CN110584189A

CN110584189A - Tobacco feeding system

Info

Publication number: CN110584189A
Application number: CN201910790304.5A
Authority: CN
Inventors: 周野; 胡磊; 陈永星; 朱西勇
Original assignee: Shenzhen Jiayi Precision Automation Technology Co Ltd
Current assignee: Shenzhen Jiayi Precision Automation Technology Co Ltd
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2019-12-20

Abstract

The tobacco feeding system comprises a feeding robot; the tobacco clamping device comprises a mounting plate, the mounting plate is connected to the tail end of a feeding robot, an X-axis clamping part, a Y-axis clamping part and a clamping detection part are mounted on the mounting plate, the X-axis clamping part is mounted on the mounting plate and comprises an X-axis driving part and a pair of X-axis clamping jaws, the X-axis driving part drives the X-axis clamping jaws to move in opposite directions or away from each other, the Y-axis clamping part is mounted on the mounting plate and comprises a Y-axis driving part and a pair of Y-axis clamping jaws, the Y-axis driving part drives the Y-axis clamping jaws to move in opposite directions or away from each other, and the clamping detection part is arranged at a position capable of detecting at least one pair of clamping forces of the X-axis clamping jaws or the Y-axis clamping jaws; the material loading storage part comprises a storage box and a weighing part, and the material loading storage part is arranged in a range covered by the stroke of the material loading robot. The invention can realize full-automatic feeding of tobacco materials.

Description

Tobacco feeding system

Technical Field

The invention relates to the field of tobacco manufacturing, in particular to a tobacco feeding system.

Background

At present, the threshing and redrying formula die assembly of the redrying workshop of the cigarette factory adopts an artificial formula die assembly mode, and has the problems of large labor amount, low formula uniformity, production environment dust increase due to artificial formula and the like. For example, when tobacco is supplied, the tobacco is usually packed by a carton, the carton needs to be unpacked manually, and then the tobacco is carried to an electronic belt weigher to be loaded, the weight of the tobacco is confirmed on the electronic belt weigher, and the tobacco cannot be loaded quantitatively, that is, when the loading weight is more than the required weight, the excessive tobacco material needs to be removed manually, and when the loading weight is less than the required weight, the tobacco material needs to be added manually, so that the loading work is complicated and the uniformity is low. Therefore, the automation degree of the existing tobacco feeding process is low, the quantitative feeding cannot be realized, and the uniformity is very low.

Disclosure of Invention

The invention provides a tobacco feeding system aiming at the technical problems that the tobacco material feeding automation degree is low and the quantitative feeding cannot be realized.

The tobacco feeding system comprises a feeding robot; the tobacco clamping device comprises a mounting plate, the mounting plate is connected to the tail end of the feeding robot, an X-axis clamping portion, a Y-axis clamping portion and a clamping detection portion are mounted on the mounting plate, the X-axis clamping portion is mounted on the mounting plate and comprises an X-axis driving portion and a pair of X-axis clamping jaws, the X-axis driving portion drives the X-axis clamping jaws to move towards or away from each other, the Y-axis clamping portion is mounted on the mounting plate and comprises a Y-axis driving portion and a pair of Y-axis clamping jaws, the Y-axis driving portion drives the Y-axis clamping jaws to move towards or away from each other, and the clamping detection portion is arranged at a position where at least one pair of clamping forces of the X-axis clamping jaws or the Y-axis clamping jaws can be detected; the feeding storage part comprises a storage box for storing tobacco materials and a weighing part for measuring the weight of the storage box, and the feeding storage part is arranged in a range covered by the stroke of the feeding robot.

Preferably, the automatic feeding device further comprises a walking part, a bearing plate is arranged on the walking part, and the feeding robot and the feeding storage part are installed on the bearing plate.

Preferably, the walking part further comprises a walking driving part and a walking guiding part, the bearing plate is mounted on the walking guiding part, the walking driving part is mounted on the bearing plate, and the walking driving part drives the bearing plate to move on the walking guiding part.

Preferably, the X-axis clamp jaw and the Y-axis clamp jaw together form a reducible or expandable clamp space.

Preferably, the tobacco clamping device is further provided with a camera part, and the camera part is mounted on the mounting plate.

Preferably, the weighing part includes an electronic scale, the electronic scale is disposed on the loading plate, and the storage box is detachably placed on the electronic scale.

Preferably, the clamping detection part comprises a pair of first pressure sensors and a pair of second pressure sensors, the first pressure sensors are respectively arranged on the clamping surfaces of the X-axis clamping jaws, and the second pressure sensors are respectively arranged on the clamping surfaces of the Y-axis clamping jaws.

Preferably, each clamping surface of the X-axis clamping jaw is provided with a first anti-skid part.

Preferably, each clamping surface of the Y-axis clamping jaw is provided with a second anti-skid part.

According to the tobacco feeding system, the tobacco clamping device is arranged, so that tobacco materials can be automatically clamped, and the tobacco clamping device is also provided with the clamping detection part, so that the tobacco materials can be quantitatively fed. And because the tobacco clamping device is driven by the feeding robot, the tobacco materials can be fed fully automatically.

Drawings

FIG. 1 is a schematic view of one embodiment of a tobacco feeding system of the present invention;

FIG. 2 is a schematic view of the feeder robot and tobacco holding device of FIG. 1;

FIG. 3 is a schematic view of the tobacco holding device of FIG. 2;

FIG. 4 is a schematic view of the X-axis clamp of FIG. 3;

FIG. 5 is a schematic view of the X-axis clamp jaw of FIG. 4;

fig. 6 is a schematic view of the tobacco feeding system of fig. 1 (omitting the material frame).

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the present invention can be implemented in many different ways and is not limited to the embodiments described herein, but rather these embodiments are provided to enable those skilled in the art to understand the disclosure more thoroughly.

Further, the description of the illustrative embodiments in accordance with the principles of the invention is intended to be read in connection with the accompanying drawings, which are to be considered part of the entire written description. In describing the embodiments of the invention disclosed, reference to any direction or orientation is intended merely to facilitate explanation and is not intended to limit the scope of the invention in any way. Relative terms such as "front," "back," "upper," "lower," "rear," "outer," "inner," "middle," "inner," "outer," "lower," "upper," "horizontal," "vertical," "above," "below," "up," "down," "top" and "bottom") and derivatives thereof (e.g., "horizontally," "downwardly," "upwardly," etc.) should be construed to refer to the orientation as then described or as shown in the drawing under discussion. These relative terms are for convenience of description only and do not require that the apparatus be constructed or operated in a particular orientation unless otherwise specifically stated. Thus, the invention should not be limited to the exemplary embodiments which illustrate some possible non-limiting combinations of features which may be present alone or in other feature combinations; the scope of protection of the invention is defined by the appended claims.

As presently contemplated, this disclosure describes the best mode or mode of practice of the invention. The present invention is not intended to be understood from the limiting layer, but rather is to be provided as an illustrative example only, in connection with the accompanying drawings, so as to inform those skilled in the art of the advantages and construction of the invention. Like reference characters designate like or similar parts throughout the various views of the drawings.

Fig. 1 is a schematic view of an embodiment of a tobacco feeding system of the present invention, and referring to fig. 1, the tobacco feeding system comprises a feeding robot 1, the feeding robot 1 is preferably a six-axis robot, a tobacco holding device 2 is connected to an end of the feeding robot 1, the tobacco holding device 2 is used for holding tobacco, in this embodiment, tobacco materials such as tobacco powder, tobacco stems, tobacco fragments and the like can be loaded on a material frame 100, for example, the material frame 100 can be made of wood, paper or other known material frames 100 for packing tobacco materials. The material frame 100 is placed within the range covered by the stroke of the six-axis robot. In the range covered by the stroke of the feeding robot 1, a feeding storage part 3 is further provided, and the feeding storage part 3 includes a storage box 31 for storing tobacco materials and a weighing part 32 for measuring the weight of the storage box 31. The storage box 31 may also be a dispensing box, for example, when tobacco materials are required to be mixed according to the formula of the tobacco materials, a plurality of material frames 100 containing the tobacco materials required to be mixed may be configured within the range covered by the stroke of the feeding robot 1, the six-axis robot drives the tobacco clamping devices 2 respectively, the tobacco materials are transferred to the storage box 31 after being clamped in the various material frames 100, the storage box 31 may be directly placed on the weighing part 32 for easy assembly and disassembly, the weighing part 32 includes an electronic scale, and the electronic scale may be one known by those skilled in the art.

Fig. 2 is a schematic view of the feeding robot 1 and the tobacco clamping device 2 in fig. 1, fig. 3 is a schematic view of the tobacco clamping device 2, and referring to fig. 2 and 3, the tobacco clamping device 2 includes an installation plate 21, an X-axis clamping portion 22 and a Y-axis clamping portion 23 are installed on the installation plate 21, the X-axis clamping portion 22 includes an X-axis driving portion 26 and a pair of X-axis clamping jaws 222a and 222b, and the X-axis driving portion 26 drives the X-axis clamping jaws 222a and 222b to move toward or away from each other. The Y-axis clamping part 23 is arranged above the X-axis clamping part 22 and is mounted on the mounting plate 21 through a Y-axis connecting piece 236, the Y-axis connecting piece 236 can be a connecting column, threaded holes are formed in two ends of the connecting column respectively, and wrench positions are arranged on the periphery of the connecting column. The spliced pole includes many, and the one end of spliced pole passes through screw locking to mounting panel 21 on, the other end passes through screw and Y axle clamping part 23 fixed connection, from this, supports Y axle clamping part 23 to the top of X axle clamping part 22, and Y axle clamping part 23 and X axle clamping part 22 intersect perpendicularly. Similarly, the Y-axis clamping unit 23 includes a Y-axis driving unit 231 and a pair of Y-axis clamps 232a and 232b, and the Y-axis driving unit 231 drives the pair of Y-axis clamps 232a and 232b to move toward or away from each other.

In the following embodiments, the X-axis clamping portion 22 and the Y-axis clamping portion 23 have substantially the same structure, and the X-axis clamping portion 22 is described as an example, and detailed description of the Y-axis clamping portion 23 is omitted.

Fig. 4 is a schematic view of the X-axis clamping portion 22, and referring to fig. 4, the X-axis driving portion 26 includes an X-axis mounting plate 261, the X-axis mounting plate 261 is long, an X-axis driving motor 262 and an X-axis transmission portion 27 are mounted on the X-axis mounting plate 261, and the X-axis driving motor 262 and the X-axis transmission portion 27 are coupled. The X-axis driving motor 262 may be selected from a servo motor or a stepping motor, the X-axis transmission part 27 includes a first bidirectional screw assembly, and the X-axis driving motor 262 and the X-axis transmission part 27 are coupled by a diaphragm coupling 226. The first bidirectional screw rod assembly includes a first screw rod 271, the front and rear ends of the first screw rod 271 are respectively supported by first bearing seats 272a, 272b, the first screw rod 271 includes a left-handed threaded portion and a right-handed threaded portion, a pair of first nuts 273a, 273b are provided on the first screw rod 271, and the first nuts 273a, 273b are respectively engaged with the left-handed threaded portion and the right-handed threaded portion of the first screw rod 271. The first screw 271 is provided with a first slide rail 274 at the lower part thereof, the first slide rail 274 may include one or two, preferably one, the first slide rail 274 is located at the right lower part of the first screw 271 and is mounted on the X-axis mounting plate 261, the first slide rail 274 is provided with two first sliders 275a and 275b, the first sliders 275a and 275b slide on the first slide rail 274, the first sliders 275a and 275b are respectively provided with first mounting blocks 276a and 276b, and a pair of first nuts 273a and 273b are respectively sleeved on the first mounting blocks 276a and 276 b. The first mounting blocks 276a and 276b are further connected with first sensing pieces 277, and on the contrary, the X-axis mounting plate 261 is provided with three U-shaped photoelectric switches 278, the three U-shaped photoelectric switches 278 may be an initial position, a final position and a reset position, the initial position and the final position are extreme positions of the X-axis clamping portion 22, respectively, and when the first mounting blocks 276a and 276b move and the first sensing pieces 277 are sensed by the U-shaped photoelectric switches 278 at the initial position or the U-shaped photoelectric switches 278 at the final position, the X-axis driving motor 262 stops driving or drives in reverse. In addition, the reset position is used as a reference position of the first mounting blocks 276a and 276b, and for example, every time the X-axis clamping jaws 222a and 222b are opened, the first sensing piece 277 is sensed by the U-shaped photoelectric switch 278a in the reset position to be used as an origin to start calculating the moving stroke. When the X-axis driving motor 262 drives the first lead screw 271 to rotate, the first mounting blocks 276a and 276b move toward or away from each other by the transmission of the first nuts 273a and 273b and the guidance of the first slide rail 274. X-axis clamping jaws 222a, 222b are mounted on first mounting blocks 276a, 276b, respectively. In this embodiment, since the first screw 271 has two portions with different turning directions, when the first screw 271 is rotated, the moving directions of the first nuts 273a and 273b are also opposite to each other, and the first nuts 273a and 273b can be moved toward each other or away from each other, whereby the X-axis grippers 222a and 222b can be gripped or opened, and the configuration is compact. In addition, because the tobacco materials have large volume and the quality of different tobacco materials has far difference, the combination of the servo motor and the bidirectional screw rod is selected, so that the multi-point start and stop of the X-axis clamping jaw 222 can be realized, the clamping stroke or the opening stroke of the X-axis clamping jaws 222a and 222b can be controlled randomly in the stroke of the bidirectional screw rod according to different tobacco materials, and the control is convenient.

With continued reference to fig. 3, similar to the X-axis driving part 26, the Y-axis driving part 231 also includes a Y-axis driving motor 231a and a Y-axis transmission part 231b, the Y-axis driving motor 231a and the Y-axis transmission part 231b are coupled, the Y-axis transmission part 231b includes a second bidirectional screw assembly, and a pair of Y-axis clamping jaws 232a, 232b are respectively mounted on the second bidirectional screw assembly. The Y-axis driving motor 231a may be selected to be the same as the X-axis driving motor 262, and the structure of the Y-axis transmission unit 231b may be substantially the same as that of the X-axis transmission unit 27, and will not be described in detail.

Fig. 5 is a schematic view of an X-axis gripper, and in fig. 5, for convenience of explanation, a pair of X-axis grippers 222a and 222b are collectively referred to as an X-axis gripper 222. Referring to fig. 5, the X-axis clamp 222 is formed by sheet metal bending, and a rib 222c may be welded to the X-axis clamp 222 in order to improve the strength of the X-axis clamp 222. The distal end 222d of the X-axis jaw 222 is configured with a tapered thickness to facilitate insertion of the X-axis jaw 222 into the tobacco material. Preferably, a first anti-slip portion 223 is respectively disposed on the clamping surface 222e of each X-axis clamping jaw 222. Preferably, the first anti-skid portion 223 includes a first anti-skid plate 223a, the first anti-skid plate 223a may be a polyurethane plate, a POM plate, a nylon plate, or the like, and a plurality of first grooves 223b are provided on the first anti-skid plate 223a, and the first grooves 223b may extend in parallel or may extend in a staggered manner. The first anti-slip portion 223 may be formed by directly punching the X-axis clamp 222, for example, by punching a plurality of protruding convex hulls (not shown) on the X-axis clamp 222. Through setting up first antiskid portion 223, can make partial tobacco material card go in the clearance of first antiskid portion 223 when X axle clamping jaw 222 centre gripping tobacco material, can prevent that the tobacco material of X axle clamping jaw 222 centre gripping from dropping, leads to the change of the tobacco quality of clamping jaw centre gripping.

Referring to fig. 3, the Y-axis jaws 232a and 232b may be formed by sheet metal bending, and reinforcing ribs may be welded to the Y-axis jaws 232a and 232b, respectively, to improve the strength of the Y-axis jaws 232a and 232 b. The ends of the Y-axis jaws 232a, 232b are configured to have a tapered thickness to facilitate insertion of the Y-axis jaws 232 into the tobacco material. Preferably, after the Y-axis clamping jaws 232a and 232b are respectively mounted on the Y-axis driving part 231, the height of the Y-axis clamping jaw 232 is substantially the same as that of the X-axis clamping jaw 222, the X-axis clamping jaws 222a and 222b and the Y-axis clamping jaws 232a and 232b together form a clamping space which can be reduced or expanded, the clamping space has a rectangular shape, when the X-axis clamping jaws 222a and 222b and the Y-axis clamping jaws 232a and 232b are simultaneously reduced, the rectangular shape of the clamping space is reduced, and when the X-axis clamping jaws 222a and 222b and the Y-axis clamping jaws 232a and 232b are simultaneously expanded, the rectangular shape of the clamping space is increased. In order to prevent the tobacco material held by the Y-axis grippers 232a, 232b from falling off and causing a change in the quality of the tobacco held by the tobacco holding device 2, the gripping surfaces of the Y-axis grippers 232a, 232b are provided with second anti-slip portions 233, respectively. Preferably, the second anti-skid portion 233 includes a second anti-skid plate 233a, which may be a polyurethane plate, a POM plate, or a nylon plate, and the second anti-skid plate is provided with a plurality of second grooves 233b, and the second grooves 233b may extend in parallel or may extend in a staggered manner. The second anti-slip portions 233 are also formed by directly punching the Y-axis claws 232a and 232b, for example, by punching a plurality of protruding convex hulls on the Y-axis claws 232a and 232 b.

Referring to fig. 3 and 5, the clamping device further includes a clamping detection unit 24, and the clamping detection unit 24 is provided at a position where it can detect the clamping force of at least one pair of the X-axis clamping jaws 222a and 222b or the Y-axis clamping jaws 232a and 232 b. Preferably, the clamping detection portion 24 includes a pair of first pressure sensors 241, and the first pressure sensors 241 may be selected from load cells or load cells, for example, CZL 204E-spoke (circular plate) type load cells of the electrical measurement technologies, ltd, huanhan, guangdong. The first pressure sensors 241 are respectively disposed on the clamping surface 222e of the X-axis clamping jaw 222, the X-axis clamping jaw 222 is provided with a first mounting piece 222f, the first mounting piece 222f is fixed to the back surface of the clamping surface of the X-axis clamping jaw 222, the X-axis clamping jaw 222 is provided with a through first accommodating space (not shown), the first anti-slip portion 223 is provided with a through second accommodating space 223b, and after the first anti-slip portion 223 is fixed to the X-axis clamping jaw 222, the first accommodating space and the second accommodating space 223b are substantially coaxial. The first pressure sensor 241 is cylindrical and includes an installation end and a detection end, the first pressure sensor 241 is accommodated in the first accommodation space and the second accommodation space 223b, the installation end is installed on the first installation part 222f, and the detection end is exposed outside the first anti-slip part 223 on one side of the clamping surface clamped by the X-axis, for example, 0.5mm to 1 mm. Since the tobacco material is in an expanded state, in order to reliably detect the clamping force generated when the X-axis clamping portion 22 clamps the tobacco material, it is preferable that the detection end of the first pressure sensor 241 is provided in a flat shape, and for example, a detection plate may be attached to the first pressure sensor 241, whereby the surface of the first pressure sensor 241 in contact with the tobacco material is made wider, so that the clamping force generated by the X-axis clamping portion 22 is more accurately detected. More preferably, the clamping detection portion 24 may further include a pair of second pressure sensors 242, and the second pressure sensors 242 are respectively provided on the clamping surfaces of the Y-axis clamping jaws 232. The mounting of the second pressure sensor 242 on the Y-axis clamp 232 can be referred to the mounting of the first pressure sensor 241 on the X-axis clamp 222, and will not be described in detail here.

By providing the clamping detection unit 24 on the tobacco clamping device 2, the clamping force of the clamping space formed by the X-axis clamping claws 222 and the Y-axis clamping claws 232 when clamping the tobacco material can be detected in real time, and the weight of the clamped tobacco material can be estimated according to the clamping force, the density of the tobacco material, and the size of the clamping space. Therefore, the tobacco material can be quantitatively fed. In addition, the opening strokes of the X-axis gripper 222 and the Y-axis gripper 232 may also be determined experimentally, for example, when the tobacco clamping device 2 is inserted into a tobacco material, the tobacco material is first clamped in a trial manner, the weight of the material is determined, then the control system of the system calculates the difference between the weight of the tobacco material to be clamped in the trial manner and the preset weight, the X-axis driving part 26 and the Y-axis driving part 231 respectively drive the X-axis gripper 222 and the Y-axis gripper 232 to continuously open or close, so as to reduce or expand the rectangle of the clamping space, and re-clamp the tobacco material, and when the weight of the tobacco material to be clamped in the trial manner is the same as the preset weight, the opening strokes of the X-axis gripper 222 and the Y-axis gripper 232 at this time are stored, thereby ensuring that the tobacco material can be clamped in a quantitative manner. It should be noted that, for the same kind of tobacco material, the density of the tobacco material can be calculated according to the weight and the area of the tobacco material. The method for comparing the difference between the weight of the tobacco material to be clamped and the preset weight can be performed by using the existing method, and the calculation process or the control method is not described in detail herein because the calculation process and the control method are not protected by the present invention.

In addition, an imaging unit 25 may be further included, and the imaging unit 25 is attached to the attachment plate 21. The camera part 25 may use, for example, a 3D measurement product of asahi vision limited, for example, including a 3D camera unit, a recognition unit, an algorithm unit, and the like. In the present embodiment, by applying the existing 3D measurement product to the tobacco holding device 2, before the tobacco material is held, the image pickup portion 25 scans the tobacco material to determine the cross-sectional area thereof, and then determines the opening stroke and the closing stroke of the X-axis holding portion 22 and the Y-axis holding portion 23, thereby further assisting the tobacco holding device 2 in quantitatively holding the tobacco.

Fig. 6 is a schematic diagram of a tobacco feeding system (material frame is omitted), and referring to fig. 6, the tobacco feeding system may further include a walking part 4, a carrying plate 41 is arranged on the walking part 4, and the feeding robot 1 and the feeding storage part 3 are mounted on the carrying plate 41. By arranging the running part 4 and installing the loading robot 1 and the loading storage part 3 on the bearing plate 41 of the running part 4, the range covered by the stroke of the loading robot 1 can be greatly increased. The running part 4 can be a straight line type driving running part 4, the running part 4 comprises a running driving part 42 and a running guiding part 43, the bearing plate 41 is arranged on the running guiding part 43, the running driving part 42 is arranged on the bearing plate 41, and the running driving part 42 drives the bearing plate 41 to move on the running guiding part 43.

The running guide 43 may be directly mounted to the ground, for example, the running guide 43 may include a guide base 431, and the guide base 431 includes two, arranged in parallel. Lower margin 432 and expansion bolt installation portion 433 are installed to the lower part of guide base 431, and lower margin 432 is used for adjusting the height of guide base 431, prevents that guide base 431 from supporting unstably on the ground because the level of ground leads to the fact, and simultaneously, when guide base 431 is formed by the concatenation of multistage sub-base, also be convenient for adjust the height each other of each section sub-base, ensures that the spigot surface of guide base 431 after the concatenation is a plane. After the adjustment of the travel guide 43 is completed, the expansion bolt mounting portion 433 fastens the travel guide 43 to the ground by the expansion bolt by driving the expansion bolt.

In one embodiment, a linear guide 434 may be installed on the top surface of the guide base 431, and a guide slider 435 is installed on the lower portion of the bearing plate 41, and the guide slider 435 is engaged with the linear guide 434 to slide on the linear guide 434. The guide base 431 may be provided at a side thereof with a rack 436, and when the guide base 431 includes a plurality of segments, the rack 436 may also include a plurality of segments, which are engaged with each other to form a long rack. In this connection, the traveling drive unit 42 includes a traveling drive motor 421, the traveling drive motor 421 may be, for example, a three-phase asynchronous motor, the traveling drive motor 421 is mounted on the carrying plate 41, and a drive gear 422 is coupled to an output shaft of the traveling drive motor 421, and the drive gear 422 is engaged with a rack 436 mounted to a side surface of the guide base 431. Thus, when the traveling driving motor 421 is driven, the carrier plate 41 directly slides through the rack gear mechanism formed by the rack 436 and the driving gear 422, and the six-axis robot is driven to linearly move.

In the second embodiment, the guide base 431 may also be made of i-steel, the traveling driving part 42 includes a driving motor, the driving motor is mounted on the bearing plate 41, a driving pulley is coupled to an output shaft of the driving motor, the driving pulley slides on the top surface of the i-steel, a guide surface is provided on the inner side of the middle part of the i-steel, and in match with this, the bearing plate 41 may also be mounted with a guide pulley, and the guide pulleys respectively slide on the guide surface.

The various features described in the foregoing detailed description may be combined in any manner and, for the sake of unnecessary repetition, various combinations are not intended to be encompassed by the invention.

The above embodiments are merely illustrative of the technical solutions of the present invention and are not restrictive, and any modifications or equivalent substitutions which do not depart from the scope of the present invention should be included in the technical solutions of the present invention.

Claims

1. A tobacco feeding system is characterized by comprising

A feeding robot;

a tobacco clamping device, which comprises a mounting plate connected to the tail end of the feeding robot, wherein an X-axis clamping part, a Y-axis clamping part and a clamping detection part are arranged on the mounting plate,

the X-axis clamping part is arranged on the mounting plate and comprises an X-axis driving part and a pair of X-axis clamping jaws, the X-axis driving part drives the X-axis clamping jaws to move towards or away from each other,

the Y-axis clamping part is arranged on the mounting plate and comprises a Y-axis driving part and a pair of Y-axis clamping jaws, the Y-axis driving part drives the Y-axis clamping jaws to move towards or away from each other,

the clamping detection part is arranged at a position capable of detecting clamping force of at least one pair of the X-axis clamping jaw or the Y-axis clamping jaw;

the feeding storage part comprises a storage box for storing tobacco materials and a weighing part for measuring the weight of the storage box, and the feeding storage part is arranged in a range covered by the stroke of the feeding robot.

2. The tobacco loading system according to claim 1, further comprising a running gear having a carrying plate disposed thereon, the loading robot and the loading storage being mounted to the carrying plate.

3. The tobacco feeding system according to claim 2, wherein the traveling part further comprises a traveling drive part and a traveling guide part, the carrying plate is mounted to the traveling guide part, the traveling drive part is mounted to the carrying plate, and the traveling drive part drives the carrying plate to move on the traveling guide part.

4. A tobacco feeding system according to claim 1, wherein the X-axis jaw and the Y-axis jaw together form a reducible or expandable clamping space.

5. A tobacco feeding system according to claim 1 or 4, wherein a camera is further provided on the tobacco clamping device, the camera being mounted to the mounting plate.

6. A tobacco feeding system according to claim 2, characterized in that the weighing part comprises an electronic scale, which is provided on the loading plate, and the storage box is detachably placed on the electronic scale.

7. A tobacco feeding system according to claim 1 or 4, wherein the clamping detection portion includes a pair of first pressure sensors and a pair of second pressure sensors, the first pressure sensors being respectively provided on the clamping surfaces of the X-axis clamping jaws, and the second pressure sensors being respectively provided on the clamping surfaces of the Y-axis clamping jaws.

8. A tobacco feeding system according to claim 1 or 4, wherein each X-axis clamping jaw is provided with a first anti-slip portion on the clamping surface.

9. A tobacco feeding system according to claim 1 or 4, wherein each Y-axis clamping jaw is provided with a second non-slip portion on the clamping surface.