Self-adaptive loading and unloading system for curing barn

Abstract

The utility model discloses a self-adaptive loading and unloading system for a curing barn. The self-adaptive loading and unloading system comprises a manipulator and a multi-directional moving unit, the manipulator is suitable for grabbing the cigarette storage piece; the multidirectional moving unit is arranged in the curing barn; the multi-direction moving unit at least can output first movement in the first horizontal direction and second movement in the height direction so as to drive the mechanical arm to move in the first horizontal direction and the height direction. According to the self-adaptive loading and unloading system of the curing barn, the manipulator which is suitable for grabbing the tobacco clamp and can move in the depth direction and the height direction of the curing barn in the curing barn is arranged, so that the loading and unloading operation of the tobacco clamp can be completed instead of manual work, the labor cost is reduced, and meanwhile, the potential safety hazard during manual loading and unloading operation is reduced.

Description

Technical Field

[0001] This utility model relates to the field of tobacco curing technology, and more specifically, to an adaptive loading and unloading system for a curing barn. Background Technology

[0002] The content in this section only provides background information related to this utility model and may not constitute prior art.

[0003] In the traditional tobacco curing process, curing barns typically have multiple layers of support frames, each extending along the depth of the barn to support a certain number of tobacco clips. However, the loading and unloading of these clips currently relies mainly on manual labor, requiring multiple workers. Specifically, workers must place the tobacco clips sequentially along the extension of the support frames and support them on their respective frames. This method is not only labor-intensive, but also presents a significant safety hazard, as workers must climb the support frames to handle clips at higher positions, requiring them to climb up the frames and posing a high risk of falls. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide an adaptive loading and unloading system for tobacco drying rooms, so as to overcome the technical problems of high labor costs and significant safety hazards associated with relying on manual loading and unloading of tobacco clips.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] An embodiment of this utility model discloses an adaptive loading and unloading system for a drying oven, comprising:

[0007] A robotic arm, suitable for grasping cigarette storage containers; and,

[0008] A multi-directional moving unit is arranged inside the baking oven; the multi-directional moving unit is capable of outputting at least a first movement along a first horizontal direction and a second movement along a height direction to drive the robot to move in both the first horizontal direction and the height direction.

[0009] Optionally, the multi-directional movement unit includes:

[0010] A first moving mechanism is used to output the first motion;

[0011] The second moving mechanism is located at the output end of the first moving mechanism and is used to output the second motion; the robotic arm is located at the output end of the second moving mechanism.

[0012] Optionally, the first moving mechanism includes:

[0013] At least one track extends along the first horizontal direction and is fixed inside the baking oven; the track is provided with teeth extending along the first horizontal direction;

[0014] A horizontally movable support, wherein the second movable mechanism is disposed on the horizontally movable support; the horizontally movable support is provided with a horizontally movable assembly, the horizontally movable assembly comprising:

[0015] Each track has a corresponding movable wheel, which can move on the corresponding track.

[0016] A gear corresponding one-to-one with the teeth on the track, the gear being coaxially arranged with the moving wheel and meshing with the corresponding teeth; and,

[0017] The first driving component is used to drive the moving wheel and the gear to rotate synchronously.

[0018] Optionally, the second moving mechanism includes a timing belt and a second drive component;

[0019] The synchronous belt extends along the height direction and is connected to the second driving component for transmission; the second driving component is disposed on the horizontal moving bracket and is used to drive the synchronous belt to move along its own closed circular path;

[0020] The robotic arm is connected to one side of the timing belt.

[0021] Optionally, the robotic arm includes a gripping assembly connected to the output of the multi-directional movement unit; the gripping assembly includes:

[0022] Clamping bracket;

[0023] Two clamping plates are disposed opposite to each other on the clamping bracket; and,

[0024] The clamping drive component is configured to drive the two clamps to move closer or further apart from each other.

[0025] Optionally, the robotic arm further includes a rotating assembly, the rotating assembly comprising:

[0026] A first rotation drive component is located at the output end of the multi-directional movement unit;

[0027] A rotating arm, the first end of which is connected to the first rotation driving component for driving the rotating arm to rotate in a horizontal plane via the first rotation driving component;

[0028] The second rotation drive component is located at the second end of the rotating arm; the second rotation drive component is connected to the clamping bracket to drive the clamping bracket to rotate in the horizontal plane; the two clamping plates are symmetrically arranged about the rotation axis of the clamping bracket.

[0029] Optionally, the adaptive loading and unloading system for the curing barn further includes a conveying unit located outside the door of the curing barn to convey the tobacco storage components along the first horizontal direction.

[0030] Optionally, the conveying unit includes:

[0031] Conveyor support;

[0032] A conveying mechanism is mounted on the conveying support and is used to convey the cigarette storage container;

[0033] The conveying surface of the conveying mechanism is provided with multiple partition blocks arranged sequentially along its conveying path.

[0034] Optionally, the conveying support is equipped with a movable component and an adjustable foot cup.

[0035] Optionally, the conveying bracket is further provided with an adjustment assembly, the adjustment assembly including:

[0036] A connecting rod, the first end of which is hinged and fixed;

[0037] An adjusting component is disposed on the conveying bracket and includes a slider movable along a second horizontal direction; the second horizontal direction is perpendicular to the first horizontal direction.

[0038] The second end of the connecting rod is hinged to the slider.

[0039] The technical solution of this utility model embodiment has at least the following advantages and beneficial effects:

[0040] The adaptive loading and unloading system for tobacco curing barns disclosed in this utility model, by setting up a robotic arm suitable for grabbing tobacco clips and capable of moving along the depth and height of the curing barn, can replace manual labor in completing the loading and unloading of tobacco clips. This reduces labor costs and helps to reduce safety hazards when manual loading and unloading operations are performed. Attached Figure Description

[0041] Figure 1 A schematic diagram of the structure of the adaptive loading and unloading system for the drying room provided in an embodiment of this utility model;

[0042] Figure 2 To be Figure 1 The diagram shown illustrates the adaptive loading and unloading system for the drying oven when it is used inside the drying oven.

[0043] Figure 3 A structural schematic diagram of the robotic arm and multi-directional movement unit is provided for embodiments of this utility model;

[0044] Figure 4 for Figure 3 Enlarged view of the local structure at point A;

[0045] Figure 5 for Figure 3 Enlarged view of the local structure at point B;

[0046] Figure 6 A schematic diagram of the structure of the robotic arm provided for an embodiment of this utility model;

[0047] Figure 7 A schematic diagram of the structure of the conveying unit provided in an embodiment of this utility model;

[0048] Figure 8 for Figure 7 Enlarged view of the local structure at point C;

[0049] Figure 9 for Figure 7 Enlarged view of the local structure at point D.

[0050] Icons: 10-Mechanical arm, 11-Clamping assembly, 111-Clamping bracket, 112-Clamping plate, 113-Clamping drive component, 114-Slot, 12-Rotating assembly, 121-Rotating arm, 122-First rotating drive component, 123-Second rotating drive component, 20-Multi-directional moving unit, 21-First moving mechanism, 211-Railway, 212-Horizontal moving bracket, 213-Gear, 214-Moving wheel, 215-Gear, 22-Second moving mechanism, 221-Synchronous belt, 222-Second drive component, 30-Conveying unit, 31-Conveying bracket, 32-Conveying mechanism, 33-Separator block, 34-Moving component, 35-Adjustable foot cup, 36-Adjusting assembly, 361-Connecting rod, 362-Adjusting component, 3621-Slider, 100-Tobacco storage component, 200-Tobacco leaf, 300-Support frame. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments. The same reference numerals in the accompanying drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0052] Compared to the embodiments shown in the accompanying drawings, feasible embodiments within the scope of protection of this utility model may have fewer components, have other components not shown in the drawings, different components, components arranged differently, or components with different connections, etc. Furthermore, two or more components shown in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0053] An embodiment of this utility model discloses an adaptive loading and unloading system for tobacco drying rooms, which aims to reduce the labor costs of loading and unloading tobacco clips and reduce safety hazards during operation.

[0054] The tobacco clip described in this utility model is a known clamp in the prior art capable of storing a certain quantity of tobacco leaves 200. By using the tobacco clip, the tobacco leaves 200 can be conveniently suspended in the curing barn for curing. Of course, the self-adaptive loading and unloading system for the curing barn disclosed in this utility model embodiment is not only applicable to the loading and unloading operations of the tobacco clip, but also applicable to the loading and unloading operations of other devices suitable for storing tobacco leaves 200. For ease of explanation, refer to... Figure 3 As shown, this utility model refers to devices such as cigarette clips suitable for storing tobacco leaves 200 as cigarette storage components 100.

[0055] Figure 1 This is a schematic diagram of the structure of an exemplary adaptive loading and unloading system for a drying oven disclosed in an embodiment of this utility model. Figure 2 To be Figure 1 The diagram shown illustrates the adaptive loading and unloading system for the curing barn when in use within the curing barn. This adaptive loading and unloading system is suitable for loading and unloading operations of the tobacco storage unit 100.

[0056] exist Figure 1 In the embodiment shown, the oven adaptive loading and unloading system may include a robotic arm 10, a multi-directional movement unit 20, and a conveying unit 30.

[0057] In this embodiment of the invention, the robotic arm 10 cooperates with the multi-directional movement unit 20 to grasp the tobacco storage unit 100, especially the tobacco storage unit 100 from the conveying unit 30, into the curing barn and place it on the support frame 300 at a target position inside the curing barn; or, to grasp the tobacco storage unit 100 at the target position inside the curing barn, especially onto the conveying unit 30. The conveying unit 30 is located at the door of the curing barn to transport the tobacco storage unit 100. The working principle of the conveying unit 30 will be explained in detail later.

[0058] Reference Figure 2As shown, the curing barn of this utility model can be a curing barn known in the prior art, which has multiple layers of support frames 300 arranged sequentially along the height direction inside. In other words, the self-adaptive loading and unloading system for curing barns disclosed in this utility model embodiment can be applied in curing barns without extensive modifications, and can efficiently and stably complete the loading and unloading of the tobacco storage units 100.

[0059] Specifically, Figure 3 An exemplary configuration of a robotic arm 10 and a multi-directional movement unit 20 is shown, wherein the robotic arm 10 is adapted to acquire a cigarette storage container 100, and the robotic arm 10 is disposed on the multi-directional movement unit 20. In this embodiment of the invention, a robotic arm 10 adapted to acquire the cigarette storage container 100 by gripping is shown. Of course, the manner in which the robotic arm 10 acquires the cigarette storage container 100 is not limited to this; for example, the robotic arm 10 may also acquire the cigarette storage container 100 by suction.

[0060] The multi-directional movement unit 20 can be arranged inside the drying oven. Furthermore, the multi-directional movement unit 20 is capable of outputting at least a first movement along a horizontal first direction and a second movement along a vertical direction, thereby driving the robot arm 10 to move in both the horizontal first direction and the vertical direction within the drying oven, thus changing the spatial position of the robot arm 10 within the drying oven. Here, the horizontal first direction described in this invention can be understood as the longitudinal direction of the drying oven.

[0061] Understandably, the multi-directional movement unit 20 enables the robotic arm 10 to achieve precise multi-dimensional positioning and flexible movement within the curing chamber. This multi-directional movement capability allows the robotic arm 10 to efficiently complete the loading and unloading of the smoke storage unit 100, such as placing the smoke storage unit 100 at the corresponding position on the support frame 300 at the target height, or removing the smoke storage unit 100 from the support frame 300 at the target height. This design effectively replaces manual labor in loading and unloading the smoke storage unit 100, reducing labor costs while effectively minimizing the safety hazards associated with manual climbing operations.

[0062] It is worth noting that, in order to ensure the orderly loading and unloading of the tobacco storage units 100, the loading and unloading of each layer of support frame 300 can be completed sequentially. For example, when a certain number of tobacco storage units 100 need to be loaded onto a certain layer of support frame 300 in the curing barn, the robotic arm 10 can be used to first place the tobacco storage units 100 on the innermost side of the support frame 300 (i.e., the deepest part of the curing barn), and then place the tobacco storage units 100 sequentially from the inside to the outside of the support frame 300 until the support frame 300 is full of tobacco storage units 100. Similarly, when it is necessary to unload the tobacco storage units 100 from a certain layer of support frame 300, the robotic arm 10 can be used to remove the tobacco storage units 100 sequentially from the outside to the inside of the support frame 300.

[0063] In some embodiments, the multi-directional movement unit 20 may be constructed in the manner described below, but is not limited to.

[0064] Combination Figure 3 As shown, the multi-directional movement unit 20 may include a first movement mechanism 21 and a second movement mechanism 22. The first movement mechanism 21 is adapted to output the aforementioned first movement along a horizontal first direction. The second movement mechanism 22 may be disposed at the output end of the first movement mechanism 21, and the second movement mechanism 22 is adapted to output the aforementioned second movement along a vertical direction. The robotic arm 10 may be disposed at the output end of the second movement mechanism 22.

[0065] Thus, when the first moving mechanism 21 is activated, the second moving mechanism 22, together with the robotic arm 10, can move synchronously along the first horizontal direction. Correspondingly, when the second moving mechanism 22 is activated, the robotic arm 10 can move along the vertical direction.

[0066] Furthermore, such as Figure 3 and Figure 4 As shown, the first moving mechanism 21 may include at least one track 211 and a horizontal moving support 212. The at least one track 211 extends and is fixed along a first horizontal direction, specifically fixed inside the baking oven. Furthermore, the track 211 is provided with teeth 213 extending along the first horizontal direction; for example, a rack extending along the first horizontal direction may be provided on the track 211 as the teeth 213.

[0067] A horizontally moving support 212 can be arranged beside the track 211. A horizontally moving assembly is provided on the horizontally moving support 212. The horizontally moving assembly may include moving wheels 214 corresponding one-to-one with the track 211, gears 215 corresponding one-to-one with the teeth 213 on the track 211, and a first driving component (not shown in the figure). The moving wheels 214 can move on their corresponding tracks 211, the gears 215 mesh with the teeth 213 on their corresponding tracks 211, and the first driving component is provided on the horizontally moving support 212. The gears 215 and moving wheels 214 can be coaxially arranged, and both gears 215 and moving wheels 214 are tractively connected to the first driving component, so that the first driving component drives the moving wheels 214 and gears 215 to rotate synchronously. A second moving mechanism 22 is provided on the horizontally moving support 212.

[0068] Thus, when the first driving component drives the moving wheel 214 and gear 215 to rotate, the horizontal moving bracket 212 will move along the first horizontal direction, thereby driving the second moving mechanism 22 and the robot arm 10 to move along the first horizontal direction. It can be understood that the cooperation of gear 215 and teeth 213 enables higher precision displacement control, allowing for more accurate control of the robot arm 10 to reach the target position in the depth direction of the drying chamber. Simultaneously, the coaxial arrangement of gear 215 and moving wheel 214 avoids slippage or slippage caused by asynchrony, ensuring the stability and reliability of the movement process.

[0069] To further improve the reliability of the robotic arm 10 when moving along the first horizontal direction, multiple tracks 211 can be sequentially arranged along the vertical direction in actual implementation. For example, in... Figure 3 In the illustrated embodiment, two tracks 211 are shown arranged sequentially along the height direction. The first drive component described above can be a motor, and when there are multiple tracks 211, the first drive component can serve as a power source for the moving wheels 214 and gears 215 corresponding to all tracks 211. For example, the first drive component can be connected to all moving wheels 214 and gears 215 via a transmission mechanism such as a belt drive.

[0070] like Figure 3 and Figure 5 As shown, the second moving mechanism 22 may include a timing belt 221 and a second drive component 222. The timing belt 221 extends along the height direction and is driveably connected to the second drive component 222. The second drive component 222 is mounted on the horizontal moving support 212. Driven by the second drive component 222, the timing belt 221 can move along its own closed loop path. The robot arm 10 is connected to one side of the timing belt 221, specifically, the first rotation drive component 122, which will be described below, is connected to one side of the timing belt 221.

[0071] Thus, when the second drive component 222 drives the synchronous belt 221 to move, the synchronous belt 221 will drive the robot arm 10 to move along the height direction. It can be understood that this design makes the movement of the robot arm 10 in the height direction more continuous, reduces the impact and vibration during the movement, and thus helps the robot arm 10 to move more smoothly along the height direction.

[0072] The second driving component 222 may include a driving pulley, a driven pulley, and a drive motor. The driving pulley and the driven pulley are sequentially arranged on the horizontal moving bracket 212 along the height direction. The synchronous belt 221 is wound between the driving pulley and the driven pulley and can move along its own closed annular path as the two pulleys rotate. The drive motor is mounted on the horizontal moving bracket 212 and is driven by the driving pulley to drive its rotation. Furthermore, the robot arm 10 connected to the synchronous belt 221 can slide in cooperation with the horizontal moving bracket 212 to further improve the stability of the robot arm 10 when the synchronous belt 221 drives it to move along the height direction.

[0073] In some embodiments, the robotic arm 10 may be constructed in the manner described below, but is not limited to.

[0074] like Figure 6 As shown, the robotic arm 10 may include a gripping assembly 11. The gripping assembly 11 is adapted to grip the cigarette storage piece 100, and the gripping assembly 11 is connected to the output end of the multi-directional movement unit 20 by means of the rotating assembly 12 described below, specifically to one side of the synchronous belt 221 in the second movement mechanism 22, so that the gripping assembly 11 can move in both the horizontal first direction and the height direction under the action of the multi-directional movement unit 20.

[0075] Specifically, the clamping assembly 11 may include a clamping bracket 111, two clamping plates 112, and a clamping drive component 113. The two clamping plates 112 are disposed opposite to each other on the clamping bracket 111. The clamping drive component 113 is used to drive the two clamping plates 112 to move closer or further apart. The clamping drive component 113 may be, but is not limited to, a linear drive mechanism composed of components such as a motor and a lead screw, which will not be described in detail here.

[0076] When the robotic arm 10 needs to grasp the cigarette storage item 100, it first moves to the location of the item and places it between the two clamping plates 112. Then, by controlling the two clamping plates 112 to move closer together, the item is clamped and secured. The robotic arm 10 can then carry the clamped item to the target location for placement. When placing the item, once it reaches the placement position, the two clamping plates 112 are moved away from each other to allow the item to fall into place.

[0077] Furthermore, the two clamping plates 112 can be configured such as on the opposite side. Figure 6 The slot 114 shown is adapted to the cigarette storage component 100. With this design, when the two clamping plates 112 are brought close to each other to clamp the cigarette storage component 100, the opposite sides of the cigarette storage component 100 can be respectively inserted into the slots 114 of the two clamping plates 112, so as to further improve the reliability of clamping the cigarette storage component 100.

[0078] In some embodiments, considering that in practical applications it may be necessary to adjust the clamping assembly 11, especially the angle of the two clamping plates 112 in the horizontal plane, the robot arm 10 may further include a rotating assembly 12 for adjusting the angle of the clamping assembly 11 in the horizontal plane.

[0079] like Figure 6 As shown, the rotating assembly 12 may include a rotating arm 121, a first rotating drive component 122, and a second rotating drive component 123. The first rotating drive component 122 may be located at the output end of the multi-directional moving unit 20, specifically on one side of the synchronous belt 221 connected to the second moving mechanism 22. The first end of the rotating arm 121 is connected to the first rotating drive component 122, which drives the rotating arm 121 to rotate in the horizontal plane.

[0080] The second end of the rotating arm 121 extends horizontally away from the first rotating drive component 122. The second rotating drive component 123 is disposed at the second end of the rotating arm 121 and is connected to the clamping bracket 111 to drive the clamping bracket 111 to rotate in the horizontal plane. The two clamping plates 112 are symmetrically arranged about the rotation axis of the clamping bracket 111.

[0081] The first rotation drive component 122 drives the rotating arm 121 to rotate, which can adjust the position of the clamping assembly 11 within a large horizontal angle range. The second rotation drive component 123 drives the clamping bracket 111 to rotate, which allows the two clamping plates 112 to rotate around the rotation axis of the clamping bracket 111.

[0082] In some embodiments, such as Figure 2 As shown, the conveying unit 30 can be arranged outside the door of the curing barn to continuously convey the tobacco storage unit 100 along the first horizontal direction. Specifically, the tobacco storage unit 100 is picked up from the curing barn by the robotic arm 10, and the tobacco storage unit 100 that needs to be stored in the curing barn is also conveyed by the robotic arm 10. This allows for the automated loading and unloading of the tobacco storage unit 100 in conjunction with the robotic arm 10, thereby further improving the automation level of the loading and unloading operation of the tobacco storage unit 100.

[0083] Specifically, refer to Figure 7 As shown, the conveying unit 30 may include a conveying support 31 and a conveying mechanism 32 disposed on the conveying support 31 and adapted to convey the cigarette storage unit 100. The conveying mechanism 32 may be a conventional conveying device such as a belt drive or a chain drive.

[0084] Reference Figure 7 The cigarette storage unit 100 shown is in the form of a cigarette clip. Considering that the cigarette storage unit 100 is generally long and narrow, and contains tobacco leaves 200 in the middle, a conveying mechanism 32 can be provided on both opposite sides of the conveying support 31, so that the two conveying mechanisms 32 can support the two ends of the cigarette storage unit 100 and convey it respectively.

[0085] Among them, reference Figure 8 As shown, multiple partition blocks 33 can also be arranged sequentially along their conveying paths on the conveying surface of each conveying mechanism 32. The individual cigarette storage unit 100 conveyed by the conveying mechanism 32 is located between two adjacent partition blocks 33 to avoid collisions between two adjacent cigarette storage units 100 when the conveying mechanism 32 continuously conveys the cigarette storage unit 100, and to provide sufficient space for the robot arm 10 to obtain a single cigarette storage unit 100 or place the cigarette storage unit 100 on the conveying mechanism 32.

[0086] Based on the above setup, when storing the tobacco storage units 100 in the curing barn, the operator only needs to place the tobacco storage units 100 sequentially on the conveying mechanism 32 of the conveying unit 30, and the conveying mechanism 32 will transport the tobacco storage units 100 to the door of the curing barn. Afterwards, the robotic arm 10, which can move along the first horizontal direction and the height direction, can sequentially pick up the tobacco storage units 100 and store them on the corresponding support racks 300 inside the curing barn. Similarly, when retrieving the tobacco storage units 100 from the curing barn, the robotic arm 10 can sequentially place the tobacco storage units 100 onto the conveying mechanism 32, so that the conveying mechanism 32 can transport the tobacco storage units 100 out, facilitating retrieval and storage by the operator.

[0087] Furthermore, the bottom of the conveying support 31 can be provided with movable parts 34 such as rollers, so that the conveying support 31 has the ability to move, thereby facilitating the adjustment of the position of the conveying unit 30 as needed.

[0088] Meanwhile, an adjustable foot cup 35 can also be provided on the side of the movable part 34 on the conveying support 31. After the conveying support 31 moves to the target position with the help of the movable part 34, the adjustable foot cup 35 can be adjusted to support the entire conveying support 31 on the ground and prevent the conveying support 31 from easily shifting.

[0089] Furthermore, combining Figure 7 and Figure 9 As shown, the conveying unit 30 may further include an adjustment assembly 36 disposed on the side of the conveying bracket 31 near the baking oven. The adjustment assembly 36 may include a connecting rod 361 and an adjustment component 362 disposed on the conveying bracket 31. The first end of the connecting rod 361 is hinged and fixed, for example, referring to... Figure 2 As shown, the first end of the connecting rod 361 can be hinged to the outer wall of the baking oven so that the first end of the connecting rod 361 is relatively fixed.

[0090] The adjusting component 362 includes a slider 3621 that can move along a second horizontal direction. This second horizontal direction is perpendicular to the first horizontal direction and can also be understood as the width direction of the drying oven. The slider 3621 can move along the second horizontal direction under the drive of a linear drive mechanism consisting of a lead screw, a handle, and other components; details will not be elaborated further here. Furthermore, the second end of the connecting rod 361 is hinged to the slider 3621.

[0091] In practical applications, the distance between the conveyor bracket 31 and the oven door in the first horizontal direction can be adjusted by the cooperation of the movable component 34 and the adjustable foot cup 35. The limiting action of the connecting rod 361 effectively prevents large positional deviations of the conveyor bracket 31. Correspondingly, the position of the conveyor bracket 31 in the second horizontal direction can be adjusted by the slider 3621, which can move along the second horizontal direction, allowing for better alignment between the conveyor bracket 31 and the oven door.

[0092] In some embodiments, both the manipulator 10 and the multi-directional moving unit 20 can be communicatively connected to the conveying unit 30 to achieve the linkage among the conveying unit 30, the manipulator 10, and the multi-directional moving unit 20. For example, after the conveying unit 30 conveys the tobacco storage piece 100 to be stored to the door of the baking room, the manipulator 10 and the multi-directional moving unit 20 can respond in a timely manner to grab the tobacco storage piece 100 conveyed by the conveying unit 30 into the baking room for storage by the manipulator 10; or, when the manipulator 10 cooperates with the multi-directional moving unit 20 to transfer the tobacco storage piece 100 in the baking room onto the conveying mechanism 32 of the conveying unit 30, the conveying unit 30 can respond in a timely manner to convey the tobacco storage piece 100 out. Among them, the conveying unit 30, the manipulator 10, and the multi-directional moving unit 20 are communicatively connected based on the known communication connection technologies in the prior art, which will not be elaborated here.

[0093] In some embodiments, an infrared detection device (not shown in the figure) can be provided in the operation area of the entire baking room adaptive loading and unloading system, such as the area between the conveying unit 30 and the door of the baking room. During the normal operation of the baking room adaptive loading and unloading system, if the infrared detection device detects that there are people or other living things (such as animals) approaching, the entire baking room adaptive loading and unloading system can automatically stop and send out an alarm message to avoid accidents.

[0094] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A curing barn adaptive loading and unloading system, characterized by, include: A robotic arm, suitable for grasping cigarette storage containers; as well as, Multi-directional moving units are arranged inside the drying room; The multi-directional movement unit is capable of outputting at least a first movement along a horizontal first direction and a second movement along a height direction to drive the manipulator to move in both the horizontal first direction and the height direction. The multi-directional movement unit includes: A first moving mechanism is used to output the first motion; The second moving mechanism is located at the output end of the first moving mechanism and is used to output the second motion; the robotic arm is located at the output end of the second moving mechanism; The first moving mechanism includes: At least one track extends along the first horizontal direction and is fixed inside the baking oven; the track is provided with teeth extending along the first horizontal direction; A horizontally movable support, wherein the second movable mechanism is disposed on the horizontally movable support; the horizontally movable support is provided with a horizontally movable assembly, the horizontally movable assembly comprising: Each track has a corresponding movable wheel, which can move on the corresponding track. A gear corresponding one-to-one with the teeth on the track, the gear being coaxially arranged with the moving wheel and meshing with the corresponding teeth; and, The first driving component is used to drive the moving wheel and the gear to rotate synchronously.

2. The curing barn self-adapting loading and unloading system of claim 1, wherein, The second moving mechanism includes a timing belt and a second drive component; The synchronous belt extends along the height direction and is connected to the second driving component for transmission; the second driving component is disposed on the horizontal moving bracket and is used to drive the synchronous belt to move along its own closed circular path; The robotic arm is connected to one side of the timing belt.

3. The curing barn self-adapting loading and unloading system of claim 1, wherein, The robotic arm includes a gripping assembly connected to the output of the multi-directional movement unit; the gripping assembly includes: Clamping bracket; Two clamping plates are disposed opposite to each other on the clamping bracket; and, The clamping drive component is configured to drive the two clamps to move closer or further apart from each other.

4. The curing barn self-adapting loading and unloading system of claim 3, wherein, The robotic arm further includes a rotating assembly, which comprises: A first rotation drive component is located at the output end of the multi-directional movement unit; A rotating arm, the first end of which is connected to the first rotation driving component for driving the rotating arm to rotate in a horizontal plane via the first rotation driving component; The second rotation drive component is located at the second end of the rotating arm; the second rotation drive component is connected to the clamping bracket to drive the clamping bracket to rotate in the horizontal plane; the two clamping plates are symmetrically arranged about the rotation axis of the clamping bracket.

5. The curing barn self-adapting loading and unloading system of claim 1, wherein, It also includes a conveying unit, which is arranged outside the door of the curing barn to convey the tobacco storage unit along the first horizontal direction.

6. The curing barn self-adapting loading and unloading system of claim 5, wherein, The conveying unit includes: Conveyor support; A conveying mechanism is mounted on the conveying support and is used to convey the cigarette storage container; The conveying surface of the conveying mechanism is provided with multiple partition blocks arranged sequentially along its conveying path.

7. The curing barn self-adapting loading and unloading system of claim 6, wherein, The conveying support is equipped with a movable component and an adjustable foot cup.

8. The curing barn self-adapting loading and unloading system of claim 7, wherein, The conveying support is also provided with an adjustment component, which includes: A connecting rod, the first end of which is hinged and fixed; An adjusting component is arranged on the conveying support and comprises a slider movable in a horizontal second direction; the horizontal second direction is perpendicular to the horizontal first direction; wherein the second end of the connecting rod is hingedly connected to the slider.

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