CN112956726A - Tobacco stem intelligent feeding system based on mobile vision technology - Google Patents
Tobacco stem intelligent feeding system based on mobile vision technology Download PDFInfo
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- CN112956726A CN112956726A CN202110335676.6A CN202110335676A CN112956726A CN 112956726 A CN112956726 A CN 112956726A CN 202110335676 A CN202110335676 A CN 202110335676A CN 112956726 A CN112956726 A CN 112956726A
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- tobacco
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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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Abstract
The invention relates to a tobacco stem intelligent feeding system based on a mobile vision technology, which comprises a double-shaft truss robot, a tobacco stem packet unloading and stacking mechanism, a tobacco stem packet breaking and unloading mechanism, a vision moving mechanism, an empty tobacco stem packet recycling bin mechanism and a feeding dustproof mechanism, wherein the double-shaft truss robot is arranged in a specific area; one end of the double-shaft truss robot is of a cantilever beam structure, a tobacco stalk bag unloading and stacking mechanism is arranged on a first moving shaft of the double-shaft truss robot, and a tobacco stalk bag unloading mechanism is arranged on a second moving shaft of the double-shaft truss robot; a visual moving mechanism is arranged above the double-shaft truss robot, and a feeding dustproof mechanism is arranged at a feeding port of the tobacco stalk conveyor. 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 belongs to the technical field of automation and intelligence of cigarette production, and particularly relates to an intelligent tobacco stem feeding system based on a mobile vision technology.
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 system based on a mobile vision technology, and aims to solve the problem of full-process automation and intellectualization from transportation and unloading of tobacco stem packets to recovery of empty tobacco stem packets.
In order to achieve the purpose, the invention adopts the following technical scheme:
the technical scheme of the tobacco stem intelligent feeding system based on the mobile vision technology mainly comprises a double-shaft truss robot system, a mobile vision system, a tobacco stem packet unloading and stacking mechanism, a tobacco stem packet breaking and unloading mechanism, a tobacco stem packet feeding dustproof mechanism, an empty tobacco stem packet recycling bin mechanism, a modified hoist crane and the like. 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 original hoist crane can be reserved for standby after being transformed, so that equipment is prevented from being broken down, the operation can be continued manually, and the production is ensured; 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 shaft 2 is moved to the upper part of the hopper to open the tobacco stem, so that the tobacco stem is 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 layout diagram of an intelligent tobacco stem feeding system based on a mobile vision technology;
FIG. 2 is a schematic view of a dual-axis truss robot;
FIG. 3 is a tobacco stalk bale unloading and stacking mechanism;
FIG. 4 is a cross gimbal mechanism;
FIG. 5 is a tobacco stalk bale breaking and discharging mechanism;
FIG. 6 is a cabo packet cutting mechanism;
fig. 7 is a hook rotation mechanism;
FIG. 8 is a visual movement mechanism;
FIG. 9 is an empty tobacco stem packet recycling bin mechanism;
FIG. 10 is a feeding dust prevention mechanism;
fig. 11 is a modified hoist crane.
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 11, an intelligent tobacco stem feeding system based on a mobile vision technology is characterized in that: an original fixed hoist crane 10 is modified into a form with rolling wheels, a moving track 11 is laid on the ground, a double-shaft truss robot 1 is erected in a tobacco stalk package designated placement area, a tobacco stalk package unloading and stacking mechanism 6 is installed on a moving shaft I2 of the double-shaft truss robot 1, and a tobacco stalk package breaking and unloading mechanism 7 is installed on a moving shaft II 3 of the double-shaft truss robot 1; one end of the double-shaft truss robot 1 is of a cantilever beam structure, and a tobacco stalk bag transport vehicle 5 is stopped below the double-shaft truss robot; a visual moving mechanism 4 is arranged above the double-shaft truss robot 1, two visual cameras are arranged on the visual moving mechanism 4, one visual camera moves in the range of a tobacco stalk packet transport vehicle 5 and a tobacco stalk packet designated packet placing area, and the other visual camera moves in the range of the tobacco stalk packet designated packet placing area and an empty tobacco stalk packet recycling bin mechanism 9, so that synchronous work of a first moving shaft 2 and a second moving shaft 3 of the double-shaft truss robot 1 is realized; a tobacco stalk bag feeding and dust preventing mechanism 8 is erected at a feeding port of the tobacco stalk conveyor 13, so that the functions of preventing material leakage and dust flying in the bag breaking and unloading process of the tobacco stalk bag breaking and unloading mechanism 7 are realized; the original dust exhaust pipeline needs 12 transformation, so that the transformed hoist crane 10 is parked at a position, and the tobacco stem intelligent feeding system based on the mobile vision technology is guaranteed to be producing.
The double-shaft truss robot 1 is structurally characterized in that a first cross beam 19 and a second cross beam 20 are respectively erected on 4 upright posts 14 and fixedly connected with each other through two fixed longitudinal beams 21 and 22, the longitudinal beam 21 is fixedly connected at the height of about 1/3 of the upright post 14 in order to avoid transverse movement of a movement shaft I2, and the longitudinal beam 22 is fixedly connected at the height of about 2/3 of the upright post 14; the 2 upright columns 15 support the first cross beam 19 and the ground, the 2 upright columns 15 are fixedly connected with each other through the short cross beam 16, and a neutral position is formed between the two upright columns 14 and the second cross beam 20, so that a moving space is reserved for transforming the hoist crane 10; a first movable longitudinal beam 17 and a second movable longitudinal beam 18 are erected between a first transverse beam 19 and a second transverse beam 20, a first movable longitudinal beam 17 is erected with a first movable shaft 2, a second movable longitudinal beam 18 is erected with a second movable shaft 3, a tobacco stem packet unloading and stacking mechanism 6 is installed on the end face of the first movable shaft 2, and a tobacco stem packet breaking and unloading mechanism 7 is installed on the end face of the second movable shaft 3; and a drag chain 24 is arranged on the first moving shaft 2, a drag chain 25 is arranged on the second moving shaft 3, and a drag chain 23 is arranged on the first cross beam 19, so that the safety and durability of the cable are ensured.
The tobacco stalk package unloading and stacking mechanism 6 is structurally characterized in that a first motor 26 is fixedly arranged at the upper end of a cross universal mechanism 28, a first weighing sensor 27 is arranged on the cross universal mechanism 28, the first motor 26 is installed through the first weighing sensor 27, the cross universal mechanism 28 is arranged on a tobacco stalk package unloading and stacking mechanism support 29, and a displacement sensor 33 is fixedly arranged on the tobacco stalk package unloading and stacking mechanism support 29 and used for detecting the relative distance between the tobacco stalk package unloading and stacking mechanism and a tobacco stalk package; the tobacco stalk package unloading truck stacking mechanism support 29 is fixedly provided with a first air cylinder 30 and connected with a first connecting rod mechanism 31, the first connecting rod mechanism 31 is connected with two clamping jaws 32 of the tobacco stalk package unloading truck stacking mechanism, and the first connecting rod mechanism 31 is driven to move through the expansion and contraction of the first air cylinder 30 so as to realize the clamping action of the two clamping jaws 32 of the tobacco stalk package unloading truck stacking mechanism.
The cross universal mechanism 28 is structurally characterized in that a support piece body (processing section steel) 34 is fixedly arranged on a tobacco stalk packing, unloading and stacking mechanism bracket 29, a first connecting piece 38 is welded on the support piece body 34, a first steering motor 39 is arranged on the first connecting piece 38, a coupler 41 is arranged on the first steering motor 39 and connected with a first rotating shaft 35, and the first rotating shaft 35 is arranged on the support piece body 34 through a bearing; the second rotating shaft 36 penetrates through the first rotating shaft 35 to be fixedly connected and is installed on the supporting plate 37 through a bearing, the second connecting piece 40 is welded on the supporting plate 37, the second steering motor is installed on the second connecting piece 40, and the second steering motor is installed on the second rotating shaft 36 through a coupler.
The tobacco stem bag breaking and unloading mechanism 7 is structurally characterized in that a second air cylinder 43 is fixedly arranged on a tobacco stem bag breaking and unloading mechanism support 42 and penetrates through a second weighing sensor 44, the second weighing sensor 44 is fixedly arranged on the tobacco stem bag breaking and unloading mechanism support 42 and is fixedly connected with a second moving shaft of the truss robot, the second air cylinder 43 is connected with a second connecting rod mechanism 45, and the second air cylinder 43 drives the second connecting rod mechanism 45 to clamp a clamping jaw 46 of the tobacco stem bag breaking and unloading mechanism; one end of a first connecting rod 47 is fixedly arranged on the tobacco stalk bag breaking and discharging mechanism bracket 42, and the other end of the first connecting rod is fixedly connected with a tobacco stalk bag cutting mechanism 48; the first fixing plate 49 is fixedly arranged on the tobacco stalk bag breaking and discharging mechanism bracket 42, a first guide rail 50 is arranged on the first fixing plate 49, and a first slide block of the first guide rail 50 is fixedly connected with a hook rotating mechanism 51; the third air cylinder 52 is fixedly arranged on the tobacco stalk bag breaking and discharging mechanism support 42, and the movable end of the third air cylinder 52 is connected with a material hammering rod 53 for hammering the tobacco stalk bag.
The structure of the tobacco stalk package opening mechanism 48 is that, a first connecting plate 54 is fixedly connected with a first connecting rod 47, a sliding table cylinder 55 is fixedly installed on the first connecting plate 54, a first installation plate 56 is fixedly connected with the moving end of the sliding table cylinder 55, a fourth cylinder 57 is installed on the first installation plate 56, a blade 58 is movably connected with the first installation plate 56 and the fourth cylinder 57 simultaneously, and the blade swings along with the expansion of the fourth cylinder 57.
The hook rotating mechanism 51 is structurally characterized in that a second connecting plate 59 is fixedly connected with a first sliding block of a first guide rail 50, a second guide rail 60 is installed on the second connecting plate 59, a second sliding block of the second guide rail 60 is fixedly connected with a second installing plate 61, a connecting piece 62 is installed at the bottom end of the second installing plate 61, a second motor 64 is installed on the connecting piece 62, the shaft of the second motor 64 is connected with a rotating shaft 65 through a coupler 63, bearings are installed at two ends of the rotating shaft and connected with the second installing plate 61, and a T-shaped plate 66 is fixedly connected with the rotating shaft 65; a rodless cylinder 67 and a ball screw 68 are mounted on the T-shaped plate 66, the rodless cylinder 67 and the ball screw 68 are connected through a first connecting block 70, hooks 69 are fixedly connected to two ends of the ball screw 68, and the hooks 69 are turned over or reset simultaneously through movement of the rodless cylinder 67 and transmission of the ball screw 68.
The visual moving mechanism 4 is structurally characterized in that a support beam (profile steel) 78 is erected above a tobacco stem feeding station factory building, a third guide rail 72 is fixedly installed on the support beam 78, a rack 71 is fixedly installed on the support beam 78, a second connecting block 74 is installed on a third sliding block of the third guide rail 72, a motor installing plate 75 is fixedly installed on the second connecting block 74, a third motor 76 is installed on the motor installing plate 75, a gear 73 is installed on a shaft of the third motor 76, the gear 73 is matched with the rack 71, and the integral movement is realized along with the rotation of the third motor 76; a vision camera 77 is also mounted on the second connection block 74.
The structure of the empty tobacco stalk bag recycling bin mechanism 9 is that a bottom plate 79 is fixedly arranged on the ground, an open bin 80 is welded on the bottom plate 79, a third mounting plate 81 is welded and fixed on the open bin 80, a finger cylinder 82 is arranged on the third mounting plate 81, and a clamping block 83 is arranged on the finger cylinder 82 and used for clamping an empty tobacco stalk bag to play a role in unloading the bag;
the structure of the feeding dustproof mechanism 8 is that a funnel 84 is fixedly arranged above the tobacco stem conveyor, a fifth cylinder 86 is arranged on the side of the funnel, a sealing turning plate 85 is connected with the funnel 84 through a hinge, a third connecting block 87 is fixedly arranged on the side of the sealing turning plate 85, a rotating shaft 88 is connected with the third connecting block 87 and is connected with a movable shaft of the fifth cylinder 86, and the sealing turning plate 85 is turned over along with the extension of the fifth cylinder.
The hoist crane 10 has the structure that the original hoist crane 89 is unchanged in structural form, a rolling wheel 90 is additionally arranged on a ground foot, and the wheel is driven by electricity to move on a moving track 11 paved on the ground.
The tobacco stem bundle-breaking-and-unloading machine comprises a double-shaft truss robot system 1, a mobile vision system 4, a tobacco stem bundle unloading and stacking mechanism 6, a tobacco stem bundle-breaking and unloading mechanism 7, a tobacco stem bundle feeding and dust-preventing mechanism 8, an empty tobacco stem bundle recycling barrel mechanism 9, a modified hoist crane 10 and the like.
The whole action flow of the scheme is as follows:
the transport vehicle 5 is parked at a fixed position, and the sensor detects the signal and transmits it to the vision system.
The vision system 4 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 vehicle, and determines the sequence of taking the tobacco stem packets through a vision algorithm.
And a first motion shaft 2 of the double-shaft truss robot 1 is used for weighing tobacco stalk packages according to a given sequence and then placing the tobacco stalk packages in a specified area.
And moving a second motion shaft 3 of the double-shaft truss robot 1 to a corresponding position according to the tobacco stem package placing area information given by the vision system 4 to take the tobacco stem package.
And moving the second moving shaft 3 of the double-shaft truss robot 1 to the upper edge of a feeding dustproof mechanism 8 of the tobacco stem conveyor 13 to break the package and shake for discharging.
And finally, the second moving shaft 3 of the double-shaft truss robot 1 executes the tobacco stalk bag emptying action.
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 (10)
1. An intelligent tobacco stem feeding system based on a mobile vision technology is characterized by comprising a double-shaft truss robot, a tobacco stem packet unloading and stacking mechanism, a tobacco stem packet breaking and unloading mechanism, a vision moving mechanism, an empty tobacco stem packet recycling bin mechanism and a feeding dustproof mechanism, wherein the double-shaft truss robot is arranged in a specific area;
one end of the double-shaft truss robot is of a cantilever beam structure, and a tobacco stalk bag conveying vehicle is stopped below the cantilever beam; a tobacco stalk bag unloading and stacking mechanism is arranged on a first moving shaft of the double-shaft truss robot, and a tobacco stalk bag unloading mechanism is arranged on a second moving shaft of the double-shaft truss robot;
a visual moving mechanism is arranged above the double-shaft truss robot, two visual cameras are arranged on the visual moving mechanism, one visual camera moves in a tobacco stem packet conveying vehicle and in a specified tobacco stem packet placing range, and the other visual camera moves in a specified tobacco stem packet placing area and in an empty tobacco stem packet recycling bin mechanism range;
the feeding dustproof mechanism is arranged at a feeding port of the tobacco stalk conveyor.
2. The intelligent tobacco stem feeding system based on the mobile vision technology is characterized in that the double-shaft truss robot comprises four upright posts, two cross beams, two fixed longitudinal beams, two mobile longitudinal beams, a first moving shaft and a second moving shaft;
the two cross beams are respectively a first cross beam and a second cross beam, are arranged at the top ends of the four stand columns and are parallel to each other, one ends of the two cross beams are of cantilever beam structures, and the two fixed longitudinal beams are respectively fixedly connected with the four stand columns to jointly form a frame structure;
two movable longitudinal beams are arranged between the two cross beams and are respectively a first movable longitudinal beam and a second movable longitudinal beam, wherein a first movable longitudinal beam is arranged on the first movable longitudinal beam, a second movable longitudinal beam is arranged on the second movable longitudinal beam, a tobacco stalk package unloading and stacking mechanism is arranged at the lower end of the first movable longitudinal beam, and a tobacco stalk package breaking and unloading mechanism is arranged at the lower end of the second movable longitudinal beam.
3. The tobacco stem intelligent feeding system based on the mobile vision technology is characterized in that the tobacco stem packet unloading and stacking mechanism comprises a first motor, a cross universal mechanism, a first weighing sensor, a tobacco stem packet unloading and stacking mechanism support, a displacement sensor, a first air cylinder, a first connecting rod mechanism and two clamping jaws of the tobacco stem packet unloading and stacking mechanism;
the tobacco stalk package unloading stacking mechanism comprises a first motor, a first weighing sensor, a tobacco stalk package unloading stacking mechanism support and a connecting rod mechanism, wherein the first motor, the first weighing sensor and the tobacco stalk package unloading stacking mechanism support are all installed on the cross universal mechanism, the first motor penetrates through the first weighing sensor, a displacement sensor and a first cylinder are fixedly installed on the tobacco stalk package unloading stacking mechanism support, and the first cylinder is connected with two clamping jaws of the tobacco stalk package unloading stacking mechanism through the connecting rod mechanism.
4. The intelligent tobacco stem feeding system based on the mobile vision technology as claimed in claim 3, wherein the cross universal mechanism comprises a support member, a first steering motor, a second steering motor, a first rotating shaft and a second rotating shaft;
the supporting piece comprises a supporting piece body, a first connecting piece, a second connecting piece and a supporting plate; the first connecting piece and the second connecting piece are respectively fixed at the upper ends of two adjacent side surfaces of the supporting piece body, and the supporting plate is fixed at the upper end of the side surface of the supporting piece body opposite to the second connecting piece;
the first steering motor is arranged on the first connecting piece, and the second steering motor is arranged on the second connecting piece; the first steering motor is connected with the first rotating shaft through a first coupler; one end of the second rotating shaft is rotatably arranged on the supporting plate, the other end of the second rotating shaft penetrates through the first rotating shaft and is fixedly connected with the first rotating shaft, and the second steering motor is connected with the second rotating shaft through a second coupler.
5. The intelligent tobacco stem feeding system based on the mobile vision technology is characterized in that the tobacco stem bag breaking and unloading mechanism comprises a tobacco stem bag breaking and unloading mechanism support, a second air cylinder, two third air cylinders, a second weighing sensor, a second link mechanism, a first connecting rod, a tobacco stem bag breaking and unloading mechanism clamping jaw, a tobacco stem bag cutting mechanism, a first fixing plate, a first guide rail, a first sliding block, a lifting hook rotating mechanism and a material hammering rod;
the second air cylinder, the second weighing sensor, the first fixing plate and the two third air cylinders are all arranged on a tobacco stem bag breaking and unloading mechanism support;
the second cylinder penetrates through a second weighing sensor which is fixedly connected with the second moving shaft, and the second cylinder is connected with a clamping jaw of the tobacco stalk bag breaking and unloading mechanism through a second connecting rod mechanism;
one end of the first connecting rod is arranged on the tobacco stalk bag breaking and discharging mechanism bracket, and the other end of the first connecting rod is fixedly connected with the tobacco stalk bag cutting mechanism;
a first guide rail is arranged on the first fixing plate, a first sliding block is arranged in the first guide rail in a sliding manner, and a lifting hook rotating mechanism is fixed on the first sliding block;
and the movable end of the third cylinder is connected with a material hammering rod.
6. The intelligent tobacco stem feeding system based on the mobile vision technology as claimed in claim 5, wherein the tobacco stem packet cutting mechanism comprises a first connecting plate, a sliding table cylinder, a first mounting plate, a fourth cylinder and a blade;
the first connecting plate is fixedly connected with the first connecting rod, the sliding table cylinder is installed on the first connecting plate, the first mounting plate is fixedly connected with the moving end of the sliding table cylinder, the fourth cylinder is installed on the first mounting plate, and the blade is movably connected with the first mounting plate and the fourth cylinder simultaneously.
7. The tobacco stem intelligent feeding system based on the mobile vision technology as claimed in claim 5, wherein the hook rotating mechanism comprises a second connecting plate, a second guide rail, a second sliding block, a second mounting plate, a connecting piece, a second motor, a rotating shaft, a T-shaped plate, a rodless cylinder, a ball screw, a first connecting block and a hook;
the second connecting plate is fixedly connected with the first slider, a second guide rail is arranged on the second connecting plate, a second slider on the second guide rail is fixedly connected with a second mounting plate, a connecting piece is mounted at the bottom end of the second mounting plate, a second motor is mounted on the connecting piece, the second motor is connected with a rotating shaft through a coupler, two ends of the rotating shaft are connected with the second mounting plate, a T-shaped plate is fixedly connected with the rotating shaft, a rodless cylinder and a ball screw are mounted on the T-shaped plate, the rodless cylinder is connected with the ball screw through a first connecting block, and lifting hooks are fixedly connected with two ends of the ball screw.
8. The intelligent tobacco stem feeding system based on the mobile vision technology as claimed in claim 1, wherein the vision moving mechanism comprises a supporting beam, a third guide rail, a rack, a second connecting block, a third sliding block, a motor mounting plate, a third motor, a gear and a vision camera;
the supporting beam is arranged above the double-shaft truss robot, the third guide rail and the rack are arranged on the supporting beam, the third sliding block is arranged on the third guide rail in a sliding mode, the second connecting block is arranged on the third sliding block, the motor mounting plate is fixedly arranged on the second connecting block, the third motor is arranged on the motor mounting plate, the gear is arranged on an output shaft of the third motor, the gear is matched with the rack, and the vision camera is arranged on the second connecting block.
9. The intelligent tobacco stem feeding system based on the mobile vision technology as claimed in claim 1, wherein the empty tobacco stem bag recycling bin mechanism comprises a bottom plate, an open bin, a third mounting plate, a finger cylinder and a clamping block;
the bottom plate is fixedly arranged on the ground, the opening barrel is arranged on the bottom plate, the third mounting plate is arranged on the opening barrel, the finger cylinder is arranged on the third mounting plate, and the clamping block is arranged on the finger cylinder.
10. The tobacco stem intelligent feeding system based on the mobile vision technology as claimed in claim 1, wherein the feeding dustproof mechanism comprises a funnel, a fifth cylinder, a sealing turning plate, a third connecting block and a rotating shaft;
funnel fixed mounting is in offal conveyer top, and the fifth cylinder is installed in funnel side, the sealed board that turns over passes through hinged joint with the funnel, and connecting block fixed mounting turns over board side at sealed, and the pivot is connected with connecting block and loose axle simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110335676.6A CN112956726A (en) | 2021-03-29 | 2021-03-29 | Tobacco stem intelligent feeding system based on mobile vision technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110335676.6A CN112956726A (en) | 2021-03-29 | 2021-03-29 | Tobacco stem intelligent feeding system based on mobile vision technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112956726A true CN112956726A (en) | 2021-06-15 |
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ID=76278864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110335676.6A Pending CN112956726A (en) | 2021-03-29 | 2021-03-29 | Tobacco stem intelligent feeding system based on mobile vision technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112956726A (en) |
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2021
- 2021-03-29 CN CN202110335676.6A patent/CN112956726A/en active Pending
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