CN215466241U - Tobacco leaf stacking and circulating sorting system - Google Patents
Tobacco leaf stacking and circulating sorting system Download PDFInfo
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- CN215466241U CN215466241U CN202121398044.6U CN202121398044U CN215466241U CN 215466241 U CN215466241 U CN 215466241U CN 202121398044 U CN202121398044 U CN 202121398044U CN 215466241 U CN215466241 U CN 215466241U
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Abstract
The utility model relates to a tobacco leaf stacking and circulating sorting system which comprises a tobacco leaf vision acquisition device and an annular rotary working line capable of driving stacked tobacco leaves to circularly move, wherein the annular rotary working line comprises two parallel straight section conveying belts, two ends of the two straight section conveying belts are connected through a semicircular section conveying belt, and a plurality of four-station rotary manipulators capable of grabbing single tobacco leaves are arranged on the straight section conveying belts. Through setting up annular gyration working line and quadruplex position rotary manipulator, realize that continuous stacking of layer piles up the good tobacco leaf successive layer by the discernment of top to bottom and take the letter sorting, changed the problem that current artifical sola fed the cigarette, realize the feed mode that can the multilayer stack the tobacco leaf in succession, improved work efficiency, incessant circulation letter sorting can accelerate letter sorting speed, and feed speed can effectively promote.
Description
Technical Field
The utility model relates to the technical field of flue-cured tobacco leaf sorting, in particular to a tobacco leaf stacking and circulating sorting system.
Background
Flue-cured tobacco is an important agricultural product in economic crops in China, is a main raw material for cigarette production, and is also one of large agricultural products exported in China; the flue-cured tobacco production in China is mainly concentrated in Yunnan, Henan, Guizhou, Shandong and other provinces. The tobacco purchasing is an important link of tobacco production, and particularly the centralized embodiment of the benefits of tobacco growers, in the tobacco purchasing process, the tobacco needs to be classified, purchasing principles such as high purity, off-line non-grading and the like are adhered to according to the national tobacco grade standard, the traditional tobacco classification is carried out manually, different tobacco leaves are mainly classified according to the experience of classification personnel, the influence of human factors is large, the sorting efficiency is low, and the sorting quality and precision are relatively low.
With the development of computer vision, image processing and automation technology, the image processing technology can achieve the processing capability of identifying pictures with different maturity and colors, the automation technology can complete a perfect interface between software and hardware, and the effect of intelligent control of a computer is achieved. The system can automatically complete the information acquisition, automatic grade division and automatic sorting process of the tobacco leaves on a one-way conveyer belt; for example, the utility model discloses an on-line automatic grading sorting system for tobacco leaves and a method for sorting the tobacco leaves thereof, wherein the authorized bulletin number CN105665307B comprises a tobacco leaf supply device, a tobacco leaf information acquisition device, a sorting device and a master control cabinet, the master control cabinet controls the operation of the whole system, a tobacco leaf grading processing module is arranged in the master control cabinet, the tobacco leaves are sequentially conveyed to the tobacco leaf information acquisition device and the sorting device by the tobacco leaf supply device, the tobacco leaf grading processing module controls the work of the tobacco leaf information acquisition device, the information acquired by the tobacco leaf information acquisition device is fed back to the tobacco leaf grading processing module, and the tobacco leaf grading processing module sends an instruction to the sorting device according to the information fed back by the tobacco leaf information acquisition device so as to sort the tobacco leaves. The influence of human factors is avoided during manual classification, the classification accuracy rate is high, and the labor intensity of classification and sorting personnel can be reduced.
The technical purpose of automatic sorting of tobacco leaves is realized by relying on an AI visual comparison technical basis in the prior art, but in actual use, the equipment is found to be in one-way operation, for example, in a tobacco leaf supply device 7 in 'an online automatic grading sorting system for tobacco leaves and a method for sorting the tobacco leaves' of the tobacco leaf online automatic grading sorting system, the equipment adopts a conveyor belt to operate in one way, so that the tobacco leaves are laid one by one in a feeding area manually, namely, the tobacco leaves are fed one by one, the efficiency is too low, the whole machine operation depends too much on the manual matching feeding speed, the equipment operation speed cannot be too high, the manual feeding is stopped, and the equipment is in idle operation; meanwhile, because the tobacco leaves operate in a single direction, too much sorting equipment is required to be arranged at the tail end of the equipment for sorting, the layout with small head and big tail is caused, the equipment mechanism is complicated and huge, the use cost is high, the picking and placing action realizing mode for sorting the tobacco leaves is complicated, and the use and maintenance cost causes great reduction of the working benefits and deviates from the purposes of energy conservation and consumption reduction.
SUMMERY OF THE UTILITY MODEL
Aiming at the problems, the utility model provides a tobacco leaf stacking and circulating sorting system.
The specific technical scheme of the utility model is as follows:
the utility model provides a range upon range of circulation letter sorting system of tobacco leaf, includes tobacco leaf vision collection system, still includes the annular rotary work line that can drive the layer stack and pile up tobacco leaf circular motion, annular rotary work line includes two straight section conveyer belts that are parallel to each other, and two straight section conveyer belts both ends are connected through semicircle section conveyer belt, be provided with a plurality of quadruplex position rotary manipulator that can snatch the sola tobacco leaf on the straight section conveyer belt.
Further, it is preferable that the four-station rotary robot can be disposed on a side close to or far from the two straight-section conveyor belts.
Further, it is preferred, still include blanking vibrations groove, correspond the rotatory manipulator of quadruplex position and be provided with blanking vibrations groove, blanking vibrations groove is located the rotatory manipulator of quadruplex position on one side, and it is used for accepting the sola tobacco leaf that the rotatory manipulator of quadruplex position snatched from straight section conveyer belt.
Further, preferably, the blanking vibration groove further comprises a sorting and collecting conveying table, and a sorting and collecting conveying table is arranged at an outlet at the lower end of the blanking vibration groove.
Further, preferably, still include the material loading platform, be provided with the material loading platform on the annular gyration working line.
Further, it is preferred that the quadruplex position rotary manipulator includes the rotatory robotic arm of cross, is provided with rotatory motion center mounting hole in the rotatory robotic arm center department of cross, the rotatory robotic arm of cross passes through rotatory motion center mounting hole and is connected with revolving cylinder, flexible negative sucker about the cross is then installed to the rotatory robotic arm end of cross, revolving cylinder then installs on straight section conveyer belt lateral wall through installing support II.
Further, preferably, still include and transport the transfer chain annular gyration working line outside corresponds letter sorting and collects the transfer platform and is provided with and transports the transfer chain.
The utility model has the beneficial effects that:
(1) based on current AI vision contrast technique basis, through setting up annular gyration working line and quadruplex position rotary manipulator, realize that continuous to the layer stack piles up the good tobacco leaf successive layer by the discernment of top to bottom and take the letter sorting, changed the problem of current artifical sola tobacco feeding, can realize that continuous multilayer stacks the feed mode of tobacco leaf, improved work efficiency, incessant circulation letter sorting can accelerate letter sorting speed, and feed speed can effectively promote.
(2) The four-station rotary manipulator capable of being freely expanded is adopted, tobacco leaves can be flexibly picked and placed in a rotary reciprocating mode through the manipulator, the manipulator is simple in structure, the whole equipment is simple in structure, the occupied area is small, and the flexible quick expansion sorting quantity can be achieved.
(3) The transfer conveying line is in butt joint with the sorting and collecting conveying table, so that equipment expansion is realized, and the tobacco leaves of the collection box are conveyed to a target position through the intelligent logistics system.
Drawings
FIG. 1 is a perspective isometric view of a first embodiment of the utility model.
Fig. 2 is a front view of a first embodiment of the present invention.
Fig. 3 is a top view of a first embodiment of the present invention.
Fig. 4 is a perspective isometric partial view of a first embodiment of the present invention.
Fig. 5 is a perspective view of a four-station rotary robot according to a first embodiment of the present invention.
Fig. 6 is a front view of a second embodiment of the present invention.
Fig. 7 is a reference diagram of an operation state of the second embodiment of the present invention.
In the upper diagram: the tobacco leaf visual collection device comprises a tobacco leaf visual collection device, a 2-annular rotary working line, a 201-straight section conveying belt, a 202-semicircular section conveying belt, a 3-four-station rotary manipulator, a 4-blanking vibration groove, a 5-sorting collection conveying table, a 501-collecting box, a 6-feeding platform, a 7-transfer conveying line, a 8-controller, a 901-mounting support I, a 902-mounting support II, a 301-cross rotary manipulator arm, a 302-rotary motion center mounting hole, a 303-up-down telescopic negative pressure suction cup and a 304-rotary air cylinder.
Detailed Description
In order to make the technical problems and technical solutions solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Example 1:
as shown in fig. 1 to 4, a tobacco leaf stacking and circulating sorting system comprises a tobacco leaf visual collection device 1, the tobacco leaf visual collection device 1 and a controller 8 are in the prior art, the tobacco leaf visual collection device is installed on an annular rotary working line 2 through a mounting support I901, the tobacco leaf visual collection device 1 is over against the annular rotary working line 2, the identification of the uppermost layer of stacked tobacco leaves on the annular rotary working line 2 is realized, the tobacco leaf visual collection device 1 can be provided with 1 image collection point and also can be provided with 2 image collection points, and 2 image collection points are arranged in the embodiment.
The tobacco leaf stacking machine is characterized by further comprising an annular rotary working line 2 capable of driving the tobacco leaves stacked in layers to circularly move back and forth, wherein the annular rotary working line 2 is in a shape like a Chinese character 'hui', the annular rotary working line 2 comprises two straight section conveying belts 201 which are parallel to each other, the straight section conveying belts 201 can be an independent conveying belt or a plurality of conveying belts which are connected in a front-back butt joint mode, and two ends of the two straight section conveying belts 201 are connected through a semicircular section conveying belt 202.
A plurality of four-station rotary manipulators 3 capable of grabbing single tobacco leaves are arranged on the straight section conveyer belts 201, the four-station rotary manipulators 3 can be arranged at the near side or far side of the two straight section conveyer belts 201, the four-position rotary robot 3 is arranged in this embodiment close to the two straight conveyor belts 201, i.e. the inner sides of the two straight sides of the circular rotary working line 2, of course the four-position rotary manipulator 3 can also be arranged at the far side, namely, the outer sides of two straight edges of the annular rotary working line 2 only bring the position changes of the blanking vibration groove 4 and the sorting and collecting conveying table 5, namely, the blanking vibration groove 4 is also arranged at the outer side of two straight edges of the annular rotary working line 2, the sorting and collecting conveying platform 5 is arranged towards the direction away from the annular rotary working line 2, thus, the occupied area of the whole equipment is enlarged, but the use of the equipment is not influenced, and the structure can be only inferred by the technical personnel based on the written description and the attached drawings of the utility model.
Correspond quadruplex position rotary manipulator 3 and be provided with blanking vibrations groove 4, blanking vibrations groove 4 is located quadruplex position rotary manipulator 3 on one side, it is used for accepting the sola tobacco leaf that quadruplex position rotary manipulator 3 snatched from straight section conveyer belt 201, 4 lower extreme exits in blanking vibrations groove are provided with the letter sorting and collect and carry platform 5, letter sorting is collected and is carried platform 5 and can adopt prior art such as conveyer belt, drum conveyor, chain conveyor, placed collecting box 501 on it, tobacco leaf after the letter sorting through the manipulator falls into in the collecting box 501 who locates on letter sorting and collect and carry platform 5 from blanking vibrations groove 4.
Can be through extension straight section conveyer belt 201 length to 3 quantities of extension quadruplex position rotary manipulator realize the extension station, satisfy the technological effect that multistage multiple spot snatched.
The blanking vibration groove 4 is a groove with a large upper part and a small lower part and an upper opening and a lower opening, and can also be in a square bucket shape, and a vibrator is arranged on the outer wall of the blanking vibration groove, so that the blanking vibration groove can generate vibration, and the tobacco leaves can be prevented from being blocked in the groove.
A feeding platform 6 is arranged on the annular rotary working line 2.
As shown in fig. 5, the four-station rotary manipulator 3 includes a cross rotary manipulator arm 301, a rotary motion center mounting hole 302 is arranged at the center of the cross rotary manipulator arm 301, the cross rotary manipulator arm 301 is connected with a rotary cylinder 304 through the rotary motion center mounting hole 302, an upper telescopic negative pressure suction cup 303 and a lower telescopic negative pressure suction cup 303 are installed at the end of the cross rotary manipulator arm 301, the rotary cylinder 304 is installed on the side wall of the straight section conveying belt 201 through a mounting bracket ii 902, the upper telescopic negative pressure suction cup 303 and the lower telescopic negative pressure suction cup 303 include telescopic cylinders and negative pressure suction cups installed at the telescopic ends of the cylinders, which is a commonly used technology in the prior art.
And as for the positioning of the tobacco leaves, a forward light emitting mode is adopted, and image analysis and positioning are combined with servo feedback closed loop conveying line speed ratio calculation. The camera converts the calculated pixel coordinates into physical coordinates of the manipulator, the vision software and the manipulator are in internet access communication, physical displacement of the positioned material is sent to the manipulator, and the manipulator grabs the material and places the material at an appointed station. The control device is used for identifying, receiving and processing the sorting signals, indicating the mechanical hand device according to the requirements of the sorting signals and automatically classifying the grades or the classes of the tobacco leaves obtained by visual comparison. The sorting requirements are input into a sorting control system according to a color and shape recognition mode, and a certain level is determined by which station manipulator to execute according to the judgment of the sorting signals. The sorting device is used for sorting instructions sent by the control device, when tobacco leaves with the same sorting signals pass through the sorting device, the sorting device acts to enable a mechanism on the conveying device to execute, the system is widely applied to logistics sorting conveying lines and agricultural product grading sorting, belongs to the existing control technology, and can be directly selected by technicians in the field in accordance with suitability requirements.
When the device is used, a worker places tobacco leaves sent and picked by a tobacco grower on the feeding platform 6, stacks the tobacco leaves at a certain height, the height is not too high, the inclination of the tobacco leaves in the back and forth running process of the annular rotary working line 2 is prevented, generally 20-100 tobacco leaves are suitable, the stacked tobacco leaves are placed on the annular rotary working line 2, when the stacked tobacco leaves move to the lower part of the tobacco leaf visual acquisition device 1, the automatic identification information acquisition of the top layer of stacked tobacco leaves can be completed through the tobacco leaf visual acquisition device 1 based on the AI visual comparison technology, the information is fed back to the tobacco leaf grading processing module of the controller 8, the tobacco leaf grading processing module of the controller 8 sends an instruction to the four-station rotary manipulator 3 at the corresponding grade according to the tobacco leaf information fed back by the tobacco leaf visual acquisition device 1, when the tobacco leaf stack runs to the four-station rotary manipulator 3, the four-station rotary manipulator 3 rotates to grab the tobacco leaves on the uppermost layer of the tobacco leaf stack and then rotationally puts the tobacco leaves into the blanking vibration groove 4, and the tobacco leaves fall into the collection box 501 from the blanking vibration groove 4.
Of course, the technical method of the utility model can complete the circular sorting of the multilayer stacked tobacco leaves and can also be used for sorting single (single-layer) tobacco leaves, and 4 stations of the four-station rotary manipulator 3 can be adjusted and selected.
Example 2:
as shown in fig. 6 to 7, the present embodiment is different from the first embodiment in that a transfer conveyor line 7 is disposed outside the annular rotary working line 2 corresponding to the sorting and collecting conveyor table 5, the transfer conveyor line 7 is butted with the sorting and collecting conveyor table 5 to expand the equipment, the collection box 501 is conveyed to a target position by an intelligent logistics system, and then the packing and boxing operation is completed by adding equipment such as a packer.
The present invention has been described in detail with reference to the specific and preferred embodiments, but it should be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and any modifications, equivalents and the like, which are within the spirit and principle of the present invention, should be included in the scope of the present invention.
Claims (7)
1. The utility model provides a tobacco leaf range upon range of circulation letter sorting system, includes tobacco leaf vision collection system (1), its characterized in that: the tobacco leaf stacking machine is characterized by further comprising an annular rotary working line (2) capable of driving the tobacco leaves stacked in a layer stacking mode to move circularly, the annular rotary working line (2) comprises two straight section conveying belts (201) which are parallel to each other, two ends of each straight section conveying belt (201) are connected through a semicircular section conveying belt (202), and a plurality of four-station rotary mechanical arms (3) capable of grabbing single tobacco leaves are arranged on the straight section conveying belts (201).
2. The tobacco stacking cycle sorting system of claim 1, wherein: the four-station rotary manipulator (3) can be arranged on the side close to or far away from the two straight-section conveying belts (201).
3. The tobacco stacking cycle sorting system of claim 2, wherein: still include blanking vibrations groove (4), correspond quadruplex position rotating mechanical arm (3) and be provided with blanking vibrations groove (4), blanking vibrations groove (4) are located quadruplex position rotating mechanical arm (3) on one side, and it is used for accepting the sola tobacco leaf that quadruplex position rotating mechanical arm (3) snatched from straight section conveyer belt (201).
4. The tobacco stacking cycle sorting system of claim 3, wherein: the blanking vibration groove is characterized by further comprising a sorting collecting conveying table (5), and a sorting collecting conveying table (5) is arranged at an outlet at the lower end of the blanking vibration groove (4).
5. The tobacco stacking cycle sorting system of claim 1, wherein: the rotary cutting machine is characterized by further comprising a feeding platform (6), wherein the feeding platform (6) is arranged on the annular rotary working line (2).
6. A tobacco stacking cycle sorting system according to any one of claims 1-4, wherein: quadruplex position rotary manipulator (3) include cross rotary mechanical arm (301), are provided with rotary motion center mounting hole (302) in cross rotary mechanical arm (301) center department, cross rotary mechanical arm (301) are connected with revolving cylinder (304) through rotary motion center mounting hole (302), cross rotary mechanical arm (301) end is then installed flexible negative sucker (303) from top to bottom, revolving cylinder (304) are then installed on straight section conveyer belt (201) lateral wall through installing support II (902).
7. The tobacco stacking cycle sorting system of claim 4, wherein: still including transporting transfer chain (7) the conveying platform (5) is collected to the corresponding letter sorting in annular gyration working line (2) outside is provided with transports transfer chain (7).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121398044.6U CN215466241U (en) | 2021-06-23 | 2021-06-23 | Tobacco leaf stacking and circulating sorting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121398044.6U CN215466241U (en) | 2021-06-23 | 2021-06-23 | Tobacco leaf stacking and circulating sorting system |
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| CN215466241U true CN215466241U (en) | 2022-01-11 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114985303A (en) * | 2022-05-24 | 2022-09-02 | 广东省农业科学院蔬菜研究所 | Black-skin termitomyces albuminosus appearance quality grading system and method |
| CN114985303B (en) * | 2022-05-24 | 2024-04-26 | 广东省农业科学院蔬菜研究所 | Black skin collybia albuminosa appearance quality grading system and method thereof |
-
2021
- 2021-06-23 CN CN202121398044.6U patent/CN215466241U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114985303A (en) * | 2022-05-24 | 2022-09-02 | 广东省农业科学院蔬菜研究所 | Black-skin termitomyces albuminosus appearance quality grading system and method |
| CN114985303B (en) * | 2022-05-24 | 2024-04-26 | 广东省农业科学院蔬菜研究所 | Black skin collybia albuminosa appearance quality grading system and method thereof |
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