CN112407382A

CN112407382A - Hierarchical flexible tobacco leaf bundling device and method for bundling tobacco leaves by using same

Info

Publication number: CN112407382A
Application number: CN202011245604.4A
Authority: CN
Inventors: 何勋; 吕严柳; 王万章; 胡柏臣; 张景风; 高展
Original assignee: Henan Agricultural University
Current assignee: Henan Agricultural University
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2021-02-26
Anticipated expiration: 2040-11-10
Also published as: CN112407382B

Abstract

The invention discloses a hierarchical flexible tobacco leaf bundling device and a method for bundling tobacco leaves by using the same. The knotting manipulator comprises a knotting guide cylinder, a rope hooking cylinder, a swinging cylinder and a knotting air claw. The rope clamping mechanical hand comprises a rope clamping guide cylinder and a rope clamping gas claw. The motion of the equipment is driven by adopting an air pressure transmission mode, a PLC is used as a control core, and the functions of the overall program are designed in modules by adopting a PLC control program and a Mitsubishi SFC programming mode, so that the control of the motion of the whole knotting device is completed.

Description

Hierarchical flexible tobacco leaf bundling device and method for bundling tobacco leaves by using same

Technical Field

The invention belongs to the technical field of agricultural production equipment, and particularly relates to a graded tobacco leaf flexible bundling method and device.

Background

Since 2010, the tobacco production in China gradually starts to adopt a tobacco specialized grading and tobacco loose leaf collecting mode, tobacco growers directly provide small bundles of tobacco loose leaves after primary grading, and the small bundles of tobacco loose leaves are graded and bundled by special teams and sold to tobacco processing manufacturers. In the actual process of tobacco leaf professional grading and scattered leaf purchasing mode popularization, although the human labor input is reduced, certain problems exist, one of the main problems is that bundling lacks special mechanical equipment, but if tobacco growers do not bundle pre-checked tobacco leaves, the tobacco leaves are loose after being baked, have large gaps, are easy to dry or wet, influence the quality of the tobacco leaves, and the loose tobacco leaves are large in size and are not beneficial to storage and transportation. At present, bundling is mainly completed manually, a bundling process lacks special machinery, tools are mostly simple tools homemade by tobacco growers, for example, a wooden bundling machine has the disadvantages of large quantity of required labor force, high physical labor intensity, high repeatability, labor and time waste and low efficiency, and the simple tools also become one of factors for restricting pushing tobacco loose leaf purchase.

The performance of bundling equipment in China has a large difference with foreign products, and most of key knotting mechanisms on the bundling equipment depend on foreign import. With the development of modern agriculture, the tobacco planting scale is continuously enlarged, and the traditional manual operation cannot meet the requirement of large-scale production. Therefore, it is necessary to develop an operation device capable of bundling tobacco leaves, improving operation efficiency and reducing operation time.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the hierarchical flexible tobacco leaf bundling device and the method for bundling tobacco leaves by using the same. Most of mechanical parts of the device are standard parts, only part of connecting plates and knotting fingers need to be processed, the processing cost is low, and the device is convenient to replace and maintain.

A grading flexible tobacco leaf bundling device comprises a rack, a rope pressing mechanism, a knotting manipulator and a rope clamping manipulator, wherein a compaction box is formed in the middle of the rack, support legs are arranged below the compaction box, a knotting box is arranged on the front side of the compaction box, two rope conveying mechanisms are arranged on the rear side of the compaction box, an upper pressing mechanism is arranged on the upper portion of the compaction box, a lower pressing mechanism is arranged on the lower portion of the compaction box, a material pushing mechanism is arranged on the right side of the compaction box, a discharging platform is arranged at the left outlet of the compaction box, an inclined fixing plate for fixing the rope clamping manipulator is arranged in the knotting box, a fixing block for fixing the knotting manipulator is arranged in the knotting box on the rear side of the fixing plate, and included angles between the fixing plate and the fixing block and the vertical direction are 30 degrees (namely, the knotting manipulator and the rope clamping manipulator are both inclined towards the compaction box by 30 degrees, so that knott, the top of case of knoing forms the platform of knoing, is equipped with the perforation that supplies the manipulator of knoing and press from both sides the rope manipulator to stretch out on the platform of knoing respectively, and the manipulator of knoing, press from both sides the rope manipulator and send the rope mechanism three to be located around on same line, the lateral wall corresponds and is equipped with the through-hole that supplies to send the rope mechanism to pass around the compaction case.

Furthermore, the upper pressing mechanism comprises an upper pressing plate and an upper pressing cylinder, the upper pressing cylinder is fixed on the frame, the upper pressing plate is fixed at the head of the lower end of a piston rod of the upper pressing cylinder, the lower pressing mechanism comprises a lower pressing plate and a lower pressing cylinder, the lower pressing cylinder is fixed on the frame, the lower pressing plate is fixed at the head of the upper end of a piston rod of the lower pressing cylinder, the rope pressing mechanism comprises a rope pressing plate and a rope pressing cylinder, an n-shaped groove is formed in the middle of the upper pressing plate, horizontal lapping edges are arranged on two sides of the n-shaped groove, the rope pressing cylinder is fixed on the upper pressing plate, the rope pressing plate is fixed at the head of the lower end of the rope pressing cylinder, the rope pressing plate is located in the n-shaped groove, the upper pressing cylinder and the lower pressing cylinder are two, the two upper pressing cylinders are respectively arranged on the horizontal lapping edges on two sides of the upper pressing plate, the material pushing mechanism comprises.

Furthermore, the knotting manipulator comprises a knotting guide cylinder, a swinging cylinder, a rope hooking cylinder, a knotting air claw and knotting fingers which are arranged from bottom to top, first connecting plates are arranged on two sides of the swinging cylinder, the swinging cylinder is fixed on the top of the knotting guide cylinder through the first connecting plates, a mounting frame is arranged on the top of the swinging cylinder and consists of a horizontal part and a vertical part, an air cylinder support is arranged on the horizontal part, the bottom of the rope hooking cylinder is fixedly connected with the air cylinder support, the knotting air claw is arranged on the top of the vertical part, the gas claw of knoing includes left gas claw, right gas claw and rather than the gas claw jar that the cooperation is connected, is equipped with the finger support on the left and right gas claw respectively, is equipped with the finger of knoing on the finger support, colludes the piston rod of rope cylinder and be T shape, and two are tied the bottom that the knot indicates and are articulated with the finger support, and the finger portion of two tying the finger respectively with collude the both ends of rope cylinder piston rod horizontal part and articulate.

Further, the finger support comprises vertical portion and the rake to colluding the slope of rope cylinder direction, and vertical portion is fixed respectively on left and right gas claw, and the top of rake is articulated with the bottom of the finger of knoing, and the finger of knoing is a U-shaped mechanism that forms by two fingers of height, and the inside of the finger of knoing forms the finger groove, and the lower finger top of the finger of knoing is articulated with the piston rod of colluding the rope cylinder, and finger inslot portion is equipped with cockscomb structure antiskid line, increase the strapping and the frictional force of knoing between the finger. The tops of the two fingers of the knotting finger are in arc transition, so that the binding rope is easier to separate from the knotting finger after knotting.

Further, press from both sides the rope manipulator including pressing from both sides rope guide cylinder, pressing from both sides rope gas claw and scissors, press from both sides the bottom of rope gas claw and connect through the top of second connecting plate with pressing from both sides rope cylinder piston rod, press from both sides the rope gas claw by controlling two clamping jaws and the clamping jaw jar that the cooperation is connected constitutes, through bolt fixed connection between scissors and the clamping jaw.

Further, the scissors are by first scissor holder, second scissor holder and first shearing portion, the second shearing portion is constituteed, first scissor holder, second scissor holder mirror symmetry sets up, first scissor holder, the second scissor holder is by last vertical portion, horizontal part and vertical portion down are constituteed, it is fixed in the upper surface and the lower surface at horizontal part both ends respectively with vertical portion down to go up vertical portion, first shearing portion, the lower extreme of second shearing portion articulates together, first shearing portion, the upper end of second shearing portion is fixed respectively at first scissor holder, the top of vertical portion on the second scissor holder, first scissor holder, the vertical portion down of second scissor holder is fixed respectively on two clamping jaws, first scissor holder, the last vertical portion of second scissor holder is equipped with the rubber pad respectively in that one side of relative setting.

Further, send rope mechanism including sending the rope cylinder, send the head of rope cylinder piston rod to be equipped with the open wire rope handling section of thick bamboo in upper and lower both ends, the pressure rope board includes the horizontal part and locates the vertical portion on the upper surface at horizontal part both ends, and the top of vertical portion is equipped with the arch portion of outside extension, and the interval between two arch portions equals with the interval between two send the rope mechanism manipulators.

Further, send rope mechanism to be two, knotting manipulator and rope clamping manipulator are two sets, just two knotting manipulator mirror symmetry sets up about, thereby the fenestrate front side that every knotting manipulator corresponds is equipped with two spacing archs and makes the rope spacing between two archs.

The method for bundling the tobacco leaves by using the grading tobacco leaf flexible bundling device comprises the following specific processes:

(1) one end of the rope is clamped on the clamping jaw of the rope clamping manipulator before the rope clamping manipulator does not work, and the other end of the rope is arranged on the rope penetrating cylinder of the rope feeding cylinder, namely the ropes at the two ends of the rope clamping manipulator and the rope feeding cylinder are adhered in the compaction box body in a U shape in the initial state,

(2) the tobacco leaves are put in, the upper pressing cylinder acts to drive the upper pressing plate, the rope pressing cylinder and the rope pressing plate to move downwards to preliminarily compact the tobacco leaves, then the lower pressing cylinder drives the lower pressing plate to move upwards to continue to compact the tobacco leaves, the rope feeding cylinder acts to drive the rope to pass through the two arch parts of the rope pressing plate to reach a knotting area after the tobacco leaves are compacted, and then the knotting manipulator acts,

(3) the knotting guide cylinder extends out to drive the knotting fingers to extend out, and the rope is clamped in the finger grooves of the knotting fingers;

(4) the rope hooking cylinder works to enable the knotted fingers to rotate downwards by 120 degrees and hook the rope;

(5) the swing cylinder works to drive the knotting pneumatic claw to rotate 270 degrees anticlockwise, and the rope is wound on the knotting finger;

(6) the rope hooking cylinder extends out to drive the knotting fingers to rotate upwards by 120 degrees, the rope is clamped, and then the clamping jaw of the rope clamping manipulator is loosened;

(7) the rope clamping guide cylinder drives the clamping jaw to extend out and then clamp, and the scissors arranged on the clamping jaw cut the rope;

(8) retracting the rope clamping manipulator, clamping one end of a new rope, retracting the knotting manipulator to complete knotting, resetting the knotting pneumatic claw, and finishing the knotting process;

(9) the rope feeding cylinder retracts, the upper pressing cylinder retracts and the lower pressing cylinder retracts to drive the upper pressing plate and the lower pressing plate to reset, then the material pushing cylinder extends out to drive the material pushing plate to move to push the bundled tobacco leaves out, after the tobacco leaves are pushed out, the material pushing cylinder retracts, after the tobacco leaves are retracted in place, the upper pressing cylinder and the rope pressing cylinder move to drive the upper pressing plate and the rope pressing plate to move downwards, the rope pressing plate presses the rope to the position near the lower pressing plate, after the tobacco leaves are in place, the upper pressing cylinder and the rope pressing cylinder retract, one period of movement is completed, and the tobacco leaves are waited to be put in again.

The main cylinder loop comprises 2 upper pressing cylinders, 2 lower pressing cylinders, 2 rope feeding cylinders, 1 material pushing cylinder and 1 rope pressing cylinder. The plc is used to control the action of the solenoid valve, which further controls the cylinder movement. The electromagnetic valves are single-electric control electromagnetic valves, the air cylinders are double-acting air cylinders, and one-way throttle valves are arranged at air inlets and air outlets of the air cylinders. And 8 electromagnetic valves are arranged on a cylinder collecting plate.

The rope clamping mechanical hand comprises two rope clamping mechanical hands, and each rope clamping mechanical hand is provided with 1 rope clamping guide cylinder and 1 rope clamping gas claw. Each cylinder is controlled by a single electric control two-position five-way electromagnetic valve. The two ends of the rope clamping guide cylinder are controlled by 2 magnetic switches to detect the stretching and retracting of the cylinder, and the rope clamping pneumatic claw is provided with 1 magnetic switch for detecting whether the pneumatic claw is clamped or not. And 4 electromagnetic valves are arranged on a cylinder collecting plate.

The knotting manipulator comprises two manipulators, and each manipulator comprises 1 knotting guide cylinder, 1 rope hooking cylinder, 1 swinging cylinder and 1 knotting air claw. Totally 8 cylinders are controlled by 8 single-electric-control two-position five-way electromagnetic directional valves, wherein two magnetic switches are arranged at two ends of the knotting guide cylinder, the rope hooking cylinder and the swing cylinder in total and are used for detecting the working state of each cylinder, and the knotting pneumatic claw is provided with one magnetic switch used for detecting the working state of the pneumatic claw and is provided with 14 magnetic switches in total. And 8 electromagnetic valves are arranged on a cylinder collecting plate.

In the invention, the initial state of each electromagnetic valve is a non-electrified state, the rope hooking cylinder is in an extending state, the initial states of the knotting air claw and the rope clamping air claw are in an opening state, the swinging cylinder is in a clockwise limit position, and the initial states of the other cylinders are in a retracting state.

Furthermore, a control program of the equipment is written by an SFC mode, an I/O distribution table of plc is determined firstly, and a ladder diagram is written according to the whole system flow, wherein the ladder diagram mainly comprises a rope loading flow, a material pressing flow and an operation flow. The operation flow comprises a knotting flow, a rope clamping flow and a material pushing flow. The program is operated step by step, and the patent shows a control flow chart and a main program step ladder diagram.

The method and the device for flexibly bundling the graded tobacco leaves adopt pneumatic drive and PLC control, and realize the prevention of knotting by hands. Can reduce the tobacco leaf damage, equipment structure is simple, low cost, and the success rate of knoing and the efficient of knoing can be promoted at tobacco leaf grower and purchase point large tracts of land.

Drawings

FIG. 1 is a schematic view of a graded tobacco leaf flexible binding apparatus of the present invention;

FIG. 2 is a left side view of FIG. 1;

FIG. 3 is a schematic structural view of the knotting robot of the present invention;

FIG. 4 is an enlarged view of portion A of FIG. 3;

FIG. 5 is a schematic structural view of a rope gripping robot of the present invention;

FIG. 6 is a schematic view of a structure above the compactor box of FIG. 1;

FIG. 7 is a schematic structural view of a rope feeding mechanism;

FIG. 8 is a schematic structural view of a fixing block in the knotting box;

FIG. 9 is a schematic illustration of the knotting platform at the top of the knotting cabinet of FIG. 2;

fig. 10 is a PLC control flow chart of the present invention.

In the drawing, 1 is an upper pressing cylinder, 2 is a rack, 3 is an upper pressing plate, 4 is a material pushing plate, 5 is a material pushing cylinder, 6 is a lower pressing cylinder, 7 is a rope clamping mechanical hand, 8 is a knotting mechanical hand, 9 is a rope pressing plate, 10 is a rope pressing cylinder, 11 is a fixing plate, 12 is a lower pressing plate, 13 is a rope feeding cylinder, 14 is a discharging table, 15 is a through hole, 16 is a knotting finger, 17 is a finger support, 18 is a knotting air claw, 19 is a rope hooking cylinder, 20 is a first connecting plate, 21 is a knotting guide cylinder, 22 is a swinging cylinder, 23 is a mounting frame, 24 is a cylinder support, 25 is a rubber pad, 26 is a scissors, 27 is a clamping jaw, 28 is a clamping jaw cylinder, 29 is a second connecting plate, 30 is a rope clamping guide cylinder, 31 is a rope penetrating cylinder, 32 is a through hole, 33 is a fixing block, and 34 is a limiting.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and preferred embodiments. It should be understood that the specific embodiments described herein are only for illustrating the technical idea of the present invention and are not intended to limit the scope of the present invention.

Example 1

A grading flexible tobacco leaf bundling device is shown in figures 1 to 9 and comprises a frame 2, a rope pressing mechanism, two knotting manipulators 8 and two rope clamping manipulators 7, wherein a compaction box is formed in the middle of the frame 2, support legs are arranged below the compaction box, the front side of the compaction box is provided with a knotting box, the rear side of the compaction box is provided with two rope feeding mechanisms, the upper part of the compaction box is provided with an upper pressing mechanism, the lower part of the compaction box is provided with a lower pressing mechanism, the right side of the compaction box is provided with a material pushing mechanism, the left outlet of the compaction box is provided with a material discharging platform 14, an inclined fixing plate 11 for fixing the rope clamping manipulators 7 is arranged in the knotting box, two fixing blocks 33 for fixing the knotting manipulators 8 are arranged in the left-right interval in the knotting box at the rear side of the fixing plate 11, the included angles between the fixing plates 11 and the fixing blocks 33 and the vertical direction are both 30 degrees (namely, the knotting manipulators 8 and the rope clamping manipulators 7 are arranged inclined towards the compaction, reduce spacious momentum), the top of the case of knoing forms the platform of knoing, is equipped with four perforation 32 on the platform of knoing, is two sets of knotting manipulators 8 respectively and presss from both sides the export that rope manipulator 7 stretches out, and knotting manipulator 8, clamp rope manipulator 7 and send the rope mechanism three to be located around on the same line, control two 8 mirror symmetry settings of knotting manipulators, the corresponding through-hole 32 that supplies to send the rope mechanism to pass that is equipped with of front and back lateral wall of compaction case.

In the embodiment, the upper pressing mechanism comprises an upper pressing plate 3 and an upper pressing cylinder 1, the upper pressing cylinder 1 is fixed on the frame 2, the upper pressing plate 3 is fixed on the head of the lower end of the piston rod of the upper pressing cylinder 1, the lower pressing mechanism comprises a lower pressing plate 12 and a lower pressing cylinder 6, the lower pressing cylinder 6 is fixed on the frame 2, the lower pressing plate 12 is fixed on the head of the upper end of the piston rod of the lower pressing cylinder 6, the rope pressing mechanism comprises a rope pressing plate 9 and a rope pressing cylinder 10, the rope pressing cylinder 10 is fixed on the upper pressing plate 3, the rope pressing plate 9 is fixed on the head of the lower end of the rope pressing cylinder 10, the rope pressing plate 9 is positioned in an n-shaped groove, horizontal lapping edges are arranged on two sides of the n-shaped groove, the rope pressing plate 9 is positioned in the n-shaped groove, the upper pressing cylinder 1 and the lower pressing cylinder 6 are both, the two upper pressing cylinders 1 are respectively arranged on the horizontal lapping edges on two sides, the material pushing cylinder 5 is fixed on the frame 2, and the material pushing plate 4 is fixed at the head of the left side of the piston rod of the material pushing cylinder 5.

In this embodiment, the knotting manipulator 8 includes a knotting guide cylinder 21, a swing cylinder 22, a rope hooking cylinder 19, a knotting pneumatic claw 18 and a knotting finger 16, which are arranged from bottom to top, first connection plates 20 are arranged on two sides of the swing cylinder 22, the swing cylinder 22 is fixed on the top of the knotting guide cylinder 21 through the first connection plates 20, a mounting frame 23 is arranged on the top of the swing cylinder 22, the mounting frame 23 is composed of a horizontal portion and a vertical portion, a cylinder support 24 is arranged on the horizontal portion, the bottom of the rope hooking cylinder 19 is fixedly connected with the cylinder support 24, the top of the vertical portion is provided with the knotting pneumatic claw 18, the knotting pneumatic claw 18 includes a left pneumatic claw, a right pneumatic claw and a pneumatic claw cylinder cooperatively connected therewith, finger supports 17 are respectively arranged on the left and right pneumatic claws, the knotting finger 16 is arranged on the finger supports 17, a piston rod of the rope hooking cylinder 19 is T-shaped, the, the finger parts of the two knotting fingers 16 are respectively hinged with two ends of the horizontal part of the T-shaped piston rod.

In this embodiment, finger support 17 comprises vertical portion and the rake to colluding rope cylinder 19 direction slope, and vertical portion is fixed respectively on left and right pneumatic claw, and the top of rake is articulated with the bottom of tying 16 fingers, and it is a U-shaped mechanism that forms by two fingers of height to tie 16 fingers 16, and the inside of tying 16 fingers forms the finger groove, and the lower finger top of tying 16 fingers and the piston rod of colluding rope cylinder 19 are articulated, and finger inslot portion is equipped with cockscomb structure antiskid line for increase the strapping and the frictional force of tying between the finger 16. The top of the two fingers of the knotting finger 16 are in arc transition, so that the tying rope can be easily separated from the knotting finger 16 after knotting. The finger support 17 is fixed on the knotting pneumatic claw 18 through a hexagon nut, the rope hooking cylinder 19 is connected on the cylinder support 24 through a bolt, and the finger support 17 and the knotting pneumatic claw 18 are connected on the mounting frame 23 through a bolt. The swing cylinder 22 and the knotting guide cylinder 21 are both fixed on the first mounting plate 20 through bolts, and the knotting guide cylinder 21 is fixed on the fixing block 33 through bolts.

In this embodiment, the rope clamping manipulator 7 comprises a rope clamping guide cylinder 30, a rope clamping air claw and a pair of scissors 26, the bottom of the rope clamping air claw is connected with the top of a piston rod of the rope clamping guide cylinder 30 through a second connecting plate 29, the rope clamping air claw is composed of a left clamping jaw 27, a right clamping jaw 27 and a clamping jaw cylinder 28 connected in a matched mode, and the pair of scissors 26 and the clamping jaws 27 are fixedly connected through bolts.

In this embodiment, scissors 26 is by first scissor holder, second scissor holder and first shearing portion, the second shearing portion is constituteed, first scissor holder, the mirror symmetry setting of second scissor holder, first scissor holder, the second scissor holder is by last vertical portion, horizontal part and vertical portion down are constituteed, the adjacent setting of last vertical portion of two scissor holders, it is fixed in the upper surface and the lower surface at horizontal part both ends respectively to go up vertical portion and vertical portion down, first shearing portion, the lower extreme of second shearing portion is together articulated, first shearing portion, the upper end of second shearing portion is fixed respectively at first scissor holder, the top of vertical portion on the second scissor holder, first scissor holder, the vertical portion down of second scissor holder is fixed respectively on two clamping jaws 27, first scissor holder, the last vertical portion of second scissor holder is equipped with rubber pad 25 respectively in that face that sets up relatively. The scissors 26 and the clamping jaw 27 are fixedly connected through bolts, and the second connecting plate 29 and the rope clamping air jaw, and the second connecting plate 29 and the rope clamping guide cylinder 30 are fixed together through socket head cap screws.

In this embodiment, send rope mechanism to send rope cylinder 13 including sending, send the head of rope cylinder 13 piston rod to be equipped with upper and lower both ends open rope handling section of thick bamboo 31, pressure rope board 9 includes the horizontal part and locates the vertical portion on the upper surface at horizontal part both ends, and the top of vertical portion is equipped with the arch portion of outside extension, and the interval between two arch portions and two send the interval between the rope mechanism to equal.

In this embodiment, two limiting protrusions 34 are disposed on the front side of the through hole corresponding to each knotting manipulator 8, so that the rope is limited between the two protrusions.

The cylinder fixing mode is as follows: the pushing cylinder 5, the upper pressing cylinder 1 and the lower pressing cylinder 6 are fixed on a frame 2 of the equipment through bolts, and the rope pressing plate 9, the pushing plate 4, the upper pressing plate 3 and the lower pressing plate 12 are fixed on a piston rod of the corresponding cylinder through threaded connection. The rope feeding cylinder 13 is fixed on the frame 2 of the equipment by bolts. The rope pressing cylinder 10 is fixed on the upper pressure plate 3 through bolts.

The method for bundling tobacco leaves by using the graded tobacco leaf flexible bundling device is shown in fig. 10, and comprises the following specific processes:

(1) one end of the rope before working is clamped on the clamping jaw 27 of the rope clamping manipulator 7, and the other end is arranged on the rope penetrating cylinder 31 of the rope feeding cylinder 13, namely the ropes at the two ends of the rope clamping manipulator 7 and the rope feeding cylinder 13 in the initial state are adhered in the compacted box in a U shape,

(2) tobacco leaves are put in, the upper pressing cylinder 1 acts to drive the upper pressing plate 3, the rope pressing cylinder 10 and the rope pressing plate 9 to move downwards, the tobacco leaves are preliminarily compacted, then the lower pressing cylinder 6 drives the lower pressing plate 12 to move upwards, the tobacco leaves are continuously compacted, the rope feeding cylinder 13 acts after the tobacco leaves are compacted to drive a rope to pass through two arch parts of the rope pressing plate 9 to reach a knotting area (specifically, a rope threading cylinder 31 of the rope feeding cylinder 13 is positioned above a corresponding perforation of the rope clamping manipulator 7), and then the knotting manipulator 8 acts to finish most actions of knotting;

(3) the knotting guide cylinder 21 extends out to drive the knotting finger 16 to extend out, and the rope is clamped in the finger groove of the knotting finger 16;

(4) the rope hooking cylinder 19 works to enable the knotting finger 16 to rotate downwards by 120 degrees to hook the rope;

(5) the swing cylinder 22 works to drive the knotting pneumatic claw 18 to rotate anticlockwise by 270 degrees, and the rope is wound on the knotting finger 16;

(6) the rope hooking cylinder 19 extends out to drive the knotting finger 16 to rotate upwards for 120 degrees and clamp the rope, and then the clamping jaw 27 of the rope clamping manipulator 7 is loosened;

(7) the rope clamping guide cylinder 30 drives the clamping jaw 27 to extend out and clamp the rope, and the scissors 26 arranged on the clamping jaw 27 cut the rope;

(8) retracting the rope clamping manipulator 7, clamping one end of a new rope, retracting the knotting manipulator 8, completing knotting, resetting the knotting air claw 18 and finishing the knotting process;

(9) the rope feeding cylinder 13 retracts, the upper pressing cylinder 1 and the lower pressing cylinder 6 retract to drive the upper pressing plate 3 and the lower pressing plate 12 to reset, then the pushing cylinder 5 extends to drive the pushing plate 4 to move to push out bundled tobacco leaves, after the pushing is completed, the pushing cylinder 5 retracts, after the upper pressing cylinder 1 and the rope pressing cylinder 10 move after the upper pressing cylinder 1 and the rope pressing cylinder 10 retract in place, the upper pressing plate 3 and the rope pressing plate 9 are driven to move downwards, the rope pressing plate 9 presses a rope to the position near the lower pressing plate 12, after the upper pressing cylinder 1 and the rope pressing cylinder 10 retract in place, the movement of one period is completed, and the tobacco leaves are waited to be put in again.

The main cylinder loop comprises 2 upper

pressing cylinders

1, 2 lower pressing cylinders 6, 2

rope feeding cylinders

13, 1

material pushing cylinder

5 and 1 rope pressing cylinder 10. The plc is used to control the action of the solenoid valve, which further controls the cylinder movement. The electromagnetic valves are single-electric control electromagnetic valves, the air cylinders are double-acting air cylinders, and one-way throttle valves are arranged at air inlets and air outlets of the air cylinders. And 8 electromagnetic valves are arranged on a cylinder collecting plate.

The rope clamping mechanical hand 7 is provided with two, and each rope clamping mechanical hand 7 is provided with 1 rope clamping

guide cylinder

30 and 1 rope clamping gas claw. Each cylinder is controlled by a single electric control two-position five-way electromagnetic valve. The two ends of the rope clamping guide cylinder 30 are controlled by 2 magnetic switches to extend out and retract the detection cylinder, and the rope clamping pneumatic claw is provided with 1 magnetic switch for detecting whether the pneumatic claw is clamped or not. And 4 electromagnetic valves are arranged on a cylinder collecting plate.

The knotting manipulator 8 comprises two, and each manipulator is composed of 1

knotting guide cylinder

21, 1

rope hooking cylinder

19, 1 swinging cylinder 22 and 1 knotting air claw 18. The total number of the 8 air cylinders is controlled by 8 single-electric-control two-position five-way electromagnetic directional valves, wherein two ends of the knotting guide air cylinder 21, the rope hooking air cylinder 19 and the swing air cylinder 22 are provided with two magnetic switches for detecting the working state of each air cylinder, the knotting air claw is provided with one magnetic switch for detecting the working state of the air claw, and the total number of the magnetic switches is 14. And 8 electromagnetic valves are arranged on a cylinder collecting plate.

In this embodiment, the solenoid valve is installed on the cylinder manifold, and the cylinder manifold is installed in frame 2, and the solenoid valve is connected with PU trachea between knotting manipulator 8, cylinder manifold and the air pump.

In this embodiment, the strapping rope is an externally-drawn twine dedicated to tobacco leaves (which can be replaced according to actual knotting materials).

In this embodiment, the knotting manipulator 8 requires 4 cylinders in total: the knotting finger is driven by the rope hooking cylinder to bend and straighten, the swinging cylinder 22 drives the manipulator to integrally rotate for 270 degrees to complete rope winding, the knotting air claw 18 realizes clamping and loosening of the knotting finger 16, the knotting guide cylinder 21 drives the stretching out and retracting of the manipulator to complete knotting by rope pulling, and the knotted knot is a slip knot.

In this embodiment, the pay-off mouth is artifical pay-off, and the high design combines actual conditions, and other structures are based on this.

The above embodiments are only for illustrating the preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention within the knowledge of those skilled in the art should be considered as the protection scope of the present application.

Claims

1. The grading flexible tobacco leaf bundling device is characterized by comprising a rack, a rope pressing mechanism, a knotting manipulator and a rope clamping manipulator, wherein a compaction box is formed in the middle of the rack, supporting legs are arranged below the compaction box, a knotting box is arranged on the front side of the compaction box, a rope conveying mechanism is arranged on the rear side of the compaction box, an upper pressing mechanism is arranged on the upper portion of the compaction box, a lower pressing mechanism is arranged on the lower portion of the compaction box, a material pushing mechanism is arranged on the right side of the compaction box, a discharging platform is arranged at an outlet of the left side of the compaction box, an inclined fixing plate for fixing the rope clamping manipulator is arranged in the knotting box, a fixing block for fixing the knotting manipulator is arranged in the knotting box on the rear side of the fixing plate, included angles between the fixing plate and the fixing block and the vertical direction are 30 degrees, a knotting platform is formed at the top of the, The rope clamping mechanical arm and the rope feeding mechanism are positioned on the same line in the front and the back, and through holes for the rope feeding mechanism to pass through are correspondingly formed in the front side wall and the back side wall of the compaction box.

2. The flexible bundling device for classified tobacco leaves according to claim 1, wherein the upper pressing mechanism comprises an upper pressing plate and an upper pressing cylinder, the upper pressing cylinder is fixed on the frame, the upper pressing plate is fixed on the head of the lower end of the piston rod of the upper pressing cylinder, the lower pressing mechanism comprises a lower pressing plate and a lower pressing cylinder, the lower pressing cylinder is fixed on the frame, the lower pressing plate is fixed on the head of the upper end of the piston rod of the lower pressing cylinder, the rope pressing mechanism comprises a rope pressing plate and a rope pressing cylinder, the middle part of the upper pressing plate is provided with an n-shaped groove, the two sides of the n-shaped groove are provided with horizontal laps, the rope pressing cylinder is fixed on the upper pressing plate, the rope pressing plate is fixed on the head of the lower end of the rope pressing cylinder, the rope pressing plate is positioned in the n-shaped groove, the two upper pressing cylinders and the two lower pressing cylinders are respectively arranged on the horizontal laps of the, the material pushing cylinder is fixed on the rack, and the material pushing plate is fixed at the head of a piston rod of the material pushing cylinder.

3. The flexible bundling device for classified tobacco leaves according to claim 1, wherein the knotting manipulator comprises a knotting guide cylinder, a swing cylinder, a rope hooking cylinder, a knotting pneumatic claw and knotting fingers arranged from bottom to top, first connecting plates are arranged on two sides of the swing cylinder, the swing cylinder is fixed on the top of the knotting guide cylinder through the first connecting plates, a mounting frame is arranged on the top of the swing cylinder, the mounting frame is composed of a horizontal part and a vertical part, a cylinder support is arranged on the horizontal part, the bottom of the rope hooking cylinder is fixedly connected with the cylinder support, the top of the vertical part is provided with the knotting pneumatic claw, the knotting pneumatic claw comprises a left pneumatic claw, a right pneumatic claw and a pneumatic claw cylinder which are matched and connected with the left pneumatic claw and the right pneumatic claw, finger supports are respectively arranged on the left pneumatic claw and the right pneumatic claw, the knotting fingers are arranged on the finger supports, a piston rod, finger parts of the two knotted fingers are respectively hinged with two ends of the horizontal part of the piston rod of the rope hooking cylinder.

4. The flexible bundling device for classified tobacco leaves according to claim 3, wherein the finger support is composed of a vertical part and an inclined part inclined towards the direction of the rope hooking cylinder, the vertical part is respectively fixed on the left and right pneumatic claws, the top end of the inclined part is hinged with the bottom of the knotting finger, the knotting finger is a U-shaped mechanism formed by two fingers, a finger groove is formed inside the knotting finger, the top of the lower finger of the knotting finger is hinged with the piston rod of the rope hooking cylinder, and sawtooth-shaped anti-slip veins are arranged inside the finger groove.

5. The flexible bundling device for classified tobacco leaves according to claim 1, wherein the rope clamping manipulator comprises a rope clamping guide cylinder, a rope clamping air claw and a scissors, the bottom of the rope clamping air claw is connected with the top of a piston rod of the rope clamping cylinder through a second connecting plate, the rope clamping air claw is composed of a left clamping jaw, a right clamping jaw and a clamping jaw cylinder which are connected in a matching mode, and the scissors and the clamping jaws are fixedly connected through bolts.

6. The flexible bundling device for classified tobacco leaves according to claim 5, wherein the scissors comprise a first scissors frame, a second scissors frame, a first cutting part and a second cutting part, the first scissors frame and the second scissors frame are arranged in mirror symmetry, the first scissors frame and the second scissors frame are composed of an upper vertical part, a horizontal part and a lower vertical part, the upper vertical part and the lower vertical part are respectively fixed on the upper surface and the lower surface of the two ends of the horizontal part, the lower ends of the first cutting part and the second cutting part are hinged together, the upper ends of the first cutting part and the second cutting part are respectively fixed on the top ends of the upper vertical part of the first scissors frame and the upper vertical part of the second scissors frame, the lower vertical parts of the first scissors frame and the second scissors frame are respectively fixed on the two clamping jaws, and the upper vertical parts of the first scissors frame and the second scissors frame are respectively provided with rubber pads on the surfaces which are arranged oppositely.

7. The flexible bundling device for classified tobacco leaves according to claim 2, wherein the rope feeding mechanism comprises a rope feeding cylinder, the head of the piston rod of the rope feeding cylinder is provided with a rope threading cylinder with two open upper and lower ends, the rope pressing plate comprises a horizontal part and vertical parts arranged on the upper surfaces of the two ends of the horizontal part, the top of each vertical part is provided with an outwards extending arched part, and the distance between the two arched parts is equal to the distance between the two mechanical arms of the rope feeding mechanism.

8. The flexible bundling device for classified tobacco leaves according to any one of claims 1 to 7, wherein the rope feeding mechanism has two mechanisms, the knotting manipulator and the rope clamping manipulator are provided in two sets, the left knotting manipulator and the right knotting manipulator are arranged in a mirror symmetry manner, and two limiting protrusions are provided on the front side of the through hole corresponding to each knotting manipulator, so that the rope is limited between the two protrusions.

9. A method of binding tobacco leaves using the flexible binding apparatus for graded tobacco leaves according to any one of claims 1 to 8, characterized in that the procedure is as follows:

(1) one end of the rope is clamped on a clamping jaw of the rope clamping manipulator before the rope is not operated, and the other end of the rope is arranged on a rope penetrating cylinder of the rope feeding cylinder;