CN113125231A - Automatic stem drawing and separating device and method - Google Patents
Automatic stem drawing and separating device and method Download PDFInfo
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- CN113125231A CN113125231A CN202110426797.1A CN202110426797A CN113125231A CN 113125231 A CN113125231 A CN 113125231A CN 202110426797 A CN202110426797 A CN 202110426797A CN 113125231 A CN113125231 A CN 113125231A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/34—Purifying; Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
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Abstract
The invention discloses an automatic stem pumping and separating device and a method, and the conception of the device is that a set of automatic stem pumping and separating device framework combined by a plurality of components such as a conveyor belt, a visual positioning component, a mechanical arm and a first collecting box is constructed, different components in the device respectively play their roles and can be mutually matched, so as to realize a series of operations of automatically conveying, identifying and positioning tobacco leaf samples, clamping stem pumping and separating, collecting tobacco stem sections and the like serving for subsequent stem content detection. Compared with the prior art, the tobacco stem extracting and separating device can improve the efficiency of stem extracting and separating, improve the accuracy of leaf-stem separation, effectively overcome the defects of tobacco leaf breaking or manual stem extracting and separating, and further remarkably improve the precision of stem extracting and separating and improve the operation processing efficiency, and can retain the stripped complete leaves for resource recycling.
Description
Technical Field
The invention relates to the field of tobacco processing, in particular to an automatic stem pumping and separating device and method.
Background
In the cigarette manufacturing process, it is very important to perform related detection on materials, for example, the cut stem content detection needs to be performed on tobacco leaves in the same batch, and in order to realize the cut stem content detection, the tobacco leaves need to be subjected to stem extraction and stem separation before the detection.
At present, the following two methods are adopted for carrying out the stem drawing and separating operation:
(one) threshing method
The method comprises the steps of adopting threshing air separation equipment occupying relatively large space, crushing a tobacco leaf sample to be detected to be smaller in particle size, separating crushed tobacco flakes and tobacco stems through an air separation box, and finally, manually collecting the tobacco stems and then screening out coarse stems and fine stems by adopting a multi-layer screening device.
On the background that the tobacco industry has higher and higher requirements on the detection of process quality indexes, the real-time control, the linearity, the accuracy and the like, the method highlights the following defects: (1) the smashing operation is relatively rough, so that broken tobacco flakes and tobacco stems are scattered too much, and the stem and leaf separation effect is influenced; (2) the damaged detection sample is difficult to be mixed back into the original formula for continuous use, so that the consumption of raw materials is increased; (3) the stem content detection is carried out after the stem content detection is carried out by using the method, the detection result is influenced by the stability of a plurality of factors such as threshing parameters, air classification parameters, screening parameters and the like, and particularly, the process of collecting and screening thick and thin stems is also easily influenced by manual operation; (4) the equipment structure is complicated, and the maintenance work is loaded down with trivial details.
(II) hand tearing method
The method is to separate the tobacco stems and leaves by manually tearing, and then manually distinguish the tobacco stems with different thicknesses by adopting tools such as calipers and the like. Compared with the threshing method, the method is relatively more precise, and avoids losing a part of available tobacco stems which are used for calculating the stem content rate due to the crushing process. However, the method has the disadvantages that the manual efficiency is low, the manual influence factors are also mixed, and the tobacco leaves are remained and further the subsequent detection is influenced because the pure manual operation is difficult to avoid incomplete stripping.
Disclosure of Invention
In view of the above, the invention aims to provide an automatic stem extracting and separating device and method, so as to comprehensively solve the defects of the existing stem extracting and separating mode.
The technical scheme adopted by the invention is as follows:
in a first aspect, the present invention provides an automatic stem extracting and separating device, which comprises:
the device comprises a conveying belt, a visual positioning part, a mechanical arm and a first collecting box;
the visual positioning part and the mechanical arm are respectively arranged in a preset processing area of the conveyor belt, and the first collecting box is arranged on one side of a conveying end point of the conveyor belt;
the conveyor belt is used for conveying tobacco leaf samples to the preset treatment area;
the visual positioning part is used for acquiring an image of the tobacco sample positioned in the preset processing area and transmitting an identified tobacco stem positioning signal to the mechanical arm;
the mechanical arm is provided with a clamping mechanism for clamping the stem part of the tobacco leaf sample, a stem pumping mechanism for separating the tobacco stem from the leaves and a stem separating mechanism for cutting the complete tobacco stem into tobacco stem sections;
the first collecting box is used for collecting tobacco stem sections which fall off after being cut by the mechanical arm.
In at least one possible implementation, the visual positioning component includes a CCD camera.
In at least one possible implementation manner, a plurality of partition parts are arranged in the first collecting box, the first collecting box is divided into a plurality of accommodating spaces by the partition parts, and different accommodating spaces are used for accommodating tobacco stem sections in different diameter intervals.
In at least one possible implementation manner, the device further comprises a second collecting box for collecting the fallen leaves after the stems are extracted by the mechanical arm;
the second collecting box is arranged on the mechanical arm or integrated with the first collecting box.
In at least one possible implementation, the predetermined processing region is near the delivery destination.
In at least one possible implementation manner, the device further includes a tobacco leaf sensing component disposed in the preset processing area, and the tobacco leaf sensing component includes an independent optical fiber sensor or is integrated with the visual positioning component.
In at least one possible implementation, the apparatus further includes a base on which the conveyor belt, the visual positioning component, the robotic arm, and the first collection cassette are mounted.
In at least one possible implementation, the visual positioning component includes a bracket, and one end of the bracket is mounted on the base.
In a second aspect, the present invention provides an automatic stem extraction and separation method corresponding to the above device, which comprises:
driving a conveyor belt to convey the pretreated tobacco leaf sample to a preset treatment area, wherein the pretreatment comprises tobacco leaf moisture regaining treatment according to preset moisture content before the tobacco leaf sample is placed on the conveyor belt;
triggering a visual positioning part to acquire an image of a tobacco sample in a preset processing area and identifying and positioning the stem part;
after receiving the tobacco stem positioning signal, controlling a clamping mechanism of a mechanical arm to clamp the stem of the tobacco sample;
controlling a stem drawing mechanism of the mechanical arm to move from the thick end to the thin end of the tobacco stem of the tobacco leaf sample, and stripping the leaves from the tobacco stem;
the stem separating mechanism of the control mechanical arm reversely moves from the thin end to the thick end of the extracted complete tobacco stem and divides the complete tobacco stem into a plurality of tobacco stem sections in the moving process.
In at least one possible implementation manner, the cutting the complete tobacco stem into the plurality of tobacco stem sections in the moving process specifically includes:
continuously detecting the diameter of the complete tobacco stem in the reverse moving process of the stem separating mechanism;
and controlling a stem separating mechanism to cut off the tobacco stems at different diameters of the complete tobacco stems on the basis of a preset diameter interval value to obtain a plurality of tobacco stem sections.
The invention relates to a method for automatically extracting stems and separating stems, which is characterized in that a set of automatic stem extracting and separating device framework combined by a plurality of components such as a conveyor belt, a visual positioning component, a mechanical arm and a first collecting box is constructed, different components in the device respectively play their roles and can be mutually matched, so that a series of operations of automatically conveying, identifying and positioning tobacco leaf samples, clamping stem extracting and separating stems, collecting tobacco stem sections and the like serving for subsequent stem content detection are realized. Compared with the prior art, the tobacco stem extracting and separating device can improve the efficiency of stem extracting and separating, improve the accuracy of leaf-stem separation, effectively overcome the defects of tobacco leaf breaking or manual stem extracting and separating, and further remarkably improve the precision of stem extracting and separating and improve the operation processing efficiency, and can retain the stripped complete leaves for resource recycling.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
FIG. 1 is a schematic structural diagram of an automatic stem extracting and separating device provided in an embodiment of the present invention;
fig. 2 is a flowchart of an automatic stem extracting and separating method according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The invention provides an embodiment of an automatic stem extracting and separating device, which is shown in fig. 1 and specifically comprises the following components: conveyor belt 1, vision positioning part 2, mechanical arm 3 and first collection box 4. The visual positioning part 2 and the mechanical arm 3 are respectively arranged in a preset processing area of the conveyor belt 1, and the first collecting box 4 is arranged on one side of a conveying end point of the conveyor belt 1. It should be understood that the reference to being provided in the predetermined processing area does not mean that the visual positioning unit 2 and the mechanical arm 3 are provided on the conveyor belt 1, but rather, a region for performing the stem extraction operation may be defined in advance, and the stem extraction operation may be performed when the conveyor belt 1 conveys the tobacco sample to the predetermined processing area, it is understood that, preferably, as illustrated in fig. 1, the predetermined processing area is set near the conveying end point of the conveyor belt 1, that is, the mechanical arm 3 has a preferable operating range which is more reasonable and does not interfere with other surrounding environments.
Specifically, the driving method of the conveyor belt 1 belongs to the prior art, the speed of the conveyor belt 1 can be adjusted as needed, for example, the conveyor belt can be conveyed at a constant speed, and it should be noted that how to drive the conveyor belt 1 to operate and how to control the speed of the conveyor belt 1 are not the main points of the present invention, and the existing mature technology can be used for reference in implementation, in actual operation, the control unit of the conveyor belt 1 may be independent, or may be integrated with the visual positioning component 2 and/or the mechanical arm 3, and the present invention may not be limited and described in detail.
The visual positioning component 2 is used for acquiring an image of a tobacco sample located in the preset processing area and transmitting an identified tobacco stem positioning signal to the mechanical arm 3, and of course, the image acquisition and processing to obtain the tobacco stem positioning signal is a mature prior art in the field, and the image processing process involved here is also not a side point of the present invention, but it should be noted that, in actual operation, the visual positioning component 2 may have various types, for example, but not limited to, the visual positioning component 2 may include an industrial CCD camera, and the resolution may adopt 0.2mm × 0.2mm, and the present invention is not limited thereto.
Further, since the present invention proposes to convey the tobacco sample to the preset processing area by the conveyor belt 1, as shown in fig. 1, in the image collected by the visual positioning component 2, the background of the preset processing area is the belt body of the conveyor belt 1, so as to facilitate obtaining a clearer tobacco sample image and facilitating accurately identifying the stem positioned to the tobacco sample, preferably, the conveyor belt may be selected from materials forming a color with obvious contrast with the color (yellow-like) of the tobacco and the color (black-like) of the stem, such as but not limited to the belt body of the conveyor belt 1 made of light green PVC material.
In the foregoing, the mechanical arm 3 may adopt the existing technologies related to the robot field, for example, it may freely rotate and move in multiple directions, and in combination with the scenario of the present invention, a clamping mechanism for clamping the stem portion of the tobacco leaf sample, a stem extracting mechanism for separating the tobacco stem from the tobacco leaf, and a stem separating mechanism for cutting the complete tobacco stem into tobacco stem sections may be provided for the mechanical arm 3, so as to enable the mechanical arm 3 to realize the operations of clamping, stem extracting, and stem separating, it should be noted that the control mode of the mechanical arm (robot) is a mature technology, and the mechanical parts attached thereto may be controlled according to actual needs, so how to drive the mechanical arm 3 to rotate, move, and operate the attached mechanisms are not the side points of the present invention, as long as the related executing mechanisms are configured, the actions required by the scenario of the existing robot control technology can be implemented, moreover, it can be also described that the robot arm 3 usually has a control unit thereof, so it can be understood that the aforementioned visual positioning component 2 can be in signal connection with the control unit of the robot arm 3, and certainly the present invention does not exclude that the drive control component of the conveyor belt 1 is also in signal connection with the control unit of the robot arm 3, or respective control units thereof can be configured for the above components independently, and these control technologies have mature solutions for reference, so the present invention may not be described and limited in detail.
Next, regarding the first collecting box 4, the function of the collecting box is to collect the tobacco stem segments released after being cut by the mechanical arm 3, it can be understood that, in different scenes, the whole tobacco stem with the stripped blades may need to be cut according to a preset diameter interval, so in some embodiments, as illustrated in fig. 1, the first collecting box 4 may be provided with a plurality of partition parts, the partition parts divide the first collecting box 4 into a plurality of accommodating spaces, different accommodating spaces may be used for collecting tobacco stem segments in different diameter intervals, and the first collecting box 4 may also be understood as being composed of a plurality of independent accommodating spaces. It should be noted here that, since the stem itself has the inherent property of diameter change (the stem part is thicker and gradually becomes thinner toward the leaf end), there are many choices as to how to perform the stem splitting operation according to different diameter intervals, for example, the mechanical arm 3 cuts the whole stem into several stem segments according to a predetermined length value, or cuts the whole stem segments according to a predetermined number of segments, or better cuts the whole stem segments according to a diameter measurement value, and the invention is not limited thereto.
It may be further added that, for placing the aforementioned components, it is considered that the apparatus further comprises a base 5 as shown in fig. 1, and that the conveyor belt 1, the visual positioning means 2, the robot arm 3 and the first collecting box 4 are all mounted on the base 5, the base 5 serving to support the respective related components. From this idea, it can also be pointed out that the aforementioned visual positioning means 2 can also comprise a support, and one end of said support is mounted on said base 5, whereas the visual pick-up means carrying out the acquisition can be mounted at the other end of said support and facing the surface of the conveyor belt 1, more specifically, facing the aforementioned pre-set treatment area.
Finally, two points can be supplemented:
firstly, after the leaves are peeled from the tobacco stem, the peeled leaves can be collected, that is, the invention can separate the stems and leaves by an automatically controlled mechanical device, and compared with the traditional threshing method, the invention can ensure that more complete leaves can be obtained, so that a second collecting box can be designed in the device and used for collecting the leaves released and dropped after the stems are extracted by the mechanical arm 3, of course, the second hand-machine box can be arranged at a plurality of positions, for example, but not limited to, the second collecting box is arranged on the mechanical arm 3, or the second collecting box and the first collecting box 4 can be integrated into a whole, and in the practical operation, a certain accommodating space of the first collecting box in the preferred example can be used as the second collecting box.
Secondly, in the concept of the present invention, since the conveyor belt 1 is required to convey the tobacco sample to a specific preset processing area for operations such as stem identification, stem extraction and stem separation by a robot, how to convey the tobacco sample to the conveyor belt 1 may be realized, specifically, the tobacco sample on the conveyor belt 1 may be monitored by setting the advance distance, advance time, advance speed, and the like of the conveyor belt 1, and certainly, from the viewpoint of hardware, a tobacco sensing component may be disposed at the preset processing area, and the specific implementation means includes, for example and without limitation, disposing an independent optical fiber sensor, or integrating the visual positioning component 2, that is, the visual positioning component 2 is used as the tobacco sensing component. The sensing control, optical fiber monitoring, image detection and other techniques referred to herein are available in a large number of mature techniques, for example, it is not difficult for those skilled in the art to control the conveyor belt 1 to stop running for the following operations of image acquisition, stem extraction and the like when the optical fiber sensor detects that the tobacco sample is present on the conveyor belt 1.
It can be known from the foregoing that, the embodiment of the device provides a set of automatic stem extraction and separation device framework combined by a plurality of components, such as a conveyor belt, a visual positioning component, a mechanical arm and a first collection box, only at a hardware angle, and different components in the device framework perform their own functions and can be matched with each other, so as to realize a series of operations of automatic conveying, identification and positioning of tobacco leaf samples, clamping stem extraction and separation, collection of tobacco stem segments and the like serving for subsequent stem content detection. The electric control, image recognition algorithm, robot control and other technologies related to the method can use the prior art for reference, and the actions of rotation, movement, clamping, stem extraction, stem separation and the like executed by the specific mechanical arm can be flexibly configured according to the actual application requirement and by combining with the mature robot control technology.
In conclusion, compared with the prior art, the tobacco stem stripping and separating device can improve the efficiency of stem stripping and separating, improve the accuracy of leaf-stem separation, effectively overcome the defects of tobacco leaf breaking or manual stem stripping and separating, and further remarkably improve the precision of stem stripping and separating and improve the operation treatment efficiency, and can retain the stripped complete leaves for resource recycling.
Based on the above embodiments and preferred schemes, the present invention further provides an embodiment of an automatic stem extraction and separation method combining the above apparatus, as shown in fig. 2, which specifically includes the following steps:
s1, driving a conveyor belt to convey the pretreated tobacco leaf samples to a preset treatment area;
wherein the pretreatment comprises the step of carrying out tobacco leaf conditioning treatment according to a preset moisture content (for example, 15-20%) before placing the tobacco leaf sample on a conveyor belt.
S2, triggering a visual positioning part to collect the image of the tobacco leaf sample in the preset processing area and identifying and positioning the stem;
s3, after receiving the tobacco stem positioning signal, controlling a clamping mechanism of a mechanical arm to clamp the stem of the tobacco sample;
s4, controlling a stem drawing mechanism of the mechanical arm to move from the thick end to the thin end of the tobacco stem of the tobacco leaf sample, and stripping the leaves from the tobacco stem;
s5, controlling a stem separating mechanism of the mechanical arm to reversely move from the thin end to the thick end of the extracted complete tobacco stem, and cutting the complete tobacco stem into a plurality of tobacco stem sections in the moving process.
In combination with the aforementioned concept of obtaining multiple tobacco stem segments according to different diameter intervals, the step S5 of cutting the whole tobacco stem into several tobacco stem segments in the moving process may specifically include: and continuously detecting the diameter of the complete tobacco stem in the reverse movement process of the stem separating mechanism, and then controlling the stem separating mechanism to cut off the tobacco stem at different diameters of the complete tobacco stem based on a preset diameter interval value to obtain a plurality of tobacco stem sections.
For example, when the stem separating mechanism moves to a preset 1.5mm (diameter, which can be preset according to length or realized by a measuring means without limitation) from the thin end along the complete tobacco stem, the mechanical arm can be controlled to move to an accommodating space smaller than 1.5mm of the first collecting box, and the stem separating mechanism is triggered to execute a cutting action, so that the tobacco stems with the diameter smaller than 1.5mm are cut, released and dropped into the accommodating space. And then, continuously moving the stem separating mechanism to the thick end, when the stem separating mechanism moves to a preset diameter range of 1.5-2.38 mm (the range refers to the diameter range of 1.5-2.38 mm of the cut tobacco stem segment, in practical operation, the cut tobacco stem segment can be cut off from the position of 1.5mm and then cut off at the position of 2.38 mm), executing the cutting operation according to the mode, obtaining the tobacco stem segments with the diameter of 1.5-2.38 mm from the first collecting box and cutting the tobacco stem segments into the corresponding accommodating space, finally, moving the mechanical arm to the tobacco stem collecting box with the diameter of more than 2.38mm, not executing the cutting operation, directly releasing the clamping mechanism, and releasing the tobacco stem segments with the diameter of more than 2.38mm into the corresponding accommodating space.
The above is only an example for reference, and a more specific mechanical arm component is further incorporated herein to describe the following, after the clamping mechanism clamps the stem part, the separating mechanism can be attached to the surface of the stem, and move from the thick end to the thin end of the stem while peeling off the leaves, then the separating mechanism is attached to the surface of the intact stem from the thin end and moves to the thick end, during the moving process, the moving is stopped once a preset position (for example, but not limited to, the diameter of 1.5 mm) is detected according to the attribute of the stem, and the separating mechanism is controlled to perform a shearing action after the mechanical arm integrally moves to the corresponding position of the first collection box, and then the movement is continued, and so on.
For example, in another example, the robot arm holding the tobacco sample may be moved to above the preset first accommodating space in another predetermined control manner, and then the stem extraction and separation operations are performed, and the above control processes may be configured as required, which is not limited in the present invention.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are merely preferred embodiments of the present invention, and it should be understood that technical features related to the above embodiments and preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.
Claims (10)
1. The utility model provides an automatic take out stalk and divide stalk device which characterized in that includes: the device comprises a conveyor belt (1), a visual positioning component (2), a mechanical arm (3) and a first collection box (4);
the visual positioning part (2) and the mechanical arm (3) are respectively arranged in a preset processing area of the conveyor belt (1), and the first collecting box (4) is arranged on one side of a conveying end point of the conveyor belt (1);
the conveyor belt (1) is used for conveying tobacco leaf samples to the preset treatment area;
the visual positioning part (2) is used for acquiring an image of a tobacco sample positioned in the preset processing area and transmitting an identified tobacco stem positioning signal to the mechanical arm (3);
the mechanical arm (3) is provided with a clamping mechanism for clamping the stem part of the tobacco leaf sample, a stem pumping mechanism for separating the tobacco stem from the leaves and a stem separating mechanism for cutting the complete tobacco stem into tobacco stem sections;
the first collecting box (4) is used for collecting tobacco stem sections which fall off after being cut by the mechanical arm (3).
2. The automatic stem extraction and separation device according to claim 1, wherein the visual positioning means (2) comprises a CCD camera.
3. The automatic stem drawing and separating device according to claim 1, wherein a plurality of partition parts are arranged in the first collecting box (4), the partition parts divide the first collecting box (4) into a plurality of accommodating spaces, and different accommodating spaces are used for accommodating tobacco stem sections with different diameter ranges.
4. The automatic stem extraction and separation device according to claim 1, further comprising a second collection box for collecting the leaves dropped after stem extraction by the robot arm (3);
the second collecting box is arranged on the mechanical arm (3) or integrated with the first collecting box (4).
5. The automatic stem extraction and separation device according to claim 1, wherein the predetermined processing area is near the delivery destination.
6. The automatic stem extraction and separation device according to claim 1, further comprising a tobacco leaf sensing component arranged in the preset treatment area, wherein the tobacco leaf sensing component comprises an independent optical fiber sensor or is integrated with the visual positioning component (2).
7. The automatic stem extraction and separation device according to any one of claims 1 to 6, further comprising a base (5), wherein the conveyor belt (1), the visual positioning component (2), the mechanical arm (3) and the first collection box (4) are all mounted on the base (5).
8. The automatic stem extraction and separation device according to claim 7, wherein the visual positioning part (2) comprises a bracket, and one end of the bracket is mounted on the base (5).
9. An automatic stem extraction and separation method based on the device of any one of claims 1 to 8, which is characterized by comprising the following steps:
driving a conveyor belt to convey the pretreated tobacco leaf sample to a preset treatment area, wherein the pretreatment comprises tobacco leaf moisture regaining treatment according to preset moisture content before the tobacco leaf sample is placed on the conveyor belt;
triggering a visual positioning part to acquire an image of a tobacco sample in a preset processing area and identifying and positioning the stem part;
after receiving the tobacco stem positioning signal, controlling a clamping mechanism of a mechanical arm to clamp the stem of the tobacco sample;
controlling a stem drawing mechanism of the mechanical arm to move from the thick end to the thin end of the tobacco stem of the tobacco leaf sample, and stripping the leaves from the tobacco stem;
the stem separating mechanism of the control mechanical arm reversely moves from the thin end to the thick end of the extracted complete tobacco stem and divides the complete tobacco stem into a plurality of tobacco stem sections in the moving process.
10. The automatic stem extraction and separation method of claim 9, wherein the step of cutting the whole tobacco stem into a plurality of tobacco stem sections during the moving process comprises the following steps:
continuously detecting the diameter of the complete tobacco stem in the reverse moving process of the stem separating mechanism;
and controlling a stem separating mechanism to cut off the tobacco stems at different diameters of the complete tobacco stems on the basis of a preset diameter interval value to obtain a plurality of tobacco stem sections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110426797.1A CN113125231A (en) | 2021-04-20 | 2021-04-20 | Automatic stem drawing and separating device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110426797.1A CN113125231A (en) | 2021-04-20 | 2021-04-20 | Automatic stem drawing and separating device and method |
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| CN113125231A true CN113125231A (en) | 2021-07-16 |
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| CN202110426797.1A Pending CN113125231A (en) | 2021-04-20 | 2021-04-20 | Automatic stem drawing and separating device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113662233A (en) * | 2021-09-14 | 2021-11-19 | 朱玉钟 | Leaf and stem separation equipment and separation method thereof |
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2021
- 2021-04-20 CN CN202110426797.1A patent/CN113125231A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113662233A (en) * | 2021-09-14 | 2021-11-19 | 朱玉钟 | Leaf and stem separation equipment and separation method thereof |
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