CN111109637B - Tobacco redrying mechanized feeding system and feeding method - Google Patents
Tobacco redrying mechanized feeding system and feeding method Download PDFInfo
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- CN111109637B CN111109637B CN202010126459.1A CN202010126459A CN111109637B CN 111109637 B CN111109637 B CN 111109637B CN 202010126459 A CN202010126459 A CN 202010126459A CN 111109637 B CN111109637 B CN 111109637B
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- A—HUMAN NECESSITIES
- A24—TOBACCO; CIGARS; CIGARETTES; SIMULATED SMOKING DEVICES; SMOKERS' REQUISITES
- A24B—MANUFACTURE OR PREPARATION OF TOBACCO FOR SMOKING OR CHEWING; TOBACCO; SNUFF
- A24B3/00—Preparing tobacco in the factory
- A24B3/10—Roasting or cooling tobacco
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
Abstract
A tobacco redrying mechanized feeding system and a feeding method relate to the technical field of tobacco baking. The tobacco redrying mechanized feeding system comprises a material frame, a tobacco clamping and lifting device and a multi-axis robot; one side wall or two opposite side walls of the material frame are opened to form a filling opening; the tobacco leaf clamping and lifting device comprises a transverse reciprocating mechanism, a vertical reciprocating mechanism and a separating claw; the multi-axis robot comprises a robot body, a mechanical arm connected to the robot body and a clamping jaw connected to the tail end of the mechanical arm; the multi-axis robot is arranged at a position where the clamping jaw of the multi-axis robot can extend into the material frame filling opening. A tobacco leaf redrying mechanical feeding method is applied to a tobacco leaf redrying mechanical feeding system and is used for continuously transferring tobacco leaves to be redried in a material frame onto a conveyor belt of a baking device. Compared with a manual feeding mode, the tobacco re-drying device has the advantages that the working efficiency is improved, the feeding rhythm is stable and controllable, the feeding thickness is uniform, the tobacco adhesion phenomenon is improved to a greater extent, and the quality of tobacco re-drying is guaranteed.
Description
Technical Field
The invention relates to the technical field related to tobacco leaf baking, in particular to a tobacco leaf redrying mechanized feeding system and a tobacco leaf redrying mechanized feeding method.
Background
The tobacco redrying is a common tobacco processing procedure in a cigarette factory, is a process of sequentially baking and processing the tobacco to be redried, and mainly aims to adjust the moisture of the tobacco, prevent the tobacco from mildewing and facilitate the storage of the tobacco.
At present, the feeding operation of the tobacco redrying process of a cigarette factory is mostly finished manually, and the specific flow is as follows: the method comprises the following steps that firstly, an operator grabs a tobacco leaf in a material frame where the tobacco leaf to be baked is placed to serve as a feeding unit, then the whole feeding unit is shaken to separate adhered leaves, and finally the feeding unit is flatly laid on a conveying belt of redrying equipment, so that the feeding operation of tobacco leaf reviewing is completed.
However, in the actual operation process, the following problems exist: 1. the size of the feeding unit is completely determined by subjective judgment of an operator, and the feeding unit has high randomness and uncertainty, so that the tobacco leaf quantity in one feeding unit is too small, the tobacco leaf redrying efficiency is reduced, and the tobacco leaf quantity in one feeding unit is too large, so that the shaking operation is difficult to separate partial adhered leaves, and the subsequent baking is not in place; 2. the operator needs to repeatedly grab, shake and spread the materials for a long time, which is high in labor intensity. 3. The beat of manual feeding is completely controlled by an operator, and continuous feeding at stable time intervals is difficult to realize.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a tobacco redrying mechanized feeding system and a feeding method, and overcomes the defects caused by manual operation in the feeding operation of the tobacco redrying process of the conventional cigarette factory.
The technical scheme of the invention is as follows: the tobacco redrying mechanized feeding system comprises a material frame, a tobacco clamping and lifting device and a multi-axis robot;
one side wall or two opposite side walls of the material frame are opened to form a filling opening;
the tobacco leaf clamping and lifting device comprises a transverse reciprocating mechanism, a vertical reciprocating mechanism and a separating claw; the transverse reciprocating mechanism is arranged on the material frame and performs reciprocating movement in the horizontal direction; the vertical reciprocating mechanism is associated with the transverse reciprocating mechanism and performs reciprocating movement in the vertical direction; the separating claw is connected to the vertical reciprocating mechanism and moves in a plane where the filling port is located under the driving of the transverse reciprocating mechanism and the vertical reciprocating mechanism;
the multi-axis robot comprises a robot body, a mechanical arm connected to the robot body and a clamping jaw connected to the tail end of the mechanical arm; the multi-axis robot is arranged at a position where the clamping jaw of the multi-axis robot can extend into the material frame filling opening.
The further technical scheme of the invention is as follows: the transverse reciprocating mechanism comprises a mounting frame A, a screw rod A, a nut A and a motor A; the mounting frame A is fixedly mounted on the material frame; two ends of the screw rod A are movably arranged on the mounting rack A and are horizontally arranged; the nut A is matched with the screw rod A in a rotating mode; the motor A is arranged on the mounting frame A, and a crankshaft of the motor A is connected with the screw rod A so as to drive the screw rod A to rotate;
the vertical reciprocating mechanism comprises a mounting rack B, a screw rod B, a nut B and a motor B; two ends of the screw rod B are movably arranged on the mounting rack B and are vertically arranged; the nut B is matched with the screw rod B in a rotating way; the motor B is arranged on the mounting rack B, and the crankshaft of the motor B is connected with the screw B so as to drive the screw B to rotate; the vertical reciprocating mechanism is fixedly connected to a nut A of the transverse reciprocating mechanism through a nut B;
the separating claw comprises a motor C, a mounting seat, a screw rod C, a nut C, a connecting rod and a clamping arm; the motor C is fixedly arranged on the mounting seat, and a shaft of the motor C vertically extends downwards; the screw rod C is vertically arranged, is connected with a crankshaft of the motor C at the upper end and is driven to rotate by the motor C; the nut C is matched with the screw rod C in a rotating mode; one end of each connecting rod is hinged to the two sides of the nut C, and the other end of each connecting rod is hinged to the middle of each clamping arm; the two clamping arms are positioned on two sides of the nut C and are oppositely arranged, the front ends of the two clamping arms are respectively hinged on the mounting seat, the rear ends of the two clamping arms are respectively connected with the rubber pads, the two clamping arms can rotate around respective hinged points so as to switch between folding and unfolding, when the two clamping arms are folded, the two rubber pads are mutually attached, and when the two clamping arms are unfolded, a space for the tobacco stems to stretch into is formed between the two rubber pads; the separation claw is fixedly connected to a mounting rack B of the vertical reciprocating mechanism through a mounting seat.
The invention further adopts the technical scheme that: the clamping jaw comprises a U-shaped frame, a rotating shaft, a supporting sheet, a clamping cylinder, a pressing sheet, a connecting frame, a pitching cylinder and a sponge gasket; the U-shaped frame is a groove-shaped component with a U-shaped section, one side of the U-shaped frame is an opening end, the other side of the U-shaped frame is a closed end, and two edges of the opening end are respectively a first edge and a second edge; the rotating shaft is movably arranged at the closed end of the U-shaped frame; the supporting sheet is fixedly connected to the first edge of the opening end of the U-shaped frame; the clamping cylinder comprises a cylinder body A and a piston rod A, the cylinder body A is fixedly arranged at the second edge of the opening end of the U-shaped frame, and the piston rod A extends out of the first edge of the opening end of the U-shaped frame; the pressing sheet is fixedly connected to the piston rod A of the clamping cylinder and is opposite to the supporting sheet, and the pressing sheet is close to or far away from the supporting sheet along with the expansion of the piston rod A of the clamping cylinder; one end of the connecting frame is provided with a sleeve part which is sleeved with the rotating shaft, the other end of the connecting frame is provided with a butt joint part which is connected with a mechanical arm of the multi-axis robot, and the connecting frame is movably sleeved on the rotating shaft through the sleeve part; the pitching cylinder comprises a cylinder body B and a piston rod B, the cylinder body B is hinged on the connecting frame, the piston rod B is hinged on the U-shaped frame, and the piston rod B stretches and retracts to drive the U-shaped frame to rotate around the rotating shaft; the two sponge gaskets are respectively stuck on the supporting sheet and the pressing sheet and are opposite to each other; the clamping jaw is connected with a mechanical arm of the multi-axis robot through a butt joint part of the connecting frame.
The further technical scheme of the invention is as follows: the quantity of centre gripping cylinder has a plurality ofly, and all centre gripping cylinders distribute along the second border equidistance of U-shaped frame open end, and correspondingly, the rigid coupling point of piston rod A and preforming of all centre gripping cylinders distributes along the length direction equidistance of preforming.
The technical scheme of the invention is as follows: a tobacco redrying mechanical feeding method is applied to the tobacco redrying mechanical feeding system and is used for continuously transferring tobacco to be redried in a material frame onto a conveyor belt of a baking device, and the steps are as follows:
before feeding, the semi-automatic tobacco redrying feeding system is in an initial state, and in the initial state:
a. the clamping jaw does not extend into the material frame filling port;
b. a piston rod A of a clamping cylinder of the clamping jaw is in a retraction state;
c. the nut A of the transverse reciprocating mechanism is in the middle of the moving stroke;
d. the nut B of the vertical reciprocating mechanism is positioned at the lowest end of the moving stroke;
e. two clamping arms of the separation claw are opened;
s01, loading tobacco leaves to be roasted into the material frame:
a. arranging tobacco leaves to be cured into a stacking state with tobacco stems facing to the same direction, then loading the tobacco leaves into the material frame in a mode that the tobacco stems face to a material frame filling port, and ensuring that the tobacco stems exceed the running plane of the separation claw by a certain length so as to be convenient for subsequent clamping jaws to clamp;
b. after the material frame is filled with the tobacco leaves to be cured, the tobacco stems of all the tobacco leaves to be cured in the material frame are arranged in a vertically aligned state so as to be convenient for clamping by a subsequent separation claw;
s02, the separation claw clamps the tobacco leaves to be roasted:
a, starting a transverse reciprocating mechanism, and adjusting the position of a separating claw to ensure that two opened clamping arms of the separating claw are opposite to tobacco stems;
b, starting the vertical reciprocating mechanism to enable the separating claw to move downwards for a certain distance so that the tobacco stems of the stack of tobacco leaves to be cured on the uppermost layer enter between the two rubber pads at the lower ends of the two clamping arms;
c, controlling the two clamping arms of the separation claw to be closed, and clamping the tobacco stems of the stack of tobacco leaves to be cured at the uppermost layer between the two rubber pads at the lower ends of the two clamping arms;
d, starting the vertical reciprocating mechanism to enable the separating claw to drive the stack of tobacco leaves to be baked clamped by the separating claw to move upwards for a certain distance so as to be convenient for clamping a follow-up clamping claw;
in the step, a stack of tobacco leaves to be cured is the tobacco leaves to be cured with a feeding unit weight;
in the step, because the tobacco stems exceed the running plane of the separating claw by a certain length, when the two clamping arms of the separating claw are folded to clamp the tobacco stems, the end heads of the tobacco stems are exposed out of the space between the two clamping arms of the separating claw;
s03, the clamping jaw clamps and transfers the tobacco leaves to be baked on the separating jaw:
a, the mechanical arm of the multi-axis robot acts to drive the clamping jaw to move to a position where the clamping jaw can clamp tobacco leaves to be roasted on the separating jaw, namely all tobacco stem ends exposed between two clamping arms of the separating jaw are positioned between two sponge gaskets of the clamping jaw;
b, extending out a piston rod A of a clamping cylinder of the clamping jaw to drive the pressing sheet to move towards the supporting sheet, so that all tobacco stem ends exposed between the two clamping arms of the separating jaw are clamped between the two sponge gaskets of the clamping jaw;
s04, the clamping jaws transfer and unload the tobacco leaves to be roasted onto a conveyor belt of the roasting equipment:
a, the mechanical arm of the multi-axis robot acts to drive the clamping jaw to move above a conveying belt of baking equipment;
b, retracting a piston rod A of a clamping cylinder of the clamping jaw to drive the pressing sheet to move away from the supporting sheet, so that the two sponge gaskets are separated, a clamped stack of tobacco leaves to be cured is loosened, and the stack of tobacco leaves to be cured falls down and is spread on a continuously running conveying belt;
s05, continuously feeding:
and repeating the steps S02-S04, and continuously transferring the tobacco leaves to be cured in the material frame to a conveyor belt of the curing equipment.
The further technical scheme of the invention is as follows: the tobacco stems of the tobacco leaves to be roasted which are put into the material frame exceed the operation plane of the separation claw by 10-15 cm.
Compared with the prior art, the invention has the following advantages:
the tobacco leaf re-drying device is used for feeding operation in a tobacco leaf re-drying procedure of a cigarette factory, and can continuously transfer tobacco leaves to be dried in the material frame to a conveyor belt of the drying equipment. Compared with the current manual feeding mode, the automatic tobacco re-drying device has the advantages that the working efficiency is improved, the feeding rhythm is stable and controllable, the feeding thickness is uniform, the tobacco adhesion phenomenon is improved to a greater extent, and the quality of tobacco re-drying is effectively guaranteed.
The invention is further described below with reference to the figures and examples.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a tobacco leaf clamping and lifting device;
FIG. 3 is an enlarged view of portion A of FIG. 2;
fig. 4 is a schematic structural view of the multi-axis robot.
Detailed Description
Example 1:
as shown in fig. 1-4, the tobacco redrying mechanized feeding system comprises a material frame 1, a tobacco clamping and lifting device and a multi-axis robot.
One side wall or both opposite side walls of the material frame 1 are opened to form a filling opening 11.
The tobacco leaf clamping and lifting device comprises a transverse reciprocating mechanism, a vertical reciprocating mechanism and a separating claw 23. The transverse reciprocating mechanism is arranged on the material frame and performs reciprocating movement in the horizontal direction. The vertical reciprocating mechanism is associated with the transverse reciprocating mechanism and performs reciprocating movement in the vertical direction. The separating claw 23 is connected to the vertical reciprocating mechanism, and is driven by the horizontal reciprocating mechanism and the vertical reciprocating mechanism to move in the plane of the filling opening.
The transverse reciprocating mechanism comprises a mounting frame A211, a lead screw A212, a nut A213 and a motor A214. The mounting frame A211 is fixedly arranged on the material frame 1. Two ends of the screw rod A212 are movably arranged on the mounting rack A211 and are horizontally arranged. The nut A213 is screwed with the lead screw A212. The motor A214 is mounted on the mounting bracket A211, and the crankshaft thereof is connected with the lead screw A212 so as to drive the lead screw A212 to rotate.
The vertical reciprocating mechanism comprises a mounting rack B221, a lead screw B, a nut B223 and a motor B224. Two ends of the screw rod B are movably arranged on the mounting rack B221 and are vertically arranged. The nut B223 is screwed with the lead screw B. The motor B224 is mounted on the mounting bracket B221, and the crankshaft thereof is connected with the lead screw B to drive the lead screw B to rotate. The vertical reciprocating mechanism is fixedly connected to a nut A213 of the transverse reciprocating mechanism through a nut B223.
The separation claw 23 includes a motor C231, a mount 232, a lead screw C233, a nut C234, a link 235, and a clamp arm 236. The motor C231 is fixedly mounted on the mounting base 232, and a crankshaft thereof vertically extends downward. The lead screw C233 is vertically arranged, and is connected to a crankshaft of the motor C231 at an upper end thereof, and is driven to rotate by the motor C231. The nut C234 is screwed with the screw rod C233. One end of each of the two connecting rods 235 is hinged to both sides of the nut C234, and the other end thereof is hinged to the middle of each of the two holding arms 236. The two clamping arms 236 are located on two sides of the nut C234 and are oppositely arranged, the front ends of the two clamping arms 236 are respectively hinged on the mounting base 232, the rear ends of the two clamping arms 236 are respectively connected with a rubber pad 237, the two clamping arms 236 can rotate around respective hinge points, so that switching between folding and unfolding is realized, when the two clamping arms 236 are folded, the two rubber pads 237 are mutually attached, and when the two clamping arms 236 are unfolded, a space for a tobacco stem to extend into is formed between the two rubber pads 237. The separation claw 23 is fixed to a mounting bracket B221 of the vertical reciprocating mechanism via a mounting base 232.
The multi-axis robot includes a robot body 31, a robot arm 32 connected to the robot body 31, and a gripper 33 connected to a distal end of the robot arm 32. The multi-axis robot is arranged at a position where the clamping jaw 33 can extend into the loading opening 11 of the material frame 1.
The clamping jaw 33 comprises a U-shaped frame 331, a rotating shaft 332, a supporting sheet 333, a clamping cylinder 334, a pressing sheet 335, a connecting frame 336, a pitching cylinder 337 and a sponge pad 338. The U-shaped frame 331 is a channel-shaped member with a U-shaped cross section, one side of which is an open end and the other side is a closed end, and two edges of the open end are a first edge 3311 and a second edge 3312, respectively. The rotating shaft 332 is movably installed at the closed end of the U-shaped frame 331. The blade 333 is fixedly attached to the first edge 3311 of the open end of the U-shaped frame 331. The clamping cylinder 334 includes a cylinder body a3341 and a piston rod a3342, the cylinder body a3341 is fixedly installed at the second edge 3312 of the open end of the U-shaped frame 331, and the piston rod a3342 is protruded toward the first edge 3311 of the open end of the U-shaped frame 331. The pressing sheet 335 is fixedly connected to the piston rod a3342 of the clamping cylinder 334 and faces the supporting sheet 333, and the pressing sheet 335 moves toward or away from the supporting sheet 333 with the expansion and contraction of the piston rod a3342 of the clamping cylinder 334. One end of the connecting frame 336 is provided with a sleeve portion 3361 which is sleeved with the rotating shaft 332, the other end is provided with a butt portion 3362 which is connected with the mechanical arm 32 of the multi-axis robot, and the connecting frame 336 is movably sleeved on the rotating shaft 332 through the sleeve portion 3361. The pitching cylinder 337 comprises a cylinder body B3371 and a piston rod B3372, the cylinder body B3371 is hinged to the connecting frame 336, the piston rod B3372 is hinged to the U-shaped frame 331, and the piston rod B3372 extends and retracts to drive the U-shaped frame 331 to rotate around the rotating shaft 332. Two sponge pads 338 are respectively adhered to the support sheet 333 and the pressing sheet 335 and are opposite to each other. The gripper 33 is connected to the end of the arm 32 of the multi-axis robot via the docking portion 3362 of the connecting frame 336.
Preferably, there are a plurality of clamping cylinders 334, all the clamping cylinders 334 are equally spaced along the second edge 3312 of the open end of the U-shaped frame 331, and correspondingly, the fastening points of the piston rods a3342 of all the clamping cylinders 334 to the pressing plate 335 are equally spaced along the length of the pressing plate 335.
Briefly describe how the separation pawl acts: the closing or opening of the separating claw 23 is controlled by the forward and reverse rotation of the motor C231, and the motor C231 is started to drive the lead screw C233 to rotate, so as to drive the nut C234 to move on the lead screw C. When the nut C234 moves upward (i.e., toward the direction close to the motor C231), the nut C234 brings the two clamp arms 236 together via the link 235. When the nut C234 moves downward (i.e., away from the motor C231), the nut C234 drives the two holding arms 236 to open via the link 235.
Briefly describe how the separation claw moves: the separation claw 23 can move in the plane of the filling opening 11 of the material frame 1 under the driving of the transverse reciprocating mechanism and the vertical reciprocating mechanism. The motor a214 of the transverse reciprocating mechanism is started to drive the nut a213 and the whole vertical reciprocating mechanism to move along the lead screw a212 (namely, the horizontal direction). The motor B224 of the vertical reciprocating mechanism is started to drive the nut B223 to move along the lead screw B (i.e. in the vertical direction), so as to drive the separating claw 23 fixedly connected to the mounting bracket B221 to move in the vertical direction.
Briefly describing the application of the invention:
the tobacco leaf redrying mechanized feeding system can realize the feeding operation of the tobacco leaf redrying procedure of a cigarette factory, namely continuously transferring tobacco leaves to be redried in the material frame to a conveying belt of a baking device, and comprises the following steps:
before feeding, the tobacco redrying mechanized feeding system is in an initial state, and in the initial state:
a. the clamping jaw 33 does not extend into the filling opening 11 of the material frame 1;
b. the piston rod a3342 of the clamp cylinder 334 of the clamp jaw 33 is in a retracted state;
c. the nut A213 of the transverse reciprocating mechanism is in the middle of the moving stroke;
d. the nut B223 of the vertical reciprocating mechanism is positioned at the lowest end of the moving stroke;
e. the two holding arms 236 of the separation claw 23 are opened.
S01, loading tobacco leaves to be roasted into the material frame:
a. the tobacco leaves to be cured are arranged into a stacked state with the tobacco stems facing the same direction, and then the tobacco leaves are loaded into the material frame 1 in a placing mode with the tobacco stems facing the loading port 11 of the material frame 1, and the tobacco stems are ensured to exceed the running plane of the separating claw 23 (the separating claw 23 can only move in the plane under the drive of the transverse reciprocating mechanism and the vertical reciprocating mechanism, and the plane is called as the running plane of the separating claw 23) for a certain length so as to be convenient for the subsequent clamping of the clamping claw 33;
b. after the material frame 1 is filled with the tobacco leaves to be cured, the tobacco leaf stems of all the tobacco leaves to be cured in the material frame 1 are arranged in a vertically aligned state so as to be clamped by the subsequent separating claw 23.
S02, the separation claw clamps the tobacco leaves to be roasted:
a, starting a transverse reciprocating mechanism, and adjusting the position of the separating claw 23 to ensure that two opened clamping arms 236 of the separating claw 23 are opposite to the tobacco stems;
b, starting the vertical reciprocating mechanism to move the separating claw 23 downwards for a certain distance so that the tobacco stems of the uppermost layer of the stack of tobacco leaves to be cured enter between the two rubber pads 237 at the lower ends of the two clamping arms 236;
c, controlling the two clamping arms 236 of the separation claw 23 to be closed, and clamping the tobacco stems of the uppermost stack of tobacco leaves to be cured between the two rubber pads 237 at the lower ends of the two clamping arms 236;
d, starting the vertical reciprocating mechanism to enable the separating claw 23 to drive the stack of the tobacco leaves to be baked, which are clamped by the separating claw, to move upwards for a certain distance so as to be convenient for clamping a follow-up clamping jaw 33;
in the step, a stack of tobacco leaves to be cured is the tobacco leaves to be cured with a feeding unit weight;
in this step, since the tobacco stem exceeds the running plane of the separating claw 23 by a certain length, when the two holding arms 236 of the separating claw 23 are folded to hold the tobacco stem, the end of the tobacco stem is exposed from between the two holding arms 236 of the separating claw 23.
S03, the clamping jaw clamps and transfers the tobacco leaves to be baked on the separating jaw:
a, the mechanical arm 32 of the multi-axis robot acts to drive the clamping jaw 33 to move to a position where the clamping jaw 23 can clamp tobacco leaves to be baked, namely, all tobacco stem ends exposed between the two clamping arms of the separating jaw 23 are positioned between the two sponge gaskets 338 of the clamping jaw 33;
b, the piston rod A3342 of the clamping cylinder 334 of the clamping jaw 33 extends to drive the pressing sheet 335 to move towards the supporting sheet 333, so that all tobacco stem ends exposed between the two clamping arms 236 of the separating claw 23 are clamped between the two sponge gaskets 338 of the clamping jaw 33.
S04, the clamping jaws transfer and unload the tobacco leaves to be roasted onto a conveyor belt of the roasting equipment:
a, a mechanical arm 32 of the multi-axis robot acts to drive a clamping jaw 33 to move above a conveyor belt of baking equipment;
b, the piston rod A3342 of the clamping cylinder 334 of the clamping jaw 33 retracts to drive the pressing sheet 335 to move away from the supporting sheet 333, so that the two sponge pads 338 are separated, the clamped stack of the tobacco leaves to be cured is loosened, and the stack of the tobacco leaves to be cured falls and is spread on a continuously running conveyor belt.
S05, continuously feeding:
and repeating the steps S02-S04, and continuously transferring the tobacco leaves to be cured in the material frame to a conveyor belt of the curing equipment.
Claims (4)
1. Tobacco redrying mechanized feeding system, characterized by: comprises a material frame (1), a tobacco leaf clamping and lifting device and a multi-axis robot;
one side wall or two opposite side walls of the material frame (1) are opened to form a filling opening (11);
the tobacco leaf clamping and lifting device comprises a transverse reciprocating mechanism, a vertical reciprocating mechanism and a separating claw (23); the transverse reciprocating mechanism is arranged on the material frame (1) and performs reciprocating movement in the horizontal direction; the vertical reciprocating mechanism is associated with the transverse reciprocating mechanism and performs reciprocating movement in the vertical direction; the separating claw (23) is connected to the vertical reciprocating mechanism and moves in a plane where the filling opening is located under the driving of the horizontal reciprocating mechanism and the vertical reciprocating mechanism;
the transverse reciprocating mechanism comprises a mounting rack A (211), a lead screw A (212), a nut A (213) and a motor A (214); the mounting frame A (211) is fixedly mounted on the material frame (1); two ends of the screw rod A (212) are movably arranged on the mounting rack A (211) and are horizontally arranged; the nut A (213) is matched with the screw rod A (212) in a rotating way; the motor A (214) is arranged on the mounting frame A (211), and the crankshaft of the motor A is connected with the lead screw A (212) to drive the lead screw A (212) to rotate;
the vertical reciprocating mechanism comprises a mounting rack B (221), a screw rod B, a nut B (223) and a motor B (224); two ends of the screw rod B are movably arranged on the mounting rack B (221) and are vertically arranged; the nut B (223) is screwed with the screw B; the motor B (224) is arranged on the mounting rack B (221), and the crankshaft of the motor B is connected with the lead screw B so as to drive the lead screw B to rotate; the vertical reciprocating mechanism is fixedly connected to a nut A (213) of the transverse reciprocating mechanism through a nut B (223);
the separating claw (23) comprises a motor C (231), a mounting seat (232), a lead screw C (233), a nut C (234), a connecting rod (235) and a clamping arm (236); the motor C (231) is fixedly arranged on the mounting seat (232), and the shaft of the motor C vertically extends downwards; the lead screw C (233) is vertically arranged, is connected with a crankshaft of the motor C (231) at the upper end and is driven to rotate by the motor C (231); the nut C (234) is in threaded fit with the lead screw C (233); one ends of the two connecting rods (235) are respectively hinged to two sides of the nut C (234), and the other ends of the two connecting rods are respectively hinged to the middle parts of the two clamping arms (236); the two clamping arms (236) are positioned on two sides of the nut C (234) and are oppositely arranged, the front ends of the two clamping arms (236) are respectively hinged to the mounting base (232), the rear ends of the two clamping arms (236) are respectively connected with a rubber pad (237), the two clamping arms (236) can rotate around respective hinged points so as to switch between folding and unfolding, when the two clamping arms (236) are folded, the two rubber pads (237) are mutually attached, and when the two clamping arms (236) are unfolded, a space for a tobacco stem to extend into is formed between the two rubber pads (237); the separation claw (23) is fixedly connected to a mounting rack B (221) of the vertical reciprocating mechanism through a mounting seat (232);
the multi-axis robot comprises a robot body (31), a mechanical arm (32) connected to the robot body (31) and a clamping jaw (33) connected to the tail end of the mechanical arm (32); the multi-axis robot is arranged at the position where a clamping jaw (33) of the multi-axis robot can extend into a filling opening (11) of the material frame (1); the clamping jaw (33) comprises a U-shaped frame (331), a rotating shaft (332), a supporting sheet (333), a clamping cylinder (334), a pressing sheet (335), a connecting frame (336), a pitching cylinder (337) and a sponge gasket (338); the U-shaped frame (331) is a trough-shaped member with a U-shaped section, one side of the U-shaped frame is an open end, the other side of the U-shaped frame is a closed end, and two edges of the open end are respectively a first edge (3311) and a second edge (3312); the rotating shaft (332) is movably arranged at the closed end of the U-shaped frame (331); the supporting sheet (333) is fixedly connected with the first edge (3311) of the opening end of the U-shaped frame (331); the clamping cylinder (334) comprises a cylinder body A (3341) and a piston rod A (3342), the cylinder body A (3341) is fixedly arranged at the second edge (3312) of the opening end of the U-shaped frame (331), and the piston rod A (3342) extends towards the first edge (3311) of the opening end of the U-shaped frame (331); the pressing sheet (335) is fixedly connected to the piston rod A (3342) of the clamping cylinder (334) and is opposite to the supporting sheet (333), and the pressing sheet (335) is close to or far away from the supporting sheet (333) along with the expansion and contraction of the piston rod A (3342) of the clamping cylinder (334); one end of the connecting frame (336) is provided with a sleeve part (3361) which is sleeved with the rotating shaft (332), the other end of the connecting frame is provided with a butt joint part (3362) which is connected with the mechanical arm (32) of the multi-axis robot, and the connecting frame (336) is movably sleeved on the rotating shaft (332) through the sleeve part (3361); the pitching cylinder (337) comprises a cylinder body B (3371) and a piston rod B (3372), the cylinder body B (3371) is hinged to the connecting frame (336), the piston rod B (3372) is hinged to the U-shaped frame (331), and the piston rod B (3372) stretches and retracts to drive the U-shaped frame (331) to rotate around the rotating shaft (332); the two sponge gaskets (338) are respectively stuck on the supporting sheet (333) and the pressing sheet (335) and are opposite to each other; the gripping jaw (33) is connected to a robot arm (32) of the multi-axis robot via a butt joint section (3362) of the connecting frame (336).
2. The tobacco redrying mechanized feeding system of claim 1, characterized by: the quantity of centre gripping cylinder has a plurality ofly, and all centre gripping cylinders distribute along the second border equidistance of U-shaped frame open end, and correspondingly, the rigid coupling point of piston rod A and preforming of all centre gripping cylinders distributes along the length direction equidistance of preforming.
3. A tobacco redrying mechanized feeding method is applied to the tobacco redrying mechanized feeding system of claim 1 or 2, and is used for continuously transferring tobacco to be redried in a material frame onto a conveyor belt of a baking device, and is characterized by comprising the following steps:
before feeding, the semi-automatic tobacco redrying feeding system is in an initial state, and in the initial state:
a. the clamping jaw (33) does not extend into the filling opening (11) of the material frame (1);
b. a piston rod A (3342) of a clamping cylinder (334) of the clamping jaw (33) is in a retraction state;
c. the nut A (213) of the transverse reciprocating mechanism is positioned in the middle of the moving stroke of the transverse reciprocating mechanism;
d. the nut B (223) of the vertical reciprocating mechanism is at the lowest end of the moving stroke;
e. the two clamping arms (236) of the separation claw (23) are opened;
s01, loading tobacco leaves to be roasted into the material frame:
a. tobacco leaves to be cured are arranged into a stacked state with tobacco stems facing the same direction, and then the tobacco leaves are loaded into the material frame (1) in a mode that the tobacco stems face a loading port (11) of the material frame (1), and the tobacco stems are ensured to exceed the running plane of the separation claw (23) by a certain length so as to be clamped by a subsequent clamping claw (33);
b. after the material frame (1) is filled with the tobacco leaves to be cured, the tobacco stems of all the tobacco leaves to be cured in the material frame (1) are arranged into a vertically aligned state so as to be clamped by a subsequent separation claw (23);
s02, the separation claw (23) clamps the tobacco leaves to be roasted:
a, starting a transverse reciprocating mechanism, and adjusting the position of a separating claw (23) to ensure that two opened clamping arms (236) of the separating claw (23) are opposite to tobacco stems;
b, starting a vertical reciprocating mechanism to enable the separating claw (23) to move downwards for a certain distance so that the tobacco stems of the uppermost layer of the stack of tobacco leaves to be cured enter between two rubber pads (237) at the lower ends of two clamping arms (236);
c, controlling the two clamping arms of the separation claw (23) to be closed, and clamping the tobacco stems of the stack of tobacco leaves to be cured at the uppermost layer between two rubber pads (237) at the lower ends of the two clamping arms (236);
d, starting the vertical reciprocating mechanism to enable the separating claw (23) to drive the stack of the tobacco leaves to be roasted which are clamped by the separating claw to move upwards for a certain distance so as to be convenient for clamping a follow-up clamping jaw (33);
in the step, a stack of tobacco leaves to be cured is the tobacco leaves to be cured with a feeding unit weight;
in the step, because the tobacco stems exceed the running plane of the separating claw (23) by a certain length, when the two clamping arms (236) of the separating claw (23) are folded to clamp the tobacco stems, the end heads of the tobacco stems are exposed out of the space between the two clamping arms (236) of the separating claw (23);
s03, the clamping jaw (33) is used for clamping and transferring the tobacco leaves to be roasted on the separating jaw (23):
a, a mechanical arm (32) of the multi-axis robot acts to drive the clamping jaw (33) to move to a position where the clamping jaw (23) can clamp tobacco leaves to be roasted, namely all tobacco stem ends exposed between two clamping arms (236) of the separating jaw (23) are positioned between two sponge gaskets (338) of the clamping jaw (33);
b, a piston rod A (3342) of a clamping cylinder (334) of the clamping jaw (33) extends out to drive a pressing sheet (335) to move towards a supporting sheet (333), so that all tobacco stem ends exposed between two clamping arms (236) of the separating jaw (23) are clamped between two sponge gaskets (338) of the clamping jaw (33);
s04, the clamping jaw (33) transfers and unloads the tobacco leaves to be cured onto a conveyor belt of the curing device:
a, a mechanical arm (32) of the multi-axis robot acts to drive a clamping jaw (33) to move to the position above a conveyor belt of baking equipment;
b, a piston rod A (3342) of a clamping cylinder (334) of the clamping jaw (33) retracts to drive a pressing sheet (335) to move away from a supporting sheet (333) so as to separate two sponge gaskets (338), thus a clamped stack of tobacco leaves to be cured is loosened, falls and is spread on a continuously running conveyor belt;
s05, continuously feeding:
and repeating the steps S02-S04, and continuously transferring the tobacco leaves to be roasted in the material frame (1) to a conveyor belt of roasting equipment.
4. The tobacco redrying mechanized feeding method of claim 3, characterized by: the tobacco stems of the tobacco leaves to be cured which are put into the material frame (1) exceed the running plane of the separation claw (23) by 10-15 cm.
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| CN112155576A (en) * | 2020-11-11 | 2021-01-01 | 哈尔滨理工大学 | Full-automatic venipuncture blood sampling robot |
| CN112806599B (en) * | 2021-02-04 | 2022-07-26 | 钟学能 | Automatic feeding mechanism for intelligent drying device and operation method thereof |
| CN114955450A (en) * | 2022-06-09 | 2022-08-30 | 河南中烟工业有限责任公司 | Device and method for detecting and processing tobacco belt slip |
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