CN112914146A - Tobacco stem intelligent feeding control system and control method - Google Patents
Tobacco stem intelligent feeding control system and control method Download PDFInfo
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- CN112914146A CN112914146A CN202110336596.2A CN202110336596A CN112914146A CN 112914146 A CN112914146 A CN 112914146A CN 202110336596 A CN202110336596 A CN 202110336596A CN 112914146 A CN112914146 A CN 112914146A
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- A—HUMAN NECESSITIES
- A24—TOBACCO; CIGARS; CIGARETTES; SIMULATED SMOKING DEVICES; SMOKERS' REQUISITES
- A24B—MANUFACTURE OR PREPARATION OF TOBACCO FOR SMOKING OR CHEWING; TOBACCO; SNUFF
- A24B5/00—Stripping tobacco; Treatment of stems or ribs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to an intelligent tobacco stalk feeding control system and a control method, which comprise a double-shaft truss robot sub-control system, a visual system mobile sub-control system, a tobacco stalk packet unloading and stacking mechanism sub-control system, a tobacco stalk packet breaking and unloading mechanism sub-control system, a tobacco stalk packet feeding dustproof mechanism sub-control system, an empty tobacco stalk packet recycling bin mechanism sub-control system and a PLC main control system. The intelligent system of the technical scheme completely replaces manual operation, all processes of transferring the tobacco stem packets from the transport vehicle to the designated area and from the designated area to the tobacco stem conveyor, breaking and unloading the tobacco stem packets and recovering empty tobacco stem packets are realized, and automatic and intelligent tobacco stem feeding is really realized.
Description
Technical Field
The invention relates to the technical field of automation and intelligence of cigarette production, in particular to an intelligent tobacco stem feeding control system and method.
Background
At present, in a tobacco shred making workshop, most of tobacco stems are fed by manual operation: the tobacco stem bag with the tobacco stems is conveyed to a designated area by a transport vehicle to be randomly stacked, and the hooks (three hooks at present) are moved in the east-west direction and the up-down direction by a remote controller. An operator moves the hook to a position where the tobacco stem bag needs to be opened by using a remote controller, and manually hooks the three hooks with three tobacco stem bags respectively (the tobacco stem bag in the north-south direction needs to be manually pulled to move to the position for hooking the tobacco stem bag). After the tobacco stem bag is hooked, when the remote controller is operated to move the tobacco stem bag to a position as high as the dust hood, the operator fixes the tobacco stem bag with one hand, and after the other hand operates the cutting knife to cut off the bottom of the tobacco stem bag, manual shaking is added to enable the tobacco stems to fall into a conveying belt completely (the other two tobacco stem bags are operated in the same way, but a rotating hook is arranged in the middle to find the tobacco stem bag which is not opened). After the opening is finished, the empty tobacco stalk bags are manually placed to specified positions.
In order to improve the overall automation degree and realize the reduction of personnel and the improvement of efficiency, the automation of production is realized by using automatic equipment and a robot on the premise of meeting the requirements of the production process.
Disclosure of Invention
The invention aims to provide an intelligent tobacco stem feeding control system and method, which can ensure the action execution and path optimization of the intelligent tobacco stem feeding system based on a mobile vision technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent tobacco stalk feeding control system comprises a double-shaft truss robot control system, a vision system mobile control system, a tobacco stalk packet unloading and stacking mechanism control system, a tobacco stalk packet breaking and unloading mechanism control system, a tobacco stalk packet feeding and dust preventing mechanism control system, an empty tobacco stalk packet recycling bin mechanism control system and a PLC main control system;
the double-shaft truss robot sub-control system, the vision system mobile sub-control system, the tobacco stalk bag unloading and stacking mechanism sub-control system, the tobacco stalk bag breaking and unloading mechanism sub-control system, the tobacco stalk bag feeding and dust preventing mechanism sub-control system and the empty tobacco stalk bag recycling bin mechanism sub-control system are respectively in communication connection with the PLC main control system.
Furthermore, the double-shaft truss robot sub-control system comprises a double-shaft truss robot controller, a first servo motor controller, a second servo motor controller and a proximity switch, the double-shaft truss mechanism robot controller is in two-way communication connection with the PLC main controller, and the double-shaft truss robot is in electrical signal connection with the first servo motor controller, the second servo motor controller and the proximity switch respectively.
Further, the vision system moving sub-control system comprises a vision controller, a first camera, a third servo motor and a trigger sensor; the vision controller is in two-way communication connection with the PLC main controller, and the first camera, the third servo motor and the trigger sensor are respectively in electric signal connection with the vision controller.
Further, the tobacco stalk package unloading stacking mechanism sub-control system comprises the visual controller, a third servo motor, a first camera, a first steering motor, a second steering motor, a third steering motor, a laser sensor, a first air cylinder and a first weight sensor;
the laser sensor and the first weight sensor are respectively in electric signal connection with the vision controller and the PLC main controller;
the third servo motor, the first camera, the first steering motor, the second steering motor, the third steering motor and the first cylinder are all in electric signal connection with the vision controller.
Further, the tobacco stalk bag breaking and unloading mechanism sub-control system comprises a tobacco stalk bag breaking and unloading controller, a second cylinder, a third cylinder, a fourth cylinder, a fifth cylinder, a sixth cylinder, a seventh cylinder and a first motor;
the stalk bag breaking unloading controller is in communication connection with the PLC main controller, and the second cylinder, the third cylinder, the fourth cylinder, the fifth cylinder, the sixth cylinder, the seventh cylinder and the first motor are in electric signal connection.
Furthermore, the tobacco stalk package feeding dustproof mechanism sub-control system comprises a feeding dustproof controller and an eighth cylinder, the feeding dustproof controller is in electric signal connection with the PLC main controller, and the eighth cylinder is in electric signal connection with the feeding dustproof controller.
Further, the empty tobacco stalk bag recycling bin mechanism sub-control system comprises a recycling bin controller and a ninth cylinder; the recycling bin controller is in electrical signal connection with the PLC main controller, and the ninth cylinder is in electrical signal connection with the recycling bin controller.
An intelligent tobacco stem feeding control method uses any one of the intelligent tobacco stem feeding control systems, and comprises the following control methods:
s1, starting the tobacco stem intelligent feeding system, and controlling the electromagnetic valve to keep ventilation by the vision controller of the vision system mobile sub-control system to achieve the dustproof function;
s2, when the transport vehicle is at a fixed position, the trigger sensor transmits the detected signal to the vision controller and the PLC main controller;
the PLC main controller transmits a control signal to the double-shaft truss robot sub-control system to control a first motion shaft of the double-shaft truss robot to perform corresponding action; the vision controller of the vision system mobile sub-control system controls the third servo motor to move on the moving track, so that the first camera reaches a specified position to perform photographing detection, then moves to the specified position of tobacco stalk bag stacking to perform data acquisition and recording, and transmits photographing pictures and acquired data to the PLC main controller through the vision controller;
s3, controlling the sub-control system of the tobacco stalk bale unloading and stacking mechanism and the double-shaft truss robot sub-control system to place the tobacco stalk bales to corresponding positions by the PLC main controller according to data collected by the vision system mobile sub-control system;
s4, the PLC main controller controls the double-shaft truss robot sub-control system and the tobacco stalk bag breaking and unloading mechanism sub-control system to complete tobacco stalk bag breaking and unloading in the tobacco stalk bag feeding and dust preventing mechanism of the tobacco stalk conveying mechanism;
s5, when the second servo motor is controlled by the double-truss robot sub-control system to move the tobacco stem packet into the tobacco stem packet feeding and dust preventing mechanism in the step S4, the tobacco stem packet feeding and dust preventing mechanism sub-control system controls the tobacco stem packet feeding and dust preventing mechanism to move, so that the tobacco stem packet breaking and unloading mechanism completes packet breaking and unloading in the tobacco stem packet feeding and dust preventing mechanism;
and S6, when the tobacco stalk bag breaking and unloading mechanism completes bag breaking and unloading in the tobacco stalk bag feeding and dust preventing mechanism, the PLC main control system controls the sub-control system of the mechanism of the empty tobacco stalk bag recycling bin to complete the empty tobacco stalk bag falling into the empty tobacco stalk bag recycling bin.
The double-shaft truss robot in the scheme can complete bag grabbing from the transport vehicle and placing in the designated area, can complete bag grabbing and opening from the designated area to the conveying belt, and can realize integral automation; the tobacco stem bag positioning, the tobacco stem bag positioning in the placing area and the Mars detection on the transport vehicle are completed by a set of mobile vision system; the second moving shaft moves into the feeding dustproof mechanism to open the tobacco stems, and therefore the tobacco stems are prevented from spilling.
The invention has the beneficial effects that:
the intelligent system of the technical scheme completely replaces manual operation, all processes of transferring the tobacco stem packets from the transport vehicle to the designated area and from the designated area to the tobacco stem conveyor, breaking and unloading the tobacco stem packets and recovering empty tobacco stem packets are realized, and automatic and intelligent tobacco stem feeding is really realized.
Drawings
FIG. 1 is a schematic diagram of an intelligent tobacco stem feeding system;
FIG. 2 is a topological diagram of an intelligent tobacco stem feeding control method;
FIG. 3 is a schematic diagram of a vision system mobile sub-control system;
FIG. 4 is a schematic structural diagram of a sub-control system of a tobacco stalk packet unloading and stacking mechanism;
FIG. 5 is a schematic structural diagram of a sub-control system of a tobacco stalk bag breaking and unloading mechanism;
FIG. 6 is a schematic structural diagram of a sub-control system of a feeding dustproof mechanism;
fig. 7 is a schematic structural diagram of a control system of an empty tobacco stalk bale recycling bin.
Detailed Description
The technical solutions of the present invention are described in detail by the following examples, which are only exemplary and can be used for explaining and explaining the technical solutions of the present invention, but not construed as limiting the technical solutions of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be constructed in specific orientations, and be operated, and thus are not to be construed as limiting the present invention, and furthermore, the terms "first", "second", and "third" are only used for descriptive purposes and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The technical solution of the present invention is further described in detail by the following specific embodiments in conjunction with the accompanying drawings.
As shown in fig. 1 to 7, an intelligent tobacco stalk feeding control system comprises a double-shaft truss robot sub-control system 1, a visual system mobile sub-control system 2, a tobacco stalk package unloading and stacking mechanism sub-control system 3, a tobacco stalk package breaking and unloading mechanism sub-control system 4, a tobacco stalk package feeding and dust preventing mechanism sub-control system 5, an empty tobacco stalk package recycling bin mechanism sub-control system 6 and the like, wherein the sub-control systems are communicated with each other through a PLC (programmable logic controller) main control system of the intelligent tobacco stalk feeding system based on a mobile visual technology, and are matched with each other to realize system functions.
In the double-shaft truss robot sub-control system 1, the double-shaft truss robot has two moving shafts, namely a first moving shaft (comprising a Y shaft and a Z shaft) and a second moving shaft (comprising a Y shaft and a Z shaft), the first moving shaft realizes the function of tobacco stalk bag unloading and stacking, and the second moving shaft realizes the function of tobacco stalk bag breaking and unloading; the first moving shaft and the second moving shaft share the X shaft of the truss robot, the initial Y-shaft positions of the first moving shaft and the second moving shaft are set as two ends of the X shaft, the number of positive and negative rotation turns of a servo motor is controlled to control the position of the Y shaft of the first moving shaft and the position of the Y shaft of the second moving shaft on the X shaft, and the number of positive and negative rotation turns of the two servo motors (the first servo motor and the second servo motor respectively) is set to realize an interlocking function so as to realize an anti-collision function; meanwhile, proximity switches are arranged on the Y axes of the first moving axis and the second moving axis, and when the two Y axes reach a threshold distance, signals are given out to control the two servo motors to stop rotating; the double-shaft anti-collision function of the truss robot is realized under the double control; the movement distances of the double-shaft truss robot in the X direction, the Y direction and the Z direction are realized by controlling the rotation of the servo motor.
The vision system mobile sub-control system 2 is characterized in that a camera is arranged on a mobile track sliding block, the camera is integrally arranged in a dustproof mechanism designed according to the visual angle of the camera, and when the tobacco stem intelligent feeding system based on the mobile vision technology is started, the vision system mobile sub-control system 2 controls an electromagnetic valve to keep ventilation so as to achieve the dustproof function; when the transport vehicle stops at a fixed position and is ready for unloading, a signal is triggered to the vision system mobile sub-control system 2, and the vision system mobile sub-control system 2 controls the third servo motor 8 to move on a moving track, so that the first camera reaches a specified position to carry out photographing detection; then moving to a tobacco stalk packet stacking designated position for data acquisition and recording, and acquiring tobacco stalk packet placing conditions in a designated placing area, wherein the tobacco stalk packet placing conditions comprise placeable positions and the number of tobacco stalk packets in each position; after the first moving shaft finishes primary stacking, the system revises and stores the tobacco stem package placement condition, and the grabbing of the second moving shaft is convenient to control.
The tobacco stalk package unloading and stacking mechanism sub-control system 3 is characterized in that according to data such as the position, the angle and the shape of a tobacco stalk package obtained by a visual system, when a first moving shaft moves to a grabbing position of a transport vehicle, according to the angle of the tobacco stalk package collected by the visual system, namely the angle of the tobacco stalk package in an XY/XZ/YZ plane in a three-dimensional coordinate system, a first steering motor 9 adjusts the angle of the tobacco stalk package unloading and stacking mechanism in the XY plane, a third steering motor 12 adjusts the angle of the tobacco stalk package unloading and stacking mechanism in the XZ plane, and a second steering motor 11 adjusts the angle of the tobacco stalk package unloading and stacking mechanism in the YZ plane; adjusting the height of a first motion axis of the double-axis truss robot in the Z direction according to the distance between the first motion axis and the tobacco stem package, which is acquired by the displacement laser sensor; the first air cylinder 14 retracts to enable the clamping jaws to clamp the tobacco stem package, then the first moving shaft of the double-shaft truss robot is lifted to enable the tobacco stem package to leave the transport vehicle, the first weighing sensor 10 obtains and stores the weight of the tobacco stem package, and the tobacco stem package is moved to be placed to a corresponding position through the first moving shaft of the double-shaft truss robot according to the placing position of the appointed placing area obtained by the vision system.
The tobacco stem bag breaking and unloading mechanism sub-control system 4 is characterized in that the position, the weight and other information of a tobacco stem bag placed on the two-axis truss robot motion axes stored in the database are used for obtaining the corresponding position of the tobacco stem bag to be obtained, the height of the two-axis truss robot motion axis II in the Z direction is adjusted according to the distance between the two-axis truss robot motion axes and the tobacco stem bag obtained by the displacement laser sensor, and the distance between the four hooks is adjusted through the motion of the fifth air cylinder 19 and the seventh air cylinder 22 so as to adapt to the size of the corresponding tobacco stem bag; the hook overturns to hook four corners of the tobacco stem bag, the second air cylinder 15 retracts to enable the clamping jaw to clamp the tobacco stem bag, and the moving shaft II of the double-shaft truss robot is lifted and moves into the tobacco stem bag feeding dustproof mechanism; the sixth cylinder 21 retracts to enable the blade to hook the tobacco stem bag, the seventh cylinder 22 moves to cut the tobacco stem bag, and then the sixth cylinder 21 and the seventh cylinder 22 are reset successively; the first cylinder 15 stretches out to enable the clamping jaws to be loosened, the fourth cylinder 18 stretches out to enable the tobacco stem bag to have enough overturning space, the first motor 23 rotates to enable the whole tobacco stem bag to rotate 180 degrees, the opening faces downwards, the tobacco stems automatically drop into the feeding dustproof mechanism from the tobacco stem bag, meanwhile, the third cylinder 17 does not stop reciprocating motion to beat the tobacco stem bag to enable the tobacco stems to unload quickly and cleanly, and the tobacco stems drop completely due to the fact that four corners of the tobacco stem bag are hooked by hooks.
When the tobacco stalk bag feeding and dust preventing mechanism sub-control system 5 clamps the tobacco stalk bag into the mechanism by the two-shaft truss robot moving shaft two, the two-shaft truss robot moving shaft two gives out signals, the tobacco stalk bag feeding and dust preventing mechanism sub-control system 5 controls the eighth air cylinder 24 to be closed, and the tobacco stalk bag breaking and discharging mechanism executes corresponding actions in the feeding and dust preventing mechanism.
When the second moving shaft of the double-shaft truss robot finishes the actions of breaking and unloading the tobacco stalk bags, the third air cylinder 17 gives a signal, the eighth air cylinder 24 retracts to open the feeding dustproof mechanism, the second moving shaft of the double-shaft truss robot drives the empty tobacco stalk bags to move to the position above the empty tobacco stalk bag recycling barrel mechanism and move down to a fixed position, the four ninth air cylinders 25 close to clamp the empty tobacco stalk bags, the hooks reset to finish the bag removal of the empty tobacco stalk bags, then the second moving shaft of the double-shaft truss robot moves upwards, and the motor rotates to reset; the four ninth cylinders 25 are simultaneously opened so that the empty tobacco stalk bundles automatically fall into the recycling bin.
The tobacco stem bag loading and unloading machine comprises a double-shaft truss robot sub-control system 1, a vision system mobile sub-control system 2, a tobacco stem bag unloading and stacking mechanism sub-control system 3, a tobacco stem bag breaking and unloading mechanism sub-control system 4, a tobacco stem bag loading and dustproof mechanism sub-control system 5, an empty tobacco stem bag recycling bin mechanism sub-control system 6 and the like.
The whole action flow of the scheme is as follows:
the transport vehicle stops at a fixed position, and the sensor detects a signal and transmits the signal to the vision system mobile sub-control system 2;
the first camera moves to a designated position to acquire the tobacco stem type number information of the transport vehicle and the tobacco stem packet information on the transport vehicle, the packet taking sequence is determined through a visual algorithm, and the tobacco stem packet unloading and stacking mechanism sub-control system 3 carries out packet taking on the tobacco stem packets according to the sequence;
the motion axis of the double-shaft truss robot is placed in a designated area after being subjected to bag taking and weighing according to the given sequence of the visual system;
moving two motion axes of the double-shaft truss robot to corresponding positions according to tobacco stem package placing area information given by a visual system to take the tobacco stem packages, and controlling the tobacco stem package breaking and unloading mechanism sub-control system 4 to complete clamping of the tobacco stem packages;
moving a second moving shaft of the double-shaft truss robot to a feeding dustproof mechanism of the tobacco stem conveyor, and performing bag breaking and shaking unloading by a tobacco stem bag breaking and unloading mechanism sub-control system 4;
a second moving shaft of the double-shaft truss robot finally moves to a fixed position of an empty tobacco stalk bag recycling bin, and the empty tobacco stalk bag recycling bin mechanism sub-control system 6 executes an empty tobacco stalk bag unloading action;
(7) and repeatedly executing the action flow to produce.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents.
Claims (8)
1. An intelligent tobacco stalk feeding control system is characterized by comprising a double-shaft truss robot control system, a vision system mobile sub-control system, a tobacco stalk package unloading and stacking mechanism sub-control system, a tobacco stalk package breaking and unloading mechanism sub-control system, a tobacco stalk package feeding and dust preventing mechanism sub-control system, an empty tobacco stalk package recycling bin mechanism sub-control system and a PLC main control system;
the double-shaft truss robot sub-control system, the vision system mobile sub-control system, the tobacco stalk bag unloading and stacking mechanism sub-control system, the tobacco stalk bag breaking and unloading mechanism sub-control system, the tobacco stalk bag feeding and dust preventing mechanism sub-control system and the empty tobacco stalk bag recycling bin mechanism sub-control system are respectively in communication connection with the PLC main control system.
2. The intelligent tobacco stem feeding control system according to claim 1, wherein the double-shaft truss robot sub-control system comprises a double-shaft truss robot controller, a first servo motor controller, a second servo motor controller and a proximity switch, the double-shaft truss mechanism robot controller is in two-way communication connection with the PLC main controller, and the double-shaft truss robot is in electrical signal connection with the first servo motor controller, the second servo motor controller and the proximity switch respectively.
3. The intelligent tobacco stem feeding control system according to claim 1, wherein the vision system mobile sub-control system comprises a vision controller, a first camera, a third servo motor and a trigger sensor; the vision controller is in two-way communication connection with the PLC main controller, and the first camera, the third servo motor and the trigger sensor are respectively in electric signal connection with the vision controller.
4. The intelligent tobacco stem feeding control system according to claim 3, wherein the sub-control system of the tobacco stem packing, unloading and stacking mechanism comprises the visual controller, a third servo motor, a first camera, a first steering motor, a second steering motor, a third steering motor, a laser sensor, a first air cylinder and a first weight sensor;
the laser sensor and the first weight sensor are respectively in electric signal connection with the vision controller and the PLC main controller;
the third servo motor, the first camera, the first steering motor, the second steering motor, the third steering motor and the first cylinder are all in electric signal connection with the vision controller.
5. The intelligent tobacco stem feeding control system according to claim 1, wherein the sub-control system of the tobacco stem bag breaking and unloading mechanism comprises a tobacco stem bag breaking and unloading controller, a second cylinder, a third cylinder, a fourth cylinder, a fifth cylinder, a sixth cylinder, a seventh cylinder and a first motor;
the stalk bag breaking unloading controller is in communication connection with the PLC main controller, and the second cylinder, the third cylinder, the fourth cylinder, the fifth cylinder, the sixth cylinder, the seventh cylinder and the first motor are in electric signal connection.
6. The intelligent tobacco stem feeding control system according to claim 1, wherein the tobacco stem bag feeding dustproof mechanism sub-control system comprises a feeding dustproof controller and an eighth cylinder, the feeding dustproof controller is in electrical signal connection with the PLC main controller, and the eighth cylinder is in electrical signal connection with the feeding dustproof controller.
7. The intelligent tobacco stem feeding control system according to claim 1, wherein the sub-control system of the empty tobacco stem packet recycling bin mechanism comprises a recycling bin controller and a ninth cylinder; the recycling bin controller is in electrical signal connection with the PLC main controller, and the ninth cylinder is in electrical signal connection with the recycling bin controller.
8. An intelligent tobacco stem feeding control method, which uses the intelligent tobacco stem feeding control system of any one of the claims 1 to 7, and is characterized by comprising the following control methods:
s1, starting the tobacco stem intelligent feeding system, and controlling the electromagnetic valve to keep ventilation by the vision controller of the vision system mobile sub-control system to achieve the dustproof function;
s2, when the transport vehicle is at a fixed position, the trigger sensor transmits the detected signal to the vision controller and the PLC main controller;
the PLC main controller transmits a control signal to the double-shaft truss robot sub-control system to control a first motion shaft of the double-shaft truss robot to perform corresponding action; the vision controller of the vision system mobile sub-control system controls the third servo motor to move on the moving track, so that the first camera reaches a specified position to perform photographing detection, then moves to the specified position of tobacco stalk bag stacking to perform data acquisition and recording, and transmits photographing pictures and acquired data to the PLC main controller through the vision controller;
s3, controlling the sub-control system of the tobacco stalk bale unloading and stacking mechanism and the double-shaft truss robot sub-control system to place the tobacco stalk bales to corresponding positions by the PLC main controller according to data collected by the vision system mobile sub-control system;
s4, the PLC main controller controls the double-shaft truss robot sub-control system and the tobacco stalk bag breaking and unloading mechanism sub-control system to complete tobacco stalk bag breaking and unloading in the tobacco stalk bag feeding and dust preventing mechanism of the tobacco stalk conveying mechanism;
s5, when the second servo motor is controlled by the double-truss robot sub-control system to move the tobacco stem packet into the tobacco stem packet feeding and dust preventing mechanism in the step S4, the tobacco stem packet feeding and dust preventing mechanism sub-control system controls the tobacco stem packet feeding and dust preventing mechanism to move, so that the tobacco stem packet breaking and unloading mechanism completes packet breaking and unloading in the tobacco stem packet feeding and dust preventing mechanism;
and S6, when the tobacco stalk bag breaking and unloading mechanism completes bag breaking and unloading in the tobacco stalk bag feeding and dust preventing mechanism, the PLC main control system controls the sub-control system of the mechanism of the empty tobacco stalk bag recycling bin to complete the empty tobacco stalk bag falling into the empty tobacco stalk bag recycling bin.
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| CN114633273A (en) * | 2022-03-24 | 2022-06-17 | 合肥汉特智能装备有限公司 | Shake type needle-type bag breaking robot end effector |
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