing sensor, which feeds back the pressure received when the grabbing device contacts the tobacco leaf to guide the controller to adjust the grabbing action, so as to realize quantitative grabbing. Unfortunately, due to the thermal expansion and contraction of the sensor elastic element caused by environmental temperature changes, the material properties are affected, resulting in a decrease in measurement accuracy. At the same time, the sensor is prone to zero drift and sensitivity drift during long-term use, causing deviation in the initial grabbing point and affecting the accuracy of the grabbed weight. In addition, the non-standard placement of tobacco leaves, uneven thickness and density distribution, and the phenomenon of loose upper and tight lower after long-term storage all interfere with the accurate measurement of the weighing sensor. In the grabbing process, the continuous falling of tobacco leaves during upward conveying and the slight shaking of the grabbing hand further challenge the stability and accuracy of the sensor.

[0004] To improve the quantitative grabbing problem, some automatic grabbing devices also attempt to use an infrared range finder to determine the height of the tobacco leaf, thereby realizing quantitative grabbing. However, in actual application, due to the uneven thickness and density of tobacco leaves, the non-standard placement position, and the influence of factors such as on-site lighting and dust, the infrared detection has great limitations and errors, and cannot guarantee the accuracy of the tobacco leaf height measurement. At the same time, the existing technology controls the layer thickness mainly based on the highest point of the tobacco leaf obtained by the first measurement, and then decreases by a fixed displacement to determine the grabbing thickness. However, since the thickness and uniformity of the tobacco leaf layer often change in actual production, a single initial measurement cannot ensure the accuracy of subsequent grabbing, and real-time dynamic adjustment cannot be realized, resulting in unsatisfactory control effect of the grabbing thickness.

[0005] To realize the full automation of the tobacco leaf laying and feeding process in the pre-treatment stage of threshing and redrying, the applicant has submitted a Chinese patent application with application number 202411935099.4, however, the mechanical hand used in this patent has not achieved the technical effect of quantitative grabbing of tobacco leaves.

[0006] To solve at least one of the above problems, the utility model provides a new type. Utility model content

[0007] In actual production, the tobacco leaves in the tobacco frame are prone to adhesion after being placed for a long time due to uneven placement position, thickness and density, so that the upper tobacco leaves are more compact than the lower tobacco leaves. The mechanical hand relying on the weighing sensor and the infrared detection and the like cannot accurately quantify the quantity of the tobacco leaves grabbed. To solve this problem, the utility model provides a quantitative tobacco leaf grabbing device and method based on contact feedback and adaptive control. Before grabbing the tobacco leaves, the device first flexibly compacts the tobacco leaves in the tobacco frame, so that the gaps between the tobacco leaves tend to be uniform. Then, the speed and the time of the device rising are accurately controlled, so that the tobacco leaves are accurately adjusted in quantity by the claw needle. The utility model not only realizes accurate control of the quantity of the tobacco leaves grabbed, but also greatly improves the production efficiency and the stability through adaptive feedback, reduces the cost, adapts to the variable production environment, and provides a reliable intelligent solution for tobacco leaf processing and production.

[0008] The technical scheme adopted by the utility model is:

[0009] The utility model provides a device for quantitative tobacco leaf grabbing based on contact feedback and adaptive control in a first aspect, the device is connected with a controller, and it comprises:

[0010] A connecting seat 1 is connected with an external driving arm at one end, and the external driving arm can drive the connecting seat 1 to reciprocate along a direction perpendicular to a horizontal plane;

[0011] A rotary connecting mechanism 2 comprises a fixed end and a rotating end, the fixed end is connected with the other end of the connecting seat 1, and the rotating end can rotate along the central axis thereof; the side wall of the rotary connecting mechanism 2 is provided with a proximity switch 3 for detecting the movement position of the rotating end, wherein the rotary connecting mechanism 2 can adopt any rotary module in existing mature technology as long as the above functions can be realized;

[0012] A material taking and feeding gripper 4 is slidably connected with the rotating end of the rotary connecting mechanism 2 at the top end through an elastic guide mechanism 5, so that the material taking and feeding gripper 4 can be flexibly pressed downward when subjected to a vertically downward force; when the connecting seat 1 moves upward, the time of grabbing the material is adjusted through adaptive control, so as to control the weight of the tobacco leaves grabbed.

[0013] Preferably, the material taking and feeding gripper 4 comprises:

[0014] A shell 41 is in the form of a box structure, and a plurality of long needle grooves 411 are arranged in an array at the bottom of the shell 41;

[0015] A plurality of claw needle groups 42, each claw needle group 42 is arranged at a group of long needle grooves 411, each claw needle group 42 includes a pair of oppositely arranged claw needles 421, one end of the claw needle 421 passes through the long needle groove 411 and is connected with the connecting rod mechanism assembly 44, the other end is a free end for grabbing materials;

[0016] A driving mechanism and a connecting rod mechanism assembly 44 are installed inside the casing 41 for driving the claw needle group 42 to perform grabbing and releasing actions.

[0017] Preferably, the elastic guide mechanism 5 comprises:

[0018] A guide pin 51 is fixedly connected to the bottom surface of the rotary connection mechanism 2 at the top end and is slidably connected to the top surface of the casing 41 at the bottom end; wherein the connecting part between the guide pin 51 and the casing 41 is arranged in an "I" shape;

[0019] A reset spring 52 is sleeved on the outer peripheral arm of the small-diameter pin body of the "I" shaped structure of the guide pin 51 to enable the flexible downward pressing of the material grabbing hand 4 when subjected to a vertically downward force.

[0020] Preferably, a through hole is formed at the position where the top surface of the casing 41 is slidably connected to the guide pin 51, and the diameter of the through hole is matched with the outer diameter of the small-diameter pin body of the "I" shaped structure of the guide pin 51;

[0021] The diameter of the reset spring 52 is larger than the diameter of the through hole to enable one end of the reset spring 52 to abut against the top surface of the casing 41 and the other end to abut against the bottom surface of the rotary connection mechanism 2.

[0022] Preferably, the rotary connection mechanism 2 is a rotary module, and a connecting plate 21 is further arranged at the bottom of the rotary end of the rotary module, and the top end of the guide pin 51 is fixedly connected to the connecting plate 21.

[0023] Preferably, the free end of the claw needle 1 is designed in a circular arc shape, and when a pair of oppositely arranged claw needles simultaneously perform the action of grabbing tobacco leaves, a semicircular structure is formed.

[0024] Preferably, the driving mechanism adopts a gas rod 43, and the fixed end of the gas rod 43 is connected to the inner wall of the casing 41;

[0025] Preferably, the connecting rod mechanism assembly 44 is composed of a driving shaft 441 and a connecting rod mechanism 442, wherein one end of the connecting rod mechanism 442 is connected to the driving end of the gas rod 43, the other end is fixedly connected to the driving shaft 441; and the claw needle 421 is fixedly installed on the driving shaft 441 at a certain angle offset from the connecting rod mechanism 442, so that when the gas rod 43 drives the connecting rod mechanism 442 to reciprocate, the driving shaft 441 rotates, and the claw needle 421 performs the opening and closing action.

[0026] Preferably, the size and arrangement of the elongated needle slot 411 are matched with the claw needle 421, and the projection of a pair of claw needles 421 in each claw needle group 42 on the bottom surface of the shell 41 is staggered, so that the claw needle 421 can be completely hidden inside the shell 41 when the claw needle 421 is unfolded to the maximum angle.

[0027] The utility model discloses a second aspect provides a kind of method for quantitatively grabbing tobacco leaf using the device described in the first aspect, the method comprises the following steps:

[0028] Step (1), the external driving arm drives the connecting seat 1 vertically downward, drives the whole downward of the grabbing device, and the controller controls the claw needle 421 to unfold to the maximum angle and be completely hidden inside the shell 41;

[0029] Step (2), when the device approaches the tobacco frame, the proximity switch 3 detects the target and feeds back the signal to the controller. The controller drives the rotary connecting mechanism 2 to rotate immediately, adjusts the material grabbing hand 4 to be consistent with the tobacco leaf arrangement direction in the tobacco frame, to ensure that the subsequent grabbing action is accurately aligned with the tobacco leaf;

[0030] Step (3), the grabbing device continues to vertically descend, and when the proximity switch detects that the lower surface of the shell 41 has contacted the tobacco leaf, the signal is fed back to the controller. At this time, the external driving arm and the grabbing device are synchronously moved downward until the reset spring 52 reaches the maximum compression amount;

[0031] Step (4), the controller instructs the external driving arm to start moving upward, drives the grabbing device to move upward, and starts the grabbing countdown. When the preset delay time ends, the controller stops moving upward, drives the air rod 43 to extend and retract, promotes the connecting rod mechanism 442 to move, and then drives the driving shaft 441 to rotate, triggers the opening and closing action of the claw needle 421, and completes the grabbing of the tobacco leaf. When the air rod extends and retracts to the preset length, the system confirms that the grabbing is successful, and the quantitative grabbing of the tobacco leaf is realized.

[0032] In steps (3) and (4), if the controller detects that the reset spring 52 reaches the maximum compression amount, the shell 41 is in close contact with the surface of the tobacco leaf at this time. If the grabbing device is not moved upward and the grabbing countdown is not started, but the claw needle 421 is directly controlled to grab the tobacco leaf, the tobacco leaf grabbed by the claw needle 421 is full claw at this time. In actual production, the weight of the full claw tobacco leaf can be calculated by repeatedly grabbing and weighing several times. In turn, the weight of the tobacco leaf grabbed by the claw needle 421 when the grabbing device moves upward and the grabbing countdown T seconds are obtained, so that the quantitative grabbing of the tobacco leaf is realized.

[0033] The utility model has the advantages of:

[0034] 1. The utility model discloses a combination of contact feedback and adaptive control, the system can control the ascending distance and the grabbing time when grabbing tobacco leaf, thereby realizing the stable and quantitative weight of tobacco leaf each time, and avoiding the error caused by the traditional weighing sensor and infrared detection environmental interference.

[0035] 2. The utility model discloses a device design adopts flexible guide and reset spring, effectively deal with tobacco leaf layer thickness, density distribution uneven and tobacco leaf adhesion etc. problem, can automatically adjust the grabbing action, ensure that can keep the grabbing precision and stability under various complex production conditions.

[0036] 3. The utility model discloses an automatic grabbing replaces the traditional manual handling and feeding, reduces the labor intensity, and greatly improves production efficiency, thereby significantly reduces the production cost.

[0037] 4. The utility model discloses a proximity switch real-time feedback and adaptive control strategy, can detect and adjust the device state in time, reduces the error caused by mechanical shaking or environmental temperature change, improves the working stability and reliability of overall system. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiment or prior art description, obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating labor.

[0039] Figure 1 It is the first orientation axis side view of the utility model device;

[0040] Figure 2 It is the second orientation axis side view of the utility model device;

[0041] Figure 3 It is the front view of the utility model device;

[0042] Figure 4 It is the driving mechanism, connecting rod mechanism assembly installation schematic drawing of the utility model device;

[0043] Reference numerals: 1, connecting seat;2, rotary connecting mechanism;21, connecting plate;3, proximity switch;4, take and feed gripper;41, casing;411, long needle slot;42, claw needle group;421, claw needle;43, air rod;44, connecting rod mechanism assembly;441, driving shaft;442, connecting rod mechanism;5, elastic guide mechanism;51, guide pin;52, reset spring. DETAILED DESCRIPTION

[0044] The utility model will be further described in detail in connection with the embodiments below, but is not a limitation on the utility model, and any transformation or improvement based on the utility model teaching falls within the protection scope of the utility model. The specific technology or condition not noted in the embodiments is carried out according of the technology or condition described in the literature in the field or according to the product manual.

[0045] Embodiment 1

[0046] The embodiment provides a device for quantitative grabbing tobacco leaves based on contact feedback and adaptive control, which is connected with a controller and comprises:

[0047] A connecting seat 1 is connected with an external driving arm at one end, and the external driving arm can drive the connecting seat 1 to reciprocate in a direction perpendicular to a horizontal plane;

[0048] A rotary connecting mechanism 2 comprises a fixed end and a rotary end, the fixed end is connected with the other end of the connecting seat 1, and the rotary end can rotate along the central axis thereof; a proximity switch 3 is arranged on the side wall of the rotary connecting mechanism 2 and used for detecting the movement position of the rotary end;

[0049] A material taking and feeding gripper 4 is slidably connected with the rotary end of the rotary connecting mechanism 2 through an elastic guide mechanism 5 at the top end, so that the material taking and feeding gripper 4 can be flexibly pressed downward when subjected to a vertical downward force; when the connecting seat 1 moves upward, the time for grabbing the material is adjusted through adaptive control, so as to control the weight of the grabbed tobacco leaves.

[0050] The material taking and feeding gripper 4 comprises:

[0051] The whole is a box structure, and a plurality of long needle grooves 411 arranged in an array are arranged at the bottom;

[0052] A plurality of claw needle groups 42 are arranged at a group of long needle grooves 411 in a corresponding manner, each claw needle group 42 comprises a pair of oppositely arranged claw needles 421, one end of the claw needle 421 penetrates through the long needle groove 411 and is connected with a connecting rod mechanism assembly 44, and the other end is a free end and is used for grabbing the material;

[0053] A driving mechanism and the connecting rod mechanism assembly 44 are installed in the inside of the casing 41 and are used for driving the claw needle group 42 to perform the grabbing and releasing actions.

[0054] The elastic guide mechanism 5 comprises:

[0055] A guide pin 51 is fixedly connected with the bottom surface of the rotary connecting mechanism 2 at the top end and is slidably connected with the top surface of the casing 41 at the bottom end; wherein the connecting part between the guide pin 51 and the casing 41 is arranged in an I-shaped structure;

[0056] Reset spring 52, set in the guide pin 51 "I" type structure in the small diameter pin body on the outer peripheral arm, to achieve the taking and throwing material gripper 4 can be achieved when the flexible down pressure under the vertical force.

[0057] The top surface of the shell 41 and the guide pin 51 sliding connection position is provided with a through hole, the diameter of the through hole and the guide pin 51 "I" type small diameter of the pin body outer diameter of the adaptation;

[0058] The diameter of the reset spring 52 is greater than the diameter of the through hole, so that one end of the reset spring 52 is in contact with the top surface of the shell 41, and the other end is in contact with the bottom surface of the rotary connection mechanism 2.

[0059] The rotary connection mechanism 2 is a rotary module, and the rotary end bottom is further provided with a connecting plate 21, and the top end of the guide pin 51 is fixedly connected with the connecting plate 21.

[0060] The free end of the claw needle 1 is designed in a circular arc shape, and when a pair of claw needles arranged oppositely simultaneously perform the action of grabbing tobacco leaves, a semicircular structure can be formed.

[0061] The driving mechanism adopts a gas rod 43, and the fixed end is connected to the inner wall of the shell 41.

[0062] The connecting rod mechanism assembly 44 is composed of a driving shaft 441 and a connecting rod mechanism 442, wherein one end of the connecting rod mechanism 442 is connected with the driving end of the gas rod 43, the other end is fixedly connected with the driving shaft 441; and the claw needle 421 is fixedly installed on the driving shaft 441 at a certain angle with the connecting rod mechanism 442, so that when the gas rod 43 drives the connecting rod mechanism 442 to reciprocate, the driving shaft 441 rotates, and then the claw needle 421 realizes the opening and closing action.

[0063] As a preferred mode of the embodiment, as Figure 3 , 4As shown, nine claw needle groups 42 are used, driven by six parallel drive shafts 441. The four middle drive shafts 441 are grouped in pairs, so that the opposing claw needles 421 can form a semi-circle when gripping. The claw needles 421 connected to the two drive shafts on both sides form an arc with the pre-set straight claw needles on both sides of the housing 41, thus adapting to the gripping of materials on the edge of the housing 41. In addition, four sets of parallel linkage mechanisms 442 are set. One end of each linkage mechanism is connected to the drive shaft 441 and is connected to the adjacent drive shaft at intervals. This can convert the rotation or reciprocating motion of the drive shaft into the opening and closing action of the claw needles. At the same time, through two opposing air rods 43, the driving end of each air rod controls the two adjacent linkage mechanisms 442 respectively, ensuring that the actions of each linkage mechanism are synchronized, thus making the opening and closing of the claw needles 421 more coordinated and stable. The working principle of the interaction between the drive shaft 441 and the linkage mechanism 442 can refer to any existing mature technology, as long as the opening and closing of the claw needle 421 can be achieved.

[0064] The size and arrangement of the elongated needle groove 411 are matched with the claw needle 421. The projections of a pair of claw needles 421 in each claw needle group 42 on the bottom surface of the housing 41 are staggered, so that when the claw needle 421 is extended to the maximum angle, it can be completely hidden inside the housing 41.

[0065] Example 2

[0066] A method for quantitatively grasping tobacco leaves using the device described in Embodiment 1 is provided, the method comprising the following steps:

[0067] Step (1): The external drive arm drives the connecting seat 1 vertically downward to drive the entire gripping device downward. At the same time, the controller controls the claw needle 421 to unfold to the maximum angle and completely hide inside the housing 41.

[0068] Step (2): When the device approaches the tobacco frame, the proximity switch 3 detects the target and sends a signal back to the controller. The controller then drives the rotary connecting mechanism 2 to rotate, adjusting the feeding gripper 4 to be aligned with the tobacco leaf arrangement direction in the tobacco frame, ensuring that the subsequent gripping action is precisely aligned with the tobacco leaves;

[0069] Step (3): The material grabbing device continues to descend vertically. When the proximity switch detects that the lower surface of the housing 41 has contacted the tobacco leaf, the signal is fed back to the controller. At this time, the external drive arm and the material grabbing device move down synchronously until the reset spring 52 reaches the maximum compression.

[0070] Step (4), the controller instructs the external driving arm to start moving up, driving the gripping device to move upward, and starts the gripping countdown for 10 ms. When the preset delay ends, the controller stops moving up and drives the air rod 43 to extend and retract, prompting the connecting rod mechanism 442 to move, and then driving the driving shaft 441 to rotate, triggering the opening and closing action of the claw needle 421, completing the grabbing of the tobacco leaves. When the air rod extends to the preset length, the system confirms that the grabbing is successful, realizes the quantitative grabbing of the tobacco leaves, and finally weighs the grabbed tobacco leaves to be 10 kg.

[0071] In this embodiment, the full-grip of the claw needle group 42 is 12 kg, and the speed of the upward movement of the external driving arm is 4 mm / ms

[0072] It should be noted that the shape of the claw needle group 42, the upward movement speed of the external driving arm, etc. can be adjusted according to actual needs to adjust the gripping amount of full-grip / non-full-grip.

[0073] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present 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 the present application, and the physical dimensions can be selected and changed according to actual needs.

Claims

1. A device for quantitative grasping of tobacco leaves based on contact feedback and adaptive control, characterized in that, The device is connected with a controller, which comprises: a connecting seat (1) connected with an external driving arm at one end, the external driving arm being capable of driving the connecting seat (1) to reciprocate in a direction perpendicular to a horizontal plane; a rotary connecting mechanism (2) comprising a fixed end and a rotary end, the fixed end being connected with the other end of the connecting seat (1), and the rotary end being capable of rotating along a central axis thereof; a side wall of the rotary connecting mechanism (2) is provided with a proximity switch (3) for detecting the movement position of the rotary end; a material taking and throwing gripper (4) having a top end slidably connected with the rotary end of the rotary connecting mechanism (2) through an elastic guide mechanism (5) so that the material taking and throwing gripper (4) can be flexibly pressed down when subjected to a vertically downward force; when the connecting seat (1) moves upward, the material taking and throwing gripper (4) adjusts the time of grabbing material through self-adaptive control to control the weight of the grabbed tobacco leaves.

2. The device for quantitatively grabbing tobacco leaves based on contact feedback and adaptive control according to claim 1, characterized in that, The material taking and throwing gripper (4) comprises: a casing (41) in the form of a box structure, the bottom of which is provided with a plurality of arrayed long needle grooves (311); a plurality of claw needle groups (42), each claw needle group (42) being correspondingly arranged at a group of long needle grooves (311), each claw needle group (42) comprising a pair of oppositely arranged claw needles (421), one end of each claw needle (421) penetrating through a long needle groove (311) and being connected with a connecting rod mechanism assembly (44), and the other end being a free end for grabbing material; a driving mechanism and the connecting rod mechanism assembly (44) installed inside the casing (41) for driving the claw needle group (42) to perform grabbing and releasing actions.

3. The device for quantitatively grabbing tobacco leaves based on contact feedback and adaptive control according to claim 1, characterized in that, The elastic guide mechanism (5) comprises: a guide pin (51) having a top end fixedly connected with the bottom surface of the rotary connecting mechanism (2) and a bottom end slidably connected with the top surface of the casing (41); wherein the connecting part between the guide pin (51) and the casing (41) is arranged in the form of an "I" shape; a reset spring (52) sleeved on the outer peripheral arm of the small-diameter pin body of the "I" shaped structure of the guide pin (51) to enable the material taking and throwing gripper (4) to be flexibly pressed down when subjected to a vertically downward force.

4. The device for quantitatively grabbing tobacco leaves based on contact feedback and adaptive control according to claim 3, characterized in that, A through hole is formed at the position where the top surface of the casing (41) is slidably connected with the guide pin (51), the diameter of the through hole being adapted to the outer diameter of the small-diameter pin body of the "I" shaped structure of the guide pin (51); the diameter of the reset spring (52) being greater than the diameter of the through hole so that one end of the reset spring (52) abuts against the top surface of the casing (41) and the other end abuts against the bottom surface of the rotary connecting mechanism (2).

5. The device for quantitatively grabbing tobacco leaves based on contact feedback and adaptive control according to claim 4, characterized in that, The rotary connecting mechanism (2) is a rotary module, the bottom of the rotary end of which is further provided with a connecting plate (21), and the top end of the guide pin (51) is fixedly connected with the connecting plate (21).

6. The device for quantitatively grabbing tobacco leaves based on contact feedback and adaptive control according to claim 2, characterized in that, The free end of the claw needle (421) is designed in the form of a circular arc, and when a pair of oppositely arranged claw needles simultaneously perform the action of grabbing tobacco leaves, a semicircular structure is formed.

7. The device for quantitatively grabbing tobacco leaves based on contact feedback and adaptive control according to claim 2, characterized in that, The driving mechanism adopts a gas rod (43) having a fixed end connected with the inner wall of the casing (41). The connecting rod mechanism assembly (44) is composed of a driving shaft (441) and a connecting rod mechanism (442), wherein one end of the connecting rod mechanism (442) is connected with the driving end of the air rod (43), the other end is fixedly connected with the driving shaft (441); and the claw needle (421) is fixedly installed on the driving shaft (441) at a certain angle staggered with the connecting rod mechanism (442), so that when the air rod (43) drives the connecting rod mechanism (442) to reciprocate, the driving shaft (441) rotates, and then the claw needle (421) realizes the opening and closing action.

8. The device for quantitatively grabbing tobacco leaves based on contact feedback and adaptive control according to claim 2, characterized in that, The size and arrangement of the long needle slot (311) are matched with the claw needle (421), and the projection of a pair of claw needles (421) in each claw needle group (42) on the bottom surface of the shell (41) is staggered, so that when the claw needle (421) is unfolded to the maximum angle, it can be completely hidden inside the shell (41).

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