Tobacco leaf bulk plug division system

Abstract

The application relates to a tobacco block inserting system which comprises a conveying module, an inserting cutter module, a driving module and a torque sensor. The conveying module comprises a conveying belt, the conveying belt is provided with an inserting station, and the conveying belt is used for conveying tobacco blocks. The inserting cutter module comprises a base and at least one inserting cutter connected with the base. The driving module is connected with the inserting cutter module, and the driving module is used for driving the inserting cutter module to insert the tobacco blocks located in the inserting station. The torque sensor is connected with the driving module and the inserting cutter module, and the torque sensor is used for acquiring the torque of the acting force between the inserting cutter module and the driving module.

Description

Technical Field

[0001] This application relates to the field of tobacco leaf processing technology, and in particular to a tobacco leaf block splitting system. Background Technology

[0002] In the tobacco processing workshop, after the tobacco leaves are sliced, the sliced ​​tobacco leaf blocks need to be separated and loosened to ensure the quality of subsequent tobacco leaf traceability processes.

[0003] In traditional techniques, workers in tobacco processing workshops use their experience in tobacco manufacturing and wedge-shaped metal pry bars to separate and loosen tobacco leaf blocks, and then pass the separated tobacco leaf blocks into the next tobacco manufacturing process.

[0004] However, in traditional techniques, manually separating and loosening tobacco leaf blocks is labor-intensive and inefficient. Therefore, current methods for separating tobacco leaf blocks are not very efficient. Utility Model Content

[0005] Therefore, it is necessary to provide a tobacco leaf block splitting system that improves splitting efficiency to address the aforementioned technical problems.

[0006] This application provides a tobacco leaf block inserting and splitting system, including a conveying module, an inserting and splitting tool module, a driving module, and a torque sensor. The conveying module includes a conveyor belt with an inserting and splitting station on it, and the conveyor belt is used to convey tobacco leaf blocks. The inserting and splitting tool module includes a base and at least one inserting tool connected to the base. The driving module is connected to the inserting and splitting tool module and is used to drive the inserting and splitting tool module to insert and split the tobacco leaf blocks located at the inserting and splitting station. The torque sensor is connected to the driving module and the inserting and splitting tool module and is used to obtain the torque of the force between the inserting and splitting tool module and the driving module.

[0007] In one embodiment, it further includes a control module that is signal-connected to both the insert cutting tool module and the torque sensor. After receiving the torque signal acquired by the torque sensor, the control module sends a signal to the drive module.

[0008] In one embodiment, the conveyor belt is also provided with a detection station; the tobacco leaf block insertion system also includes a tobacco leaf detection module, which includes at least one sensor facing the detection station, and the sensor is signal-connected to the control module.

[0009] In one embodiment, the sensor includes at least one of a camera, a laser sensor, a weight sensor, and a pressure sensor.

[0010] In one embodiment, the base includes: a chassis connected to a torque sensor; and a connecting seat connected to the chassis and located on the side of the chassis away from the torque sensor, the connecting seat having at least one first connecting hole for connecting a inserter.

[0011] In one embodiment, the connector extends along a first direction, a plurality of first connecting holes are arranged along the first direction, and the plurality of first connecting holes penetrate the connector along a second direction, wherein the first direction and the second direction are intersecting.

[0012] In one embodiment, the insert includes a blade tip, a blade body, and a blade tail arranged in sequence. The blade tail includes two first connecting pieces spaced apart, forming a limiting groove between the two first connecting pieces. The first connecting pieces are provided with a second connecting hole that penetrates the first connecting piece along the thickness direction of the first connecting piece. When the insert is connected to the base, at least part of the connecting seat is located in the limiting groove, and the second connecting hole is aligned with one of the first connecting holes on the connecting seat.

[0013] In one embodiment, the insert cutting tool module further includes a connector, through which two adjacent inserting tools are connected.

[0014] In one embodiment, the connector includes a connecting rod and two spaced-apart second connecting pieces, the connecting rod connecting the two second connecting pieces, and the two second connecting pieces respectively connecting to the blades of two adjacent inserts.

[0015] In one embodiment, it further includes a safety protection module, comprising a grating and an alarm element, wherein the grating is located on at least one side of the conveyor belt, and the grating, the alarm element, and the drive module are all signal connected.

[0016] The improved tobacco leaf block splitting system of this application, by setting up a splitting cutter module and a drive module, uses the drive module to move the splitting cutter module to achieve automatic splitting of tobacco leaf blocks, thereby improving the splitting efficiency. By installing a torque sensor between the drive module and the splitting cutter module, the torque of the force between the splitting cutter module and the drive module is monitored in real time. This prevents insufficient splitting of tobacco leaf blocks due to excessive driving force applied by the drive module, and avoids damage to the tobacco leaves due to excessive driving force applied by the drive module, thus improving the splitting quality and efficiency of the tobacco leaf block splitting system. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of a tobacco leaf block insertion system is provided.

[0019] Figure 2This is a schematic diagram of the interpolation tool module in one embodiment;

[0020] Figure 3 This is a schematic diagram of the base structure in one embodiment;

[0021] Figure 4 This is a schematic diagram of the inserter structure in one embodiment;

[0022] Figure 5 This is a schematic diagram of the structure of the second connector in one embodiment;

[0023] Figure 6 This is a flowchart illustrating a method for separating tobacco leaf blocks in one embodiment;

[0024] Figure 7 This is a schematic diagram of the process for obtaining a set of physical parameters in one embodiment;

[0025] Figure 8 This is a flowchart illustrating the process of determining the target control parameter set in one embodiment;

[0026] Figure 9 This is a flowchart illustrating the process of determining the target insertion mode and the target insertion speed curve in one embodiment;

[0027] Figure 10 This is a flowchart illustrating the process of determining torque control parameters in one embodiment;

[0028] Figure 11 This is a schematic diagram of the process of inserting tobacco leaf blocks in one embodiment;

[0029] Figure 12 This is an illustration of the flow of a flexible tobacco block interpolation method based on a collaborative robot in one embodiment;

[0030] Figure 13 This is a flowchart illustrating another method for separating tobacco leaf blocks;

[0031] Figure 14 This is an internal structural diagram of a collaborative robot in one embodiment.

[0032] Explanation of reference numerals in the attached figures:

[0033] 100. Conveying module;

[0034] 200. Insertion tool module; 210. Base; 211. Chassis; 212. Connecting seat; 213. First connecting hole; 220. Insertion tool; 221. Tool tip; 222. Tool body; 223. Tool tail; 224. First connecting piece; 225. Limiting groove; 226. Second connecting hole; 230. Connector; 231. Connecting rod; 232. Second connecting piece;

[0035] 300. Driver module;

[0036] 400. Torque sensor. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0038] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0039] Please see Figure 1 and Figure 2 , Figure 1 A schematic diagram of a tobacco leaf block insertion system is provided. Figure 2 This is a schematic diagram of the insert cutting tool module in one embodiment.

[0040] like Figure 1 and Figure 2 As shown, an embodiment of the first aspect of this application provides a tobacco leaf block inserting system, including a conveying module 100, an inserting cutter module 200, a drive module 300, and a torque sensor 400. The conveying module 100 includes a conveyor belt with inserting stations on it, and the conveyor belt is used to convey tobacco leaf blocks (not shown). The inserting cutter module 200 includes a base 210 and at least one inserting blade 220 connected to the base 210. The drive module 300 is connected to the inserting cutter module 200 and is used to drive the inserting cutter module 200 to insert the tobacco leaf blocks located at the inserting stations. The torque sensor 400 is connected to the drive module 300 and the inserting cutter module 200, and is used to obtain the torque of the force between the inserting cutter module 200 and the drive module 300.

[0041] Optionally, the drive module 300 can be a collaborative robot, which can drive the inserting cutter module 200 to move and rotate in the horizontal, vertical and vertical directions, thereby realizing the vertical insertion, tilting insertion and rotational separation of the tobacco leaf block by the inserting cutter 220.

[0042] Optionally, the torque sensor 400 can monitor both the force applied by the drive module 300 to the insert tool module 200 and the force applied by the insert tool module 200 to the drive module 300 in real time, thereby determining the force state of the insert tool 220 during inserting (such as insertion resistance and cutting torque). One end of the torque sensor is connected to the drive module 300, and the other end is connected to the insert tool module 200.

[0043] The tobacco leaf block splitting system provided in this embodiment automatically splits tobacco leaf blocks by setting up a splitting cutter module 200 and a drive module 300. The drive module 300 drives the splitting cutter module 200 to move, thereby improving the splitting efficiency. By setting a torque sensor 400 between the drive module 300 and the splitting cutter module 200, the torque of the force between the splitting cutter module 200 and the drive module 300 is monitored in real time. This prevents insufficient splitting of tobacco leaf blocks due to too small a driving force applied by the drive module 300 to the splitting cutter module 200, and prevents damage to tobacco leaves due to too large a driving force applied by the drive module 300, thus improving the splitting quality and efficiency of the tobacco leaf block splitting system.

[0044] In some embodiments, the tobacco leaf block insertion system also includes a control module (not shown), which is signal-connected to both the insertion tool module 200 and the torque sensor 400. After receiving the torque signal acquired by the torque sensor 400, the control module sends a signal to the drive module.

[0045] The torque sensor 400 monitors the torque of the force between the cutting tool module 200 and the drive module 300 in real time. The control module adjusts the output power of the drive module according to the torque signal fed back by the torque sensor 400, thereby realizing the adaptive adjustment of the cutting action of tobacco leaf blocks.

[0046] In some embodiments, the conveyor belt is also equipped with a detection station. The tobacco leaf block insertion system also includes a tobacco leaf detection module (not shown), which includes at least one sensor facing the detection station and is signal-connected to the control module.

[0047] The testing station is located at the front end of the insertion station. The tobacco leaf blocks on the conveyor belt first pass through the testing station and then move to the insertion station.

[0048] Optionally, the sensor includes at least one of a camera, a laser sensor, a weight sensor, and a pressure sensor. The tobacco leaf detection module is used to acquire a set of physical parameters of the tobacco leaf block to be intercalated. These physical parameters include the thickness, flexibility parameter, and density of the tobacco leaf block to be intercalated. For example, the camera and laser sensor can acquire the surface coordinates of the tobacco leaf block to be intercalated and determine its thickness based on these coordinates. Simultaneously, the pressure sensor can acquire the flexibility parameter of the tobacco leaf block to be intercalated. Furthermore, the weight sensor and camera can acquire the volume and weight of the tobacco leaf block to be intercalated and determine its density based on these measurements.

[0049] The tobacco leaf block insertion system provided in this embodiment, by setting up a tobacco leaf detection module and connecting the sensor in the tobacco leaf detection module with the control module, enables the control module to adjust the insertion path and insertion torque of the insertion tool module 200 according to the physical parameters of the tobacco leaf block to be inserted, thereby further improving the insertion quality and insertion efficiency.

[0050] Please refer to Figures 1 to 5 , Figure 3 This is a schematic diagram of the base structure in one embodiment; Figure 4 This is a schematic diagram of the inserter structure in one embodiment; Figure 5 This is a schematic diagram of the structure of the second connector in one embodiment.

[0051] like Figures 1 to 5 As shown, in some embodiments, the base 210 includes a chassis 211 and a connecting seat 212. The chassis 211 is connected to the torque sensor 400. The connecting seat 212 is connected to the chassis 211 and is located on the side of the chassis 211 away from the torque sensor 400. The connecting seat 212 is provided with at least one first connecting hole 213 for connecting the insert 220.

[0052] The connector 212 extends along a first direction, and a plurality of first connecting holes 213 are arranged along the first direction. All the first connecting holes 213 penetrate the connector 212 along a second direction, and the first and second directions intersect. The second direction can be considered as the thickness direction of the connector 212.

[0053] Optionally, the inserter 220 includes a blade tip 221, a blade body 222, and a blade tail 223 connected in sequence. The blade tail 223 includes two spaced-apart first connecting pieces 224, with a limiting groove 225 formed between the two first connecting pieces 224. Each first connecting piece 224 has a second connecting hole 226 extending through it along its thickness direction. When the inserter 220 is connected to the base 210, at least a portion of the connecting seat 212 is located within the limiting groove 225, and the second connecting hole 226 is aligned with a first connecting hole 213 on the connecting seat 212. Subsequently, bolts, nuts, or other components can be used to securely connect the inserter 220 to the connecting seat 212.

[0054] Optionally, the inserting cutter module 200 includes multiple inserting cutters 220 of different sizes and materials. For example, there are differences in parameters such as the total length of each inserting cutter 220, the length of the blade tip 221, and the taper of the blade tip 221. This allows for the selection of inserting cutters 220 with different parameters to be installed on the base 210 according to the physical characteristics of the tobacco leaf block, in order to obtain a better inserting effect.

[0055] The tobacco leaf block inserting system provided in this embodiment improves adaptability to tobacco leaf blocks by movably connecting the base 210 and the inserter 220, allowing the inserter module 200 to replace the inserter 220 with different parameters as needed. By including two spaced-apart first connecting pieces 224 on the blade tail 223, with a limiting groove 225 formed between the first connecting pieces 224, the connecting seat 212 is limited by the limiting groove 225, thus improving the connection strength between the base 210 and the inserter 220.

[0056] Below are some parameters and performance specifications of the 220 slot inserter for your reference:

[0057] Blade Material - High Wear-Resistant Alloy: Utilizing tungsten steel (YT15 cemented carbide (a representative grade of tungsten-cobalt-titanium cemented carbide)) or powder metallurgy stainless steel (17-4PH (a type of steel)), with a hardness of HRC60-65 (Rockwell hardness), its wear resistance is 3-5 times higher than ordinary stainless steel, ensuring that the blade does not easily wear during long-term cutting operations and maintaining cutting accuracy. Flexible Matrix Material: The blade base is embedded with titanium alloy (TC4, a type of titanium alloy) or spring steel (65Mn (a type of spring steel)), with an elastic modulus of 100-200 GPa (gigapascals), allowing the blade to produce a 5-10° flexible deformation when inserted into the tobacco leaf, avoiding damage to the tobacco leaf due to rigid contact.

[0058] Tool body material - lightweight high-strength alloy: The body is made of 7075 aluminum alloy or carbon fiber reinforced polymer (CFRP), with a density of only 2.8-3.0 g / cm³. 3It reduces weight by 40% compared to traditional steel, reducing the load on the end effector of collaborative robots, while maintaining a tensile strength of 500-600 MPa to ensure structural stability.

[0059] Blade shape-hydrodynamic optimization curve: The blade section of the inserter 220 is shaped like an "elliptical arc" (major axis radius 5mm, minor axis radius 3mm). When inserted, the front arc (radius of curvature 2mm) contacts the tobacco leaf first, reducing cutting resistance. The resistance coefficient is reduced by 25% compared to a straight blade.

[0060] Overall tool structure - variable cross-section taper design: The taper of the tool from the shank to the cutting edge is 1:5 (that is, for every 5mm increase in length, the thickness decreases by 1mm). For example, the shank thickness is 10mm and the cutting edge thickness is 2mm, ensuring that the front end is sharp and the rear end is strong enough when inserted.

[0061] In some embodiments, the insert cutting tool module 200 further includes a connector 230, through which two adjacent inserting tools 220 are connected.

[0062] Optionally, the connector 230 includes a connecting rod 231 and two spaced-apart second connecting pieces 232. The connecting rod 231 connects the two second connecting pieces 232, and the two second connecting pieces 232 are respectively connected to the blades 222 of two adjacent inserts.

[0063] Optionally, the second connecting piece 232 is detachably connected to the blade 222 by bolts.

[0064] The tobacco leaf block insertion system provided in this embodiment connects the blades 222 of two adjacent inserters 220 by setting a connector 230, which further improves the connection strength of the inserters 220 and reduces the probability of the blade tip 221 of the inserter 220 deflecting when subjected to external force, thereby reducing the standard deviation of the distance between adjacent inserters and further improving the insertion accuracy.

[0065] In some embodiments, the tobacco block insertion system also includes a safety protection module (not shown). The safety protection module includes a light grating and an alarm device. The light grating is located on at least one side of the conveyor belt and is signal-connected to the alarm device and the drive module 300. The safety protection module is used to monitor abnormal situations during the insertion process in real time and trigger alarms and take appropriate actions when abnormalities occur. When the safety protection module detects abnormalities such as overload, collision, or personnel entry, it will automatically enter a protection mode, suspend operation, and issue an alarm signal to ensure the safety of equipment and personnel. The light grating provides physical safety protection for the working area; if personnel enter the hazardous area, the tobacco block insertion system will automatically stop working.

[0066] Please refer to Figure 6 , Figure 6 This is a flowchart illustrating a method for separating tobacco leaf blocks in one embodiment.

[0067] like Figure 6 As shown, this application also provides a method for inserting tobacco leaf blocks. Taking the application of this method to the drive module (hereinafter omitted) in the above embodiments as an example, the drive module includes a collaborative robot and a controller connected to the collaborative robot via signals. The tobacco leaf block insertion method includes steps 202 to 206. Wherein:

[0068] Step 202: Obtain the set of physical parameters for the tobacco leaf blocks to be inserted.

[0069] Among them, the tobacco leaf blocks to be separated are the tobacco leaf blocks that need to be separated.

[0070] In practice, the controller obtains a set of physical parameters of the tobacco leaf blocks to be inserted through the tobacco leaf detection module. The set of physical parameters includes the thickness, flexibility, and density of the tobacco leaf blocks to be inserted.

[0071] Specifically, the tobacco leaf detection module includes a camera, a laser sensor, a pressure sensor, and a weight sensor. The controller acquires the surface coordinates of the tobacco leaf block to be inserted using the camera and laser sensor, and determines the thickness of the block based on these coordinates. Simultaneously, the controller acquires the flexibility parameters of the tobacco leaf block using the pressure sensor. Furthermore, the controller obtains the volume and weight of the tobacco leaf block using the weight sensor, and determines its density based on these measurements.

[0072] In one exemplary embodiment, tobacco leaf blocks are transported on a conveyor belt. A collaborative robot is fixed in the slitting area of ​​the tobacco processing workshop. A controller identifies the tobacco leaf block closest to the collaborative robot as the block to be inserted and slit. A tobacco leaf detection module is positioned in front of the collaborative robot. This module includes various detection devices for detecting the physical parameters of the tobacco leaf block, such as a light camera, a laser sensor, a vision sensor, a pressure sensor, and a weight sensor. The controller acquires the upper and lower surface coordinates of the tobacco leaf block to be inserted and slit using the light camera and laser sensor, and determines the thickness of the tobacco leaf block based on these coordinates. The controller acquires the flexibility parameters of the tobacco leaf block to be inserted and slit using the vision sensor and pressure sensor, and acquires the volume and weight of the tobacco leaf block to be inserted and slit using the weight sensor and vision sensor. The controller determines the density of the tobacco leaf block to be inserted and slit based on the weight and volume. Then, the controller constructs a set of physical parameters for the tobacco leaf block to be inserted and slit based on the thickness, flexibility parameters, and density.

[0073] Step 204: Based on the mapping relationship between physical parameters and control parameters, determine the target control parameter set corresponding to the physical parameter set, and generate the interpolation trajectory of the collaborative robot based on the target control parameter set.

[0074] In implementation, the controller has pre-set mapping relationships between various physical parameters and control parameters. The physical parameters in the controller's physical parameter set, and the mapping relationships between these physical parameters and control parameters, determine the target control parameter set corresponding to each physical parameter. Then, based on the target control parameter set, the controller generates the interpolation trajectory of the collaborative robot.

[0075] Specifically, the physical parameter set includes density, flexibility parameters, and thickness. Control parameters include insertion mode, velocity (insertion speed), direction (insertion direction), and insertion density. The controller determines the target insertion mode and target insertion speed curve based on the thickness, flexibility parameters, velocity mapping, and insertion mode mapping. Then, the controller determines the target direction (target insertion direction) of the tobacco leaf blocks to be inserted based on the density, thickness, and direction mapping. The controller determines the target density mode based on the density and insertion density mapping. Then, the controller constructs the target control parameter set based on the target insertion speed curve, target insertion mode, target direction, and target density mode.

[0076] Step 206: Determine the torque control parameters based on the stage of the interpolation trajectory and the real-time torque value, and control the collaborative robot to interpolate the tobacco leaf blocks to be interpolated in real time based on the torque control parameters and the interpolation trajectory.

[0077] During implementation, the controller determines the stage of the intercalation trajectory and acquires real-time torque values ​​via torque sensors. Then, based on the real-time torque values, the stage of the intercalation trajectory, and the physical parameter set, the controller determines the torque parameters of the control module. Finally, based on the torque control parameters and the intercalation trajectory, the controller controls the collaborative robot to intercalate the tobacco leaf blocks in real time.

[0078] Specifically, the controller acquires the current torque value of the collaborative robot in real time. Then, the controller obtains the current torque value of the collaborative robot in real time through the torque sensor at its end effector. The controller divides the interpolation trajectory into interpolation stages and determines the current interpolation stage the collaborative robot is in. The controller determines the torque control parameters using a torque control algorithm, a set of physical parameters, the interpolation trajectory of the current interpolation stage, the real-time torque value, and a preset torque threshold. Then, the controller generates a spatial coordinate sequence for the collaborative robot based on the interpolation trajectory, and controls the collaborative robot to perform real-time interpolation of the tobacco leaf blocks to be interpolated using the spatial coordinate sequence, torque control parameters, and the control module.

[0079] In the aforementioned tobacco leaf block intercalation method, the target control parameter set can be scientifically determined through the mapping relationship between physical parameters and control parameters, thereby generating the intercalation trajectory of the collaborative robot. Then, by determining the stage of the intercalation trajectory and the real-time torque value, the torque control parameters can be determined. Based on the torque control parameters and the intercalation trajectory, the collaborative robot can be controlled to automatically intercalate the tobacco leaf blocks to be intercalated, realizing automated tobacco leaf block intercalation, avoiding manual intervention, and improving the efficiency of the tobacco leaf block intercalation method.

[0080] Please refer to Figure 7 , Figure 7 This is a schematic diagram of the process for obtaining a set of physical parameters in one embodiment.

[0081] like Figure 7 As shown, in an exemplary embodiment, step 202 specifically includes steps 302 to 308. Wherein:

[0082] Step 302: Obtain the upper and lower surface coordinates of the tobacco leaf block to be inserted using the camera and laser sensor, and determine the thickness of the tobacco leaf block to be inserted based on the upper and lower surface coordinates.

[0083] During implementation, the camera acquires the coordinates of the upper surface of the tobacco leaf block to be inserted and transmits these coordinates to the controller. Simultaneously, the laser sensor acquires the coordinates of the lower surface of the tobacco leaf block and transmits these coordinates to the controller. The controller receives the upper and lower surface coordinates and determines the thickness of the tobacco leaf block to be inserted based on these coordinates.

[0084] Specifically, the camera is positioned above the tobacco leaf block to be inserted. When the tobacco leaf block enters the inspection station, the camera on the top structure projects a striped pattern to acquire the three-dimensional coordinates of the upper surface of the tobacco leaf block. Then, the camera sends these three-dimensional coordinates to the controller. Simultaneously, a laser sensor located below the tobacco leaf block sends a laser beam to the tobacco leaf block, thereby acquiring the three-dimensional coordinates of the lower surface. The laser sensor then sends these lower surface coordinates to the controller. The controller acquires both the upper and lower surface coordinates, calculates the vertical distance between the upper and lower surfaces, and thus obtains the thickness of the tobacco leaf block.

[0085] In an optional embodiment, the controller determines the thickness grade of the tobacco leaf block to be inserted based on the thickness of the tobacco leaf block to be inserted, thereby providing a basis for physical parameters for subsequent determination of the target control parameter set.

[0086] Step 304: Obtain the flexibility parameters of the tobacco leaf blocks to be inserted based on the vision sensor and pressure sensor.

[0087] In practice, the controller acquires a texture image of the surface of the tobacco leaf block to be inserted using a vision sensor, and determines the flexibility index of the tobacco leaf block based on the texture image. Simultaneously, the controller tests the deformation recovery time of the tobacco leaf block using a pressure sensor. Then, the controller determines the flexibility parameter of the tobacco leaf block based on the flexibility parameter and the deformation recovery time.

[0088] Specifically, a vision sensor acquires a texture image of the surface of the tobacco leaf block to be inserted and analyzes the image to obtain a flexibility index. Simultaneously, a pressure sensor detects the deformation recovery time of the tobacco leaf after being compressed. The vision sensor then transmits the flexibility index to the controller, and the pressure sensor transmits the deformation recovery time to the controller. The controller receives the flexibility parameters and deformation recovery time, and determines the flexibility parameters of the tobacco leaf block to be inserted based on these parameters. An array of pressure sensors is integrated into the conveyor belt that transports the tobacco leaf blocks. As the tobacco leaf block passes by, the pressure sensors detect the pressure distribution on the conveyor belt and the deformation recovery speed. For example, flexible tobacco leaves deform uniformly and recover rapidly after being compressed, resulting in a smooth pressure curve; brittle tobacco leaves experience localized pressure abrupt changes and recover slowly after being compressed. The pressure sensors calculate the flexibility parameters of the tobacco leaf block based on the pressure curve characteristics of the tobacco leaf.

[0089] In one exemplary embodiment, a vision sensor analyzes a texture image and determines that the tobacco leaf surface has uniform wrinkles and no obvious breaks, thus assigning a flexibility index of 0.7 (slightly flexible). A higher flexibility index indicates greater flexibility. Simultaneously, a pressure sensor detects a deformation recovery time of 0.3 seconds (relatively fast) for the tobacco leaf. The vision sensor transmits the flexibility index to the controller. The pressure sensor also transmits the deformation recovery time to the controller. Based on the flexibility index and deformation recovery time, the controller determines the flexibility parameter as "flexible." Therefore, the tobacco leaves in the tobacco leaf blocks to be inserted are flexible tobacco leaves.

[0090] Step 306: Obtain the volume and weight of the tobacco leaf blocks to be inserted based on the weight sensor and the vision sensor, and determine the density of the tobacco leaf blocks to be inserted based on the volume and weight.

[0091] In practice, the controller acquires the weight of the tobacco leaf blocks to be inserted using a weight sensor. Simultaneously, the controller obtains the three-dimensional coordinates of the tobacco leaf blocks using a vision sensor and determines their volume based on these coordinates. Then, the controller determines the density of the tobacco leaf blocks based on their weight and volume.

[0092] Specifically, a weight sensor is positioned below the conveyor belt transporting the tobacco leaf blocks. As the tobacco leaf block to be inserted passes the weight sensor, the sensor measures its weight. Simultaneously, a vision sensor acquires the three-dimensional coordinates of the tobacco leaf block and determines its volume based on these coordinates. The weight sensor transmits the weight of the tobacco leaf block to the controller. At the same time, the vision sensor transmits the volume of the tobacco leaf block to the controller. The controller's density algorithm performs calculations on the volume and weight data to obtain the density of the tobacco leaf block to be inserted.

[0093] Step 308: Construct a set of physical parameters for the tobacco leaf blocks to be inserted based on the thickness, flexibility parameters, and density.

[0094] In practice, the controller combines the thickness, flexibility parameters, and density of the tobacco leaf blocks to be inserted to obtain a set of physical parameters for the tobacco leaf blocks to be inserted.

[0095] In this embodiment, the thickness, flexibility parameters and density of the tobacco leaf blocks to be inserted are collected by various sensors to obtain a set of physical parameters of the tobacco leaf blocks to be inserted, which is convenient for determining the target control parameter set of the tobacco leaf blocks to be inserted based on the physical parameter set.

[0096] Please refer to Figure 8 , Figure 8 This is a flowchart illustrating the process of determining the target control parameter set in one embodiment.

[0097] like Figure 8 As shown, in an exemplary embodiment, the physical parameter set includes flexibility parameters, thickness, and density. Step 204, which determines the target control parameter set corresponding to the physical parameter set based on the mapping relationship between physical parameters and control parameters, includes steps 402 to 406. Wherein:

[0098] Step 402: Determine the target insertion speed curve and target insertion mode based on the thickness, flexibility parameters, speed mapping relationship and insertion mode mapping relationship.

[0099] In implementation, the controller determines the target insertion pattern based on the thickness, flexibility parameters, and insertion pattern mapping relationship. Then, the controller determines the target insertion velocity curve based on the thickness, flexibility parameters, and velocity mapping relationship.

[0100] Specifically, the insertion pattern mapping relationship includes a first insertion pattern mapping relationship and a second insertion pattern mapping relationship. The first insertion pattern mapping relationship is the mapping relationship between thickness and insertion pattern. The second insertion pattern mapping relationship is the mapping relationship between flexibility parameters and insertion pattern. The controller determines the initial target insertion pattern based on the thickness and the first insertion pattern mapping relationship. Then, the controller optimizes the initial target insertion pattern based on the flexibility parameters and the second insertion pattern mapping relationship to obtain the target insertion pattern. The controller determines the initial starting speed based on the starting speed mapping relationship between thickness and starting speed. Then, the controller determines the target speed change pattern based on the flexibility parameters and the speed change pattern mapping relationship between flexibility parameters and speed change patterns, and generates the target insertion speed curve based on the initial starting speed and the target speed change pattern.

[0101] Step 404: Determine the target direction based on the density, flexibility parameters, and the directional mapping relationship between the density, flexibility parameters, and direction.

[0102] In implementation, the controller is pre-set with a first directional mapping relationship between density and direction, and a second directional mapping relationship between flexibility parameters and direction. The controller determines the initial target direction based on the density and the first directional mapping relationship, and optimizes the initial target direction based on the second directional mapping relationship and the flexibility parameters to obtain the target direction.

[0103] Specifically, the first directional mapping relationship is the mapping relationship between density and direction. The second mapping relationship is the mapping relationship between flexibility parameters and direction adjustment range. The controller determines the initial target direction based on the density of the tobacco leaf block to be inserted and the first directional mapping relationship. Specifically, the higher the density of the tobacco leaf block to be inserted, the larger the angle of the initial target direction will be, thereby reducing insertion resistance. The lower the density of the tobacco leaf block to be inserted, the smaller the angle of the initial target direction will be, thereby simplifying the operation process. Then, the controller determines the target insertion direction adjustment range based on the flexibility parameter of the tobacco leaf block to be inserted and the second directional mapping relationship. Specifically, the more flexible the tobacco leaf block to be inserted, the larger the target insertion direction adjustment range will be; the more brittle and hard the tobacco leaf block to be inserted, the smaller the target insertion direction adjustment range will be. The controller determines the target direction based on the initial target direction and the target insertion direction adjustment range.

[0104] In an exemplary embodiment, if the density indicates that the tobacco leaf block to be inserted is high-density tobacco, the controller determines the initial target direction to be at a 120° angle and determines that the inserter on the collaborative robot has multiple blades (e.g., three blades inserted at 0°, 120°, and 240° respectively). Multi-directional force reduces the resistance of a single blade. If the density indicates that the tobacco leaf block to be inserted is low-density tobacco, the controller determines the initial target direction to be 0° (vertical insertion). Vertical insertion simplifies the motion process. The initial target direction is the blade direction. If the flexibility parameter indicates that the tobacco leaves in the tobacco leaf block to be inserted are flexible, the controller determines the target insertion direction adjustment range to be ±10°, allowing the inserter to dynamically adjust within a ±10° range to adapt to the natural curvature of the tobacco leaf block. If the flexibility parameter indicates that the tobacco leaves in the tobacco leaf block to be inserted are brittle and hard, the controller determines the target insertion direction adjustment range to be 2°, strictly locking the initial target insertion direction to prevent local stress concentration due to directional deviation.

[0105] Step 406: Determine the target density pattern based on the density and the insertion density mapping relationship between density and insertion density, and construct the target control parameter set based on the target insertion velocity curve, target insertion pattern, target direction and target density pattern.

[0106] In implementation, the controller has a pre-set insertion density mapping relationship between density and insertion density. Insertion density is the insertion frequency. The controller determines the target density pattern based on this mapping relationship. Then, the controller combines the target insertion velocity curve, the target insertion pattern, the target direction, and the target density pattern to obtain the target control parameter set.

[0107] Specifically, if the density characterization of the tobacco leaf block to be intercalated is a high-density tobacco leaf block, the controller determines the target density pattern as a grid-like intercalation path pattern based on the intercalation density mapping relationship. That is, 5×5cm grid nodes are formed on the surface of the tobacco leaf block, and each node performs one intercalation action, improving loosening efficiency. High-density tobacco leaves are defined as having a density greater than or equal to 0.8 g / cm³. 3 (grams per cubic centimeter) of tobacco leaves. If the density characterizes the tobacco leaf block to be intercalated as a low-density tobacco leaf block, the controller determines the target density mode as an interleaved intercalation mode based on the intercalation density mapping relationship. That is, 8×8cm grid nodes are formed on the surface of the tobacco leaf block, and each node performs one intercalation action to avoid over-intercalation leading to tobacco leaf breakage. Low-density tobacco leaves are defined as having a density greater than or equal to 0.5 g / cm³. 3 The tobacco leaves. Then, the controller combines the target insertion velocity curve, target insertion mode, target direction, and target density mode to obtain the target control parameter set.

[0108] In an optional embodiment, a mapping model is pre-set in the controller. The controller inputs the set of physical parameters of the tobacco leaf blocks to be inserted into the mapping model, and determines the target set of control parameters corresponding to the physical parameters through the mapping relationship between the physical parameters and control parameters in the mapping model. For example, the set of physical parameters includes flexibility parameter F = 0.6, thickness T = 45 mm, and density D = 0.7 g / cm³. 3 The controller determines the target control parameter set corresponding to the physical parameter set through a preset mapping model (such as a neural network or decision tree). Specifically, the trajectory type is selected as "segmented straight trajectory" based on T = 45mm; the speed is calculated as v = 180mm / s (millimeters per second) from F = 0.6; and the direction is determined based on D = 0.7g / cm². 3 The direction of the cutter head is determined to be 0°±5°.

[0109] It should be noted that the mapping model or mapping relationship in this application also has a self-learning optimization mechanism. The controller records the correspondence between the physical parameter set (T, F, D, where T is thickness, F is flexibility parameter, and D is density) of the tobacco leaf block to be interpolated and the target control parameter set (trajectory type, velocity, direction) for each interpolation. For example, when T = 50 mm, F = 0.3, and D = 0.8 g / cm³... 3 At that time, the combination of "Z-shaped segmented trajectory + mm / s speed + 45° initial angle" achieved a loosening efficiency of 92% and a breakage rate of <3%. This application also enables online parameter optimization: the controller automatically adjusts the parameter mapping model based on real-time interpolation results (such as looseness and breakage rate) using a reinforcement learning algorithm. For example, if, in 10 consecutive interpolations of a certain type of tobacco leaf, it is found that reducing the interpolation speed from mm / s to mm / s reduces the breakage rate from 5% to 2%, the controller automatically updates the speed threshold for that scenario. Through this mechanism, the collaborative robot achieves an adjustment of interpolation actions from "passive response" to "active optimization," improving the interpolation efficiency of tobacco leaves with different characteristics by 25%-40% while keeping the breakage rate below 5%.

[0110] In an exemplary embodiment, the self-learning mechanism of this application optimizes the interpolation strategy through a closed-loop process of "data accumulation," "algorithm analysis," and "strategy iteration." The determination of the "best strategy" is based on a comprehensive analysis of multi-dimensional evaluation indicators and historical performance data. The specific logic is as follows:

[0111] Data acquisition and annotation: The controller records three types of data for each intercalation operation in real time: (1) Input data: physical parameter set of tobacco leaf blocks (thickness, flexibility parameters, density), target control parameters (trajectory, speed, torque, etc.). (2) Process data: torque fluctuation curve, tool wear, robot joint motion trajectory; (3) Output data: looseness (degree of looseness and uniformity of tobacco leaves), breakage rate (proportion of broken leaves), intercalation time (processing time of a single tobacco leaf block). Then, the operator annotates special scenarios (such as abnormal toughness of a batch of tobacco leaves due to insufficient moisture) through the controller to help the controller understand the process background behind the data.

[0112] Feature extraction and pattern recognition: The controller uses clustering algorithms (such as K-means, a distance-based unsupervised clustering algorithm) to group the physical parameter set characteristic data of each tobacco leaf block, obtaining each group of tobacco leaf blocks and the physical parameter set of each group. For example, the controller classifies tobacco leaf blocks with a thickness > 50 mm and a flexibility index < 0.4 into the "thick and brittle" category. Then, the controller uses a decision tree algorithm to establish association rules between the physical parameter set, the target control parameter set, and the effect. For example, the combination of "thick and brittle tobacco leaf + three-blade head + mm / s speed + 25 N·m torque" can achieve a looseness of over 85% and a breakage rate of < 4%.

[0113] Strategy Optimization and Iteration: For each group of tobacco leaves, the controller optimizes the interpolation parameters using a genetic algorithm. For example, in the "thick and brittle" tobacco leaf scenario, adjusting the interpolation angle from 45° to 38° resulted in a decrease in the breakage rate from 4% to 3.2%, prompting an update to the direction mapping relationship. When a set of parameters (such as trajectory type + speed + torque) consistently satisfies a looseness ≥ 85% and a breakage rate ≤ 3% for five consecutive operations on the same type of tobacco leaf, the controller marks it as a "candidate optimal strategy" for that type of tobacco leaf.

[0114] In this embodiment, by mapping the physical parameters and control parameters, the target control parameter set can be scientifically determined, thereby generating the intercalation trajectory of the collaborative robot. Based on this intercalation trajectory, the collaborative robot is controlled to intercalate the tobacco leaf blocks, achieving automated intercalation of tobacco leaf blocks, avoiding manual intervention, and improving the efficiency of the tobacco leaf block intercalation method. Simultaneously, it avoids jamming of the flexible cutting tool, further improving the efficiency of the tobacco leaf block intercalation method.

[0115] Please refer to Figure 9 , Figure 9 This is a flowchart illustrating the process of determining the target insertion mode and the target insertion speed curve in one embodiment.

[0116] like Figure 9 As shown, in an exemplary embodiment, the specific processing procedure of step 402 includes steps 502 to 508. Wherein:

[0117] Step 502: Determine the initial target insertion mode based on the thickness and the first insertion mode mapping relationship between the thickness and the insertion mode.

[0118] The insertion mode mapping relationship includes a first insertion mode mapping relationship and a second insertion mode mapping relationship. The first insertion mode mapping relationship is the mapping relationship between thickness and insertion mode.

[0119] In practice, the controller determines the initial target insertion pattern based on the thickness and the mapping relationship between the first insertion pattern and the thickness.

[0120] Specifically, the controller determines whether the tobacco leaf block to be inserted is thick or thin based on its thickness. If the tobacco leaf block is thick, the controller determines the initial target insertion mode as a Z-shaped segmented insertion mode. The Z-shaped segmented insertion mode completes the insertion in 2-3 steps (e.g., inserting 100mm, withdrawing 10mm, and then inserting another 100mm) to reduce single-segment insertion resistance. If the tobacco leaf block is thin, the controller determines the initial target insertion mode as a single-segment straight insertion. The single-segment straight insertion involves controlling the insertion depth to 1 / 2 to 2 / 3 of the tobacco leaf thickness (e.g., inserting 200mm thick tobacco leaf) to avoid penetration and damage to the tobacco leaf, and then withdrawing at a constant speed after a 0.5-second pause at the end.

[0121] Optionally, thin tobacco leaves are tobacco leaf blocks with a thickness of less than 200 mm to be inserted, while thick tobacco leaves are tobacco leaf blocks with a thickness of more than 250 mm to be inserted. The division between thin and thick tobacco leaves is determined according to the tobacco leaf insertion requirements, and this embodiment of the application does not limit it.

[0122] Step 504: Optimize the initial target insertion pattern based on the flexibility parameter and the second insertion pattern mapping relationship between the flexibility parameter and the insertion pattern to obtain the target insertion pattern.

[0123] In implementation, a second insertion mode mapping relationship is pre-set in the controller. This second insertion mode mapping relationship is a mapping between flexibility parameters and insertion modes. The controller determines the flexibility type of the tobacco leaf blocks to be inserted based on the flexibility parameters. Then, the controller optimizes the initial target insertion mode based on the flexibility type and the second insertion mode mapping relationship to obtain the target insertion mode.

[0124] In an exemplary embodiment, if the flexibility index in the flexibility parameter is greater than or equal to 0.7, the controller determines that the flexibility type of the tobacco leaf block to be inserted is high flexibility. If the flexibility index is less than or equal to 0.3, the controller determines that the flexibility type of the tobacco leaf block to be inserted is low flexibility. If the flexibility type is high flexibility, the controller optimizes the initial target insertion mode to an arc-shaped swing insertion mode. The trajectory equation of the arc-shaped swing insertion mode is y = 0.5sin(x) (radians). The arc-shaped swing insertion mode can simulate the flexible movement of a crowbar, reducing the pulling on the tobacco fiber. If the flexibility type is high flexibility, the controller optimizes the initial target insertion mode to a straight line + micro-vibration insertion mode. The straight line + micro-vibration insertion mode involves superimposing a high-frequency micro-vibration (frequency 50Hz) of ±5mm during insertion, which disperses the force through vibration and prevents the brittle tobacco leaf from breaking.

[0125] Step 506: Based on the thickness and the initial velocity mapping relationship between the thickness and the initial velocity, determine the initial velocity, and based on the flexibility parameter and the velocity pattern mapping relationship between the flexibility parameter and the velocity change pattern, determine the target velocity change pattern.

[0126] In implementation, the controller is pre-configured with an initial velocity mapping relationship between thickness and initial velocity, as well as a velocity pattern mapping relationship between flexibility parameters and velocity change patterns. The controller determines the initial velocity based on the thickness and initial velocity mapping relationship. Then, the controller determines the target velocity change pattern based on the flexibility parameters and velocity pattern mapping relationship.

[0127] In an exemplary embodiment, the thickness and the initial speed are inversely proportional. This initial speed is the initial insertion speed. If the thickness is 200 mm, the controller determines the initial speed to be 200 mm / s (standard speed). If the thickness is 250 mm, the controller determines the initial speed to decrease to mm / s and the exit speed to increase to 250 mm / s (reducing dwell time). If the flexibility parameter indicates that the tobacco block to be inserted is flexible, the controller determines the target speed change pattern to be a smooth, gradual speed curve (e.g., an acceleration phase of 0.5 seconds, a constant speed phase of 1 second, and a deceleration phase of 0.5 seconds). If the flexibility parameter indicates that the tobacco block to be inserted is brittle and hard, the controller determines the target speed change pattern to be a pulsed pattern, for example, the insertion speed changes periodically from 200 mm / s to mm / s to 200 mm / s, thereby avoiding damage caused by continuous force.

[0128] Step 508: Generate the target insertion velocity curve based on the initial starting velocity and the target velocity change pattern.

[0129] During implementation, the controller generates the target insertion speed curve of the tobacco leaf blocks to be inserted based on the initial starting speed and target speed change pattern.

[0130] In this embodiment, by mapping the physical parameters and control parameters, the target insertion mode and target insertion speed curve can be scientifically determined, thereby generating the insertion trajectory of the collaborative robot. Based on this insertion trajectory, the collaborative robot is controlled to insert the tobacco leaf blocks, achieving automated insertion and avoiding manual intervention, thus improving the efficiency of the tobacco leaf block insertion method. Simultaneously, it avoids jamming of the flexible cutting tool, further enhancing the efficiency of the tobacco leaf block insertion method.

[0131] Please refer to Figure 10 , Figure 10 This is a flowchart illustrating the process of determining torque control parameters in one embodiment.

[0132] like Figure 10 As shown, in an exemplary embodiment, the specific processing steps for determining the torque control parameters based on the stage of the interpolation trajectory and the real-time torque value in step 206 include steps 602 to 606. Wherein:

[0133] Step 602: Obtain the current torque value of the collaborative robot in real time through the torque sensor at the end of the collaborative robot.

[0134] In practice, a torque sensor is installed at the end of the collaborative robot. The torque sensor acquires the current torque value of the collaborative robot in real time and transmits the current torque value to the controller.

[0135] Specifically, the torque sensor is directly fixed to the end flange (end-effector interface) of the collaborative robot, serving as the first-stage component of the end-effector. The inserter base is connected to the other end of the torque sensor, meaning the torque sensor is located between the robot arm and the cutter, forming a physical link from "sensor sensing force to cutter performing insertion." The reaction force generated when the inserter inserts into the tobacco leaf block to be inserted is transmitted to the torque sensor through the cutter shank. The sensor detects the magnitude and direction of the force in real time and transmits the current torque value to the control module and controller. This series structure ensures that the torque applied by the cutter can be directly captured by the sensor, avoiding detection errors caused by deformation of intermediate components (such as clamps and connectors). The torque sensor needs to monitor the force state (such as insertion resistance and cutting torque) during inserting in real time. If there is a non-rigid connection or intervening component between the two, it will cause the torque signal to attenuate or distort, failing to meet the control requirement of "real-time torque adjustment." Directly connecting the torque sensor and the inserter in series is a necessary condition for achieving high-precision force feedback. For example, when inserting tobacco leaf blocks of different thicknesses, the torque sensor can instantly sense the change in resistance and trigger torque adjustment.

[0136] Step 604: Divide the interpolation trajectory into interpolation stages and determine the current interpolation stage in which the collaborative robot is located.

[0137] In implementation, the controller divides the interpolation trajectory into interpolation stages, each corresponding to a different torque strategy. Then, the controller determines the current interpolation stage in which the collaborative robot is located.

[0138] Specifically, when a change in the characteristics of the tobacco leaf block to be intercalated is detected (such as differences in flexibility between different batches of tobacco leaves), the controller adjusts the torque output curve in real time using fuzzy logic or adaptive control algorithms to ensure dynamic matching between the torque and the tobacco leaf characteristics. Specifically, the controller divides the intercalation trajectory (such as insertion depth and swing angle) into different stages, each stage corresponding to a different torque strategy.

[0139] (1) Initial insertion stage: torque is increased slowly to reduce impact;

[0140] (2) Deep insertion stage: Adjust the torque according to the trajectory position (such as the center or edge of the tobacco block). The torque needs to be reduced in the edge area because the support force is weak.

[0141] (3) Exit stage: The torque decreases linearly to avoid carrying out tobacco leaves.

[0142] Then, the controller determines the current interpolation stage in which the collaborative robot is located in each interpolation stage.

[0143] Step 606: Determine the torque control parameters based on the interpolation trajectory, physical parameter set, real-time torque value, and preset torque threshold of the current interpolation stage.

[0144] In implementation, a torque threshold is preset in the controller. The controller determines the real-time torque control parameters based on the fuzzy algorithm, the interpolation trajectory at the current interpolation stage, the physical parameter set, the real-time torque value, and the preset torque threshold.

[0145] Specifically, the controller pre-establishes a mapping model between physical parameters such as tobacco leaf thickness and flexibility and torque. Based on the interpolation trajectory of the pre-interpolation stage, the set of physical parameters, the mapping model between physical parameters and torque, and the fluid dynamics optimized tool shape (such as the cutting edge angle), the controller calculates the resistance coefficient at different positions, and then inversely calculates the required torque, thus obtaining the model predicted torque.

[0146] For example, thick and tough tobacco leaves require a larger initial torque to overcome resistance, but the peak torque must be limited to prevent breakage; conversely, thin and flexible tobacco leaves require a lower initial torque and a "flexible insertion" mode. When the cutter inserts along an inclined trajectory, the torque algorithm compensates for resistance fluctuations caused by angle changes, ensuring uniform torque.

[0147] Then, the controller compares the predicted torque value with the torque threshold. If the predicted torque value is greater than the torque threshold, the controller reduces the predicted torque value. For example, if the actual torque exceeds the model prediction value by 10% (e.g., predicted 25 N·m, actual 27.5 N·m), the insertion speed is automatically adjusted to mm / s, and the trajectory insertion depth is corrected (reduced from 45 mm to 40 mm). Then, the controller collects the torque value of the cutter inserting into the tobacco leaf in real time through the end torque sensor and compares it with the system's preset safe torque range (e.g., the critical value to avoid tobacco leaf damage). If the feedback torque exceeds the upper limit (e.g., the tobacco leaf is too thick, causing a sudden increase in resistance), the algorithm automatically reduces the applied torque to prevent excessive compression of the tobacco leaf; if the torque is below the lower limit (e.g., the tobacco leaf is too thin), the torque is appropriately increased to ensure the intercalation effect. The torque control algorithm achieves dynamic and precise adjustment of the intercalation torque through a triple mechanism of "real-time feedback correction + characteristic model adaptation + trajectory space coordination," ensuring effective loosening of the tobacco leaf while avoiding physical damage, ultimately achieving the goal of flexible intercalation.

[0148] After each interpolation, the controller analyzes the feedback data. If abnormal torque occurs multiple times consecutively (such as exceeding the range), the controller will automatically correct the initial torque value for the next time, forming a closed-loop optimization process of "detection-adjustment-verification".

[0149] Optionally, the torque threshold is set based on a comprehensive consideration of factors such as the physical parameters of the tobacco leaves, the requirements of the insertion process, and equipment safety limitations, as detailed below:

[0150] Physical properties of tobacco leaves (flexibility):

[0151] (1) Different varieties and grades of tobacco leaves have different flexibility (e.g., mature tobacco leaves are softer, while fragile tobacco leaves are less flexible), and the reasonable torque range required during insertion is different. For example, the threshold for fragile tobacco leaves will be set lower to avoid leaf damage due to excessive torque.

[0152] (2) Thickness and density: The thickness and density of tobacco leaf blocks directly affect the insertion resistance. Thicker and denser tobacco leaves require greater insertion force, but the threshold must be controlled within the range that does not damage the tobacco leaf structure (e.g., for every 1 mm increase in thickness, the threshold can be increased by 5%-10%, and the specific adjustment needs to be based on experimental data).

[0153] Separation process requirements (loosening effect): The core of separation is to make the tobacco leaves loose and uniform while avoiding caking. The threshold (torque threshold) must ensure that the torque is sufficient to effectively separate the tobacco leaves without damaging them. For example, if the process requires a looseness of 90%, the threshold must match the minimum torque value that can achieve this goal.

[0154] Tool parameter matching: The structure of the cutting tool (such as the number of blades, shape, and material hardness) will affect the torque requirement. For example, the threshold of a multi-blade flexible tool can be set higher than that of a single blade, because distributing the force can reduce the local pressure of a single blade on the tobacco leaf.

[0155] Equipment safety and system limitations: The maximum load torque and safe operating range of the robot end effector are the upper limit of the threshold (e.g., if the robot's rated maximum torque is 50 N·m, the threshold is usually set at 70%-80% of the rated value, i.e., 35-40 N·m, to prevent equipment overload damage).

[0156] Initial calibration and historical data optimization:

[0157] (1) Initial parameter setting: Before starting the tobacco leaf block splitting system, the operator will preset the basic threshold according to the tobacco leaf formula (such as variety, origin, and processing batch). For example, for a type of flue-cured tobacco, the optimal splitting torque range is determined to be 20-25 N·m through preliminary experiments, with the lower limit of the threshold set at 20 N·m and the upper limit at 25 N·m.

[0158] (2) Self-learning and dynamic adjustment: The system continuously optimizes the threshold setting by recording historical interpolation data (such as torque-effect feedback for different tobacco leaf types). For example, after processing the same type of tobacco leaf multiple times, the controller can automatically improve the threshold accuracy to ±1 N·m to adapt to subtle differences between batches.

[0159] Safety redundancy and anomaly protection:

[0160] (1) Multi-level threshold setting: To prevent sudden anomalies, the threshold can be divided into "early warning threshold" and "emergency shutdown threshold". For example, when the early warning threshold is set to % of the standard value (such as 27.5 N·m), the system prompts for adjustment, and when the emergency threshold is set to % (32.5 N·m), the system forces a shutdown to avoid equipment damage or large-scale waste of tobacco leaves.

[0161] In summary, the threshold setting is based on a dynamic matching process of real-time detection data of tobacco leaf characteristics, process standards, and equipment performance parameters, while continuously optimizing it in conjunction with the system's self-learning function to balance interpolation efficiency, tobacco leaf quality, and equipment safety.

[0162] In this embodiment, during the intercalation process, the intercalation stages are divided, and the torque control parameters are dynamically adjusted based on the stage of the intercalation trajectory and the real-time torque value. This ensures that the tobacco block intercalation process is smooth and efficient.

[0163] Please refer to Figure 11 , Figure 11 This is a schematic diagram of the process of inserting tobacco leaf blocks in one embodiment.

[0164] like Figure 11 As shown, in an exemplary embodiment, the specific processing steps of controlling the collaborative robot to insert the tobacco leaf blocks to be inserted based on torque control parameters and insertion trajectory in step 206 include steps 702 to 704. Wherein:

[0165] Step 702: Generate the spatial coordinate sequence of the collaborative robot based on the interpolated trajectory.

[0166] In implementation, a coordinate sequence algorithm is pre-set in the controller. The controller obtains the spatial coordinate sequence of the collaborative robot based on the interpolated trajectory and the coordinate sequence algorithm.

[0167] Specifically, the collaborative robot is a six-degree-of-freedom robotic arm capable of performing various posture adjustments to adapt to different interpolation angles. The controller generates a spatial coordinate sequence of the interpolation trajectory based on the robot's parameters, the interpolation trajectory, and a coordinate sequence algorithm. For example: starting point: (x1, y1, z1), angle (α1, β1, γ1); interpolation point: (x2, y2, z245mm), angle (0°, 0°, 0°±5°).

[0168] Step 704: Control the collaborative robot to move according to the spatial coordinate sequence, and control the cutting tool at the end of the collaborative robot to insert the tobacco leaf blocks to be inserted through the torque control parameters.

[0169] In practice, the controller controls the collaborative robot to move according to the spatial coordinate sequence, and controls the cutting tool at the end of the collaborative robot to insert the tobacco leaf blocks to be inserted through the torque control parameters.

[0170] In this embodiment, the tobacco leaf blocks to be inserted can be automatically inserted according to the physical characteristics of the tobacco leaf blocks by using the target control parameter set and torque control parameters, avoiding manual intervention and improving the efficiency of the tobacco leaf block insertion method.

[0171] Please refer to Figure 12 , Figure 12 This is an illustration of the flow of a flexible interpolation method for sheet smoke and smoke blocks based on a collaborative robot in one embodiment.

[0172] like Figure 12 As shown, this application also provides a flexible interpolation method for sheet smoke blocks based on collaborative robots, the specific steps of which are as follows:

[0173] Step 1201, Tobacco leaf detection and identification.

[0174] Specifically, before the interleaving operation begins, the tobacco leaf block interleaving system first conducts a comprehensive inspection of the tobacco leaf blocks entering the operating area. Specifically, the tobacco leaf inspection module uses optical sensors, laser scanners, or other non-contact inspection devices to collect the physical characteristics of the tobacco leaf blocks to be interleaved, including their thickness, flexibility, moisture content, and shape. Accurate acquisition of this data is crucial for subsequent interleaving operations, ensuring that tobacco leaves in different physical states receive the optimal interleaving strategy. Furthermore, the tobacco leaf inspection module not only identifies the physical characteristics of the tobacco leaves but also performs quality checks when necessary. If abnormalities are detected, such as the presence of impurities or damage, the tobacco leaf block interleaving system marks these tobacco leaves as special handling objects, preventing them from entering subsequent processing steps, thereby improving overall production quality.

[0175] Preferably, before the tobacco leaf block insertion system is put into operation, the collaborative robot, insertion blade, controller, etc., are first initially calibrated, and appropriate parameters and operating modes are set. Operators can select the appropriate insertion mode according to different types of tobacco leaf formulations.

[0176] Step 1202, Interpolation mode selection.

[0177] Specifically, based on the tobacco leaf characteristic data provided by the tobacco leaf detection module, the controller automatically selects the most suitable intercalation mode. The intercalation mode can include the type of intercalation blade, the intercalation depth, the intercalation angle, and the speed of the intercalation action. To ensure adaptability to the characteristics of various tobacco leaf blocks, the controller has multiple built-in preset modes suitable for tobacco leaves of different thicknesses, flexibility, and moisture content. For example, for thicker tobacco leaves, the controller will select an intercalation mode with greater force and a steeper angle to ensure that the intercalation blade can fully penetrate the tobacco leaf and avoid surface accumulation. For thinner, more flexible tobacco leaves, the controller will select a gentler intercalation mode with a gentler angle to avoid excessive torque damaging the tobacco leaf. This intelligent mode selection can significantly improve the accuracy and stability of the intercalation process.

[0178] Preferably, after the tobacco leaf blocks to be inserted enter the insertion working area, the tobacco leaf detection module will automatically scan the physical parameters of the tobacco leaves, such as thickness and flexibility, and feed these physical parameters back to the controller. The controller analyzes the set of physical parameters and selects the most suitable insertion mode and action trajectory.

[0179] Step 1203, the interpolation operation is executed.

[0180] The splitting action is performed by a collaborative robot, which manipulates the tobacco leaves according to the splitting trajectory set by the controller. The collaborative robot can perform not only simple insertion actions but also a series of complex movements such as insertion, swinging, and rotation, ensuring that the tobacco leaf blocks are sufficiently loosened and not compacted. During this process, the insertion blade's movement is not limited to vertical insertion; the collaborative robot also adjusts the blade's angle, insertion depth, and movement path according to the shape and position of the tobacco leaves to avoid damage. This process highly relies on the precise cooperation between the collaborative robot and the controller. In actual operation, the collaborative robot uses multi-axis linkage to ensure that the insertion blade moves precisely along the set trajectory. Through flexible swinging and movement in three-dimensional space, it ensures that each tobacco leaf is evenly separated, improving the looseness of the tobacco leaves and creating conditions for subsequent processes.

[0181] Preferably, the collaborative robot performs a flexible splitting action according to the controller's instructions. The cutting blade splits and loosens the tobacco leaf blocks according to a preset trajectory and force. During the splitting process, the control module monitors the splitting force in real time and makes fine adjustments based on the actual situation to ensure that the tobacco leaves are not damaged or other quality problems occur. When performing the splitting action, the collaborative robot can make subtle adjustments based on the real-time monitored torque data to ensure the splitting effect while protecting the quality of the tobacco leaves.

[0182] Step 1204: Real-time torque monitoring.

[0183] The control module is the core of the entire intercalation process, monitoring and adjusting the torque applied by the intercalating cutter in real time. Because the physical properties of the tobacco leaves may change during intercalation—for example, less flexible leaves may require greater torque, while excessive torque could damage them—the control module adjusts the torque based on real-time monitoring data. This torque control is highly precise, typically adjusted within microseconds. If excessive or insufficient torque is detected during intercalation, the control module automatically reduces or increases the intercalation force to ensure it remains within the set safety range, thus providing precise protection for the tobacco leaves. Simultaneously, the control module integrates with the intercalation trajectory to ensure consistent intercalation force at different locations, further improving the uniformity of the intercalation effect.

[0184] Step 1205, motion trajectory optimization.

[0185] To ensure efficient and smooth tobacco block insertion, the tobacco block insertion system optimizes the movement trajectories of the collaborative robot and conveyor belt in real time. Specifically, the collaborative robot continuously adjusts the rhythm and sway of its insertion movements based on the movement of the tobacco blocks to be inserted. For example, when the tobacco blocks move on the conveyor belt, the collaborative robot needs to synchronously adjust the insertion speed and sway angle of the insertion blades to avoid insertion failures or tobacco block accumulation due to changes in conveyor speed or tobacco block position deviations. Furthermore, the tobacco block insertion system can dynamically optimize the insertion trajectory based on feedback during actual operation, making the insertion operation smoother. For example, when it detects that the movement trajectory of some tobacco blocks deviates from the preset route, the collaborative robot automatically adjusts the position and angle of the blades to ensure that the insertion action perfectly adapts to the actual movement trajectory of the tobacco blocks. This dynamic optimization not only improves insertion efficiency but also prevents tobacco blocks from being damaged or stuck during operation.

[0186] Preferably, during the intercalation process, the thickness and flexibility of different tobacco leaf blocks will vary. The tobacco leaf detection module continuously collects a set of physical parameters, and the controller adjusts in real time based on changes in these parameters. For example, when a thicker tobacco leaf is detected, the intercalation system automatically increases the intercalation force; when the tobacco leaf is thinner or more brittle, the intercalation force is appropriately reduced. Furthermore, the collaborative robot dynamically adjusts the trajectory, speed, and direction of its intercalation action according to the characteristics of different types of tobacco leaves, ensuring flexible and precise intercalation. The controller continuously optimizes the intercalation strategy, adjusting the collaborative robot's trajectory and speed to improve work efficiency. Especially when dealing with intercalation tasks involving different batches of tobacco leaves or blended tobacco leaves, the tobacco leaf block intercalation system can intelligently identify tobacco leaf characteristics and automatically select the optimal intercalation method to ensure intercalation quality.

[0187] Preferably, after the tobacco leaf splitting operation is completed, the split tobacco leaves will continue to the next process of the tobacco processing line via a conveyor belt. The controller is closely linked to the conveyor system of the tobacco processing line to ensure that the splitting action is synchronized with the movement of the conveyor belt, preventing the tobacco leaves from piling up or clogging during the splitting process. The tobacco leaf block splitting system automatically adjusts the splitting rhythm according to the speed of the conveyor belt to ensure that each tobacco leaf block can complete the splitting operation within the specified time and smoothly enter the downstream process. Through this linkage control method, the splitting operation can be seamlessly connected with other processes of the tobacco processing line, effectively improving the overall efficiency of the production line.

[0188] Step 1206, Anomaly Detection and Handling.

[0189] During the insertion process, the tobacco block insertion system is equipped with a safety protection module to monitor whether the insertion operation is proceeding normally. If the system detects that the tobacco blocks are stuck, piled up, or the torque exceeds the safety threshold during insertion, it will immediately trigger an anomaly handling mechanism. The first step of this mechanism is to suspend the operation of the collaborative robot to avoid damaging the tobacco blocks or equipment. Next, the system will issue an alarm signal to notify the operator for on-site inspection and handling. In some simple anomalies, the system has a certain degree of self-healing capability, such as automatically resolving the problem by readjusting the insertion torque or trajectory. If the problem is more complex, manual intervention is required for analysis and repair. Throughout the process, the system also records the time, cause, and handling process of any anomalies, enabling operators to perform subsequent analysis and maintenance, thereby improving the stability and reliability of the system.

[0190] Preferably, to ensure the safe operation of the tobacco block splitting system, a safety protection module monitors the collaborative robot and the splitting operation throughout the entire process. Light gratings or fencing devices ensure the safety of the operating area. If personnel are detected entering a hazardous area or an abnormal situation occurs, the tobacco block splitting system will automatically pause operation and enter protection mode. If excessive torque, tool malfunction, or other abnormalities occur during the splitting process, the tobacco block splitting system will automatically issue an alarm signal to prompt the operator to handle the situation. Simultaneously, the tobacco block splitting system has a self-diagnostic function, capable of analyzing the causes of abnormalities and providing corresponding solutions to ensure that faults are promptly eliminated and normal operation is restored.

[0191] Preferably, the tobacco leaf block sorting system based on collaborative robots possesses a certain degree of self-learning capability. The system records data from each sorting operation, including tobacco leaf characteristics, sorting force, and sorting effect. As the number of operations increases, the system accumulates data and performs analysis and optimization. For example, after multiple sorting operations, the system can summarize the optimal sorting strategy for different types of tobacco leaves and automatically apply it to subsequent operations. Through this self-learning mechanism, the tobacco leaf block sorting system can continuously improve its sorting quality and efficiency over long-term operation. Operators can also view the sorting records through the system interface to understand the processing status of different batches of tobacco leaves and adjust the sorting strategy according to actual needs.

[0192] The tobacco leaf block splitting method of this application achieves highly intelligent and automated operation. It can flexibly adapt to different tobacco leaf characteristics and monitor and optimize the splitting action in real time during operation, ensuring the uniformity and efficiency of the splitting effect. It also has anomaly handling and safety protection functions. This tobacco leaf block splitting method significantly improves the efficiency and product quality of the tobacco processing line and significantly reduces the intensity of manual labor, showing broad prospects for industrial application.

[0193] Please refer to Figure 13 , Figure 13 This is a flowchart illustrating another method for separating tobacco leaf blocks.

[0194] like Figure 13 As shown in an exemplary embodiment, the specific processing steps of the tobacco leaf block intercalation method include:

[0195] Step 1301, Initial calibration;

[0196] Step 1302, tobacco leaf testing;

[0197] Step 1303, Interpolation mode selection;

[0198] Step 1304: Generate the interpolation trajectory;

[0199] Step 1305: Perform the interpolation operation;

[0200] Step 1306: Monitor the real-time torque value;

[0201] Step 1307: Determine whether the real-time torque value exceeds the torque threshold; if the real-time torque value does not exceed the torque threshold, proceed to step 1308; if the real-time torque value exceeds the torque threshold, proceed to step 1309.

[0202] Step 1308, optimize the interpolation trajectory;

[0203] Step 1309: Adjust the torque control parameters;

[0204] Step 1310: Determine whether the real-time torque value exceeds the torque threshold; if the real-time torque value does not exceed the torque threshold, proceed to step 1308; if the real-time torque value exceeds the torque threshold, proceed to step 1311.

[0205] Step 1311, pause operation;

[0206] Step 1312: Issue an abnormal alarm;

[0207] Step 1313: Record the exception information;

[0208] Step 1314: Notify manual processing.

[0209] This application achieves flexible tobacco leaf separation by employing precise torque control, motion trajectory programming, and an adaptive separation mode. Through flexible cutters, real-time adjusted collaborative robot movements, and torque optimization algorithms, it ensures that each separation operation evenly loosens the tobacco leaf blocks, preventing accumulation or damage. Furthermore, a safety protection module monitors for potential anomalies during the separation process, such as jamming or excessive torque, triggering alarms and taking appropriate action to ensure the entire tobacco leaf separation system operates efficiently and stably.

[0210] This application achieves efficient and flexible separation of tobacco leaf blocks through innovative design of the inserting tool, programming and optimization of the collaborative robot's motion trajectory, precise control of the torque control algorithm, and the application of rapid programming technology, significantly improving production efficiency and tobacco leaf processing quality. This method is applicable to various types of tobacco leaf blocks, possessing broad applicability and industrial application value. The tobacco leaf block separation system and method provided in this application can effectively improve the loosening effect of tobacco leaves, reduce repetitive manual operations, and enhance the automation level of tobacco processing lines. The tobacco leaf block separation system, through intelligent torque control and dynamic adjustment functions, achieves efficient replacement of complex process actions, possessing high application value.

[0211] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0212] Based on the same inventive concept, this application also provides a tobacco block inserting device for implementing the tobacco block inserting method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the tobacco block inserting device provided below can be found in the limitations of the tobacco block inserting method described above, and will not be repeated here.

[0213] Please refer to Figure 14 , Figure 14This is an internal structural diagram of a collaborative robot in one embodiment.

[0214] This application also provides a collaborative robot, the internal structure of which can be shown in the following diagram: Figure 14 As shown, the collaborative robot includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs in the non-volatile storage media. The database stores data used for the tobacco block intercalation method. The I / O interfaces allow the processor to exchange information with external devices. The communication interface allows communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a tobacco block intercalation method.

[0215] Those skilled in the art will understand that Figure 14 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the collaborative robot to which the present application is applied. A specific collaborative robot may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0216] In one embodiment, a collaborative robot is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0217] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0218] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0219] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0220] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0221] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A tobacco leaf block insertion system, characterized in that, include: A conveying module includes a conveyor belt with a dispensing station on the conveyor belt, the conveyor belt being used to convey tobacco leaf blocks; A cutting tool module includes a base and at least one cutting tool connected to the base; A drive module is connected to the inserting cutter module, and the drive module is used to drive the inserting cutter module to insert the tobacco leaf block located at the inserting station; A torque sensor is connected to the drive module and the insert tool module. The torque sensor is used to obtain the torque of the force between the insert tool module and the drive module.

2. The tobacco leaf block insertion system according to claim 1, characterized in that, Also includes: The control module is signal-connected to both the insert cutting tool module and the torque sensor. After receiving the torque signal acquired by the torque sensor, the control module sends a signal to the drive module.

3. The tobacco leaf block insertion system according to claim 2, characterized in that, The conveyor belt is also equipped with a testing station; The tobacco leaf block sorting system also includes a tobacco leaf detection module, which includes at least one sensor facing the detection station, and the sensor is signal-connected to the control module.

4. The tobacco leaf block insertion system according to claim 3, characterized in that, The sensor includes at least one of a camera, a laser sensor, a weight sensor, and a pressure sensor.

5. The tobacco leaf block insertion system according to claim 1, characterized in that, The base includes: The chassis is connected to the torque sensor; A connecting base is connected to the chassis and located on the side of the chassis away from the torque sensor. The connecting base is provided with at least one first connecting hole for connecting the insert.

6. The tobacco leaf block insertion system according to claim 5, characterized in that, The connector extends along a first direction, and a plurality of first connecting holes are arranged along the first direction, and the plurality of first connecting holes penetrate the connector along a second direction, wherein the first direction and the second direction are intersecting.

7. The tobacco leaf block insertion system according to claim 5, characterized in that, The insert includes a blade tip, a blade body, and a blade tail arranged in sequence. The blade tail includes two first connecting pieces spaced apart, forming a limiting groove between the two first connecting pieces. The first connecting pieces are provided with a second connecting hole that penetrates the first connecting piece along its thickness direction. When the insert is connected to the base, at least part of the connecting seat is located in the limiting groove, and the second connecting hole is aligned with one of the first connecting holes on the connecting seat.

8. The tobacco leaf block insertion system according to claim 7, characterized in that, The insert cutting tool module also includes a connector, through which two adjacent inserting tools are connected.

9. The tobacco leaf block insertion system according to claim 8, characterized in that, The connector includes a connecting rod and two spaced-apart second connecting pieces. The connecting rod connects the two second connecting pieces, and the two second connecting pieces are respectively connected to the blades of two adjacent inserts.

10. The tobacco leaf block insertion system according to claim 1, characterized in that, Also includes: The safety protection module includes a light grating and an alarm device. The light grating is located on at least one side of the conveyor belt, and the light grating is signal-connected to the alarm device and the drive module.

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