WO2021114190A1 - 一种用于获取片板状物品的机械装置 - Google Patents

一种用于获取片板状物品的机械装置 Download PDF

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Publication number
WO2021114190A1
WO2021114190A1 PCT/CN2019/124952 CN2019124952W WO2021114190A1 WO 2021114190 A1 WO2021114190 A1 WO 2021114190A1 CN 2019124952 W CN2019124952 W CN 2019124952W WO 2021114190 A1 WO2021114190 A1 WO 2021114190A1
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WO
WIPO (PCT)
Prior art keywords
suction cup
clamping jaw
tobacco leaf
clip
crank
Prior art date
Application number
PCT/CN2019/124952
Other languages
English (en)
French (fr)
Inventor
徐升
任翔
顾裕覃
Original Assignee
深圳市微蓝智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市微蓝智能科技有限公司 filed Critical 深圳市微蓝智能科技有限公司
Priority to PCT/CN2019/124952 priority Critical patent/WO2021114190A1/zh
Priority to CN201980021400.1A priority patent/CN112004616A/zh
Publication of WO2021114190A1 publication Critical patent/WO2021114190A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • A—HUMAN NECESSITIES
    • A24—TOBACCO; CIGARS; CIGARETTES; SIMULATED SMOKING DEVICES; SMOKERS' REQUISITES
    • A24B—MANUFACTURE OR PREPARATION OF TOBACCO FOR SMOKING OR CHEWING; TOBACCO; SNUFF
    • A24B3/00—Preparing tobacco in the factory
    • A24B3/16—Classifying or aligning leaves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/38—Collecting or arranging articles in groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Definitions

  • the invention relates to a tobacco leaf sorting device, in particular to a mechanical device for obtaining sheet-like articles.
  • Tobacco is an important economic crop, and its product tobacco leaf is an important raw material for the tobacco manufacturing industry. Due to the influence of different regional climates, environments, soils, varieties, growing positions, planting measures and baking techniques, the quality of tobacco leaves varies greatly. Therefore, we must classify the tobacco leaves as necessary to sort out tobacco leaves of different quality. Divided by category, price based on quality, and rational use of resources to meet the needs of agriculture and economic development.
  • the physical characteristics of tobacco leaves are irregular, uneven, and fragile plate-like objects.
  • the color, size, and shape of each tobacco leaf are different.
  • the sorting of tobacco leaves is mainly operated manually, and the tobacco leaves of different qualities are placed in different areas for isolation and rating through various evaluation indicators such as the color and length of the tobacco leaves by the operators.
  • the tobacco leaf sorting is labor intensive, consumes a lot of manpower, and has low production efficiency. Therefore, it is very important to develop an automated sorting device for obtaining tobacco leaves (or sheet-like items) and has important economic value.
  • the embodiment of the present invention aims to provide a mechanical device for obtaining sheet-like objects (such as tobacco leaves).
  • the mechanical device provided by the present invention includes an intelligent robotic arm equipped with a sheet-like article acquisition mechanism, which can quickly sort sheet-like articles.
  • the mechanical device provided by the present invention includes a sheet-like article acquisition mechanism with clips. When the sheet-like article acquisition mechanism sorts the sheet-like articles, the damage to the sheet-like articles is small and the sheet-like articles can be reliably transported.
  • the technical solution adopted by the embodiment of the present invention includes a mechanical device for obtaining sheet-shaped articles.
  • the mechanical device includes: a base; a suction cup mounted on the base; a first clamping jaw including: a first pivot end mounted on the base and capable of pivoting along a first pivot axis, The first free end includes a first clamping piece, the first clamping piece is a long flat plate structure, the long side of which is parallel to the first pivot axis;
  • the second clamping jaw includes: a second pivot end, which is installed On the base and capable of pivoting along a second pivot axis, and a second free end, including a second clip, the second clip is a long flat plate structure, the long side of which is parallel to the first Two pivot shafts; and a driver, mounted on the base and mechanically connected with the first clamping jaw and the second clamping jaw to drive the first clamping jaw and the second clamping jaw to open or close Actions.
  • the mechanical device further includes a first crank and a second crank.
  • the first crank includes: a first crank end, which is pivotally connected to the driver, and a second crank end, which is pivotally connected to the first jaw; and the second crank includes: The third crank end is pivotally connected to the driver, and the fourth crank end is pivotally connected to the second jaw.
  • the driver, the first crank, the first clamping jaw and the base form a first crank slider mechanism, and the driver is configured to be able to drive the first The crank end moves linearly, thereby driving the first clamping jaw to make a first pivot about the first pivot axis; the driver, the second crank, and the second clamping jaw form a second pivot with the base
  • the driver is configured to drive the third crank end to move linearly, so as to drive the second clamping jaw to make a second pivot about the second pivot axis, and the second pivot It is opposite to the first pivoting direction.
  • the first clamping piece is located below the suction cup at a preset distance from the suction cup, so that The suction cup supports the object from below when it sucks the uneven planar structure; and the second clip is located below the suction cup and is at the preset distance from the suction cup, so that the suction cup can suck in the suction cup. Hold the article from below when describing the article.
  • the long flat plate structure of the first clamping piece faces the suction cup; and the second clamping piece The elongated flat structure faces the suction cup.
  • the long flat plate structure of the first clamping piece is in a horizontal posture
  • the length of the second clamping piece is The strip flat structure is in a horizontal posture
  • the first clamping piece is located on the first side of the suction cup
  • the second clamping piece is located on the first side of the suction cup.
  • the first side is opposite to the second side.
  • the suction cup includes: a first suction cup on one side of the driver; and a second suction cup on the other side of the driver opposite to the first suction cup, wherein the first suction cup The distance between one suction cup and the second suction cup is adjustable.
  • the mechanical device further includes a mechanical arm, and the base is installed on the mechanical arm.
  • the mechanical arm includes a suspension mechanism, the suspension mechanism is connected to a motor, the base is installed on the suspension mechanism, and the motor drives the base to rotate when the motor works.
  • the mechanical device includes an intelligent mechanical arm, from sucking up the sheet-like article to placing the sheet-like article in the corresponding sorting collector. Need manual assistance.
  • the sorting device includes a sheet-like article acquisition mechanism, and the sheet-like article acquisition mechanism includes a clip, which reduces the damage of the sheet-like article to the sheet-like article while reducing the loss of the sheet-like article from the sheet-like article acquisition mechanism. The risk to ensure the smooth progress of the sorting of sheet-shaped items.
  • Figure 1 is a schematic diagram of a tobacco leaf sorting system provided by an embodiment of the present application.
  • Figure 2 is a schematic diagram of an image processing device and a sorting device provided by an embodiment of the present application
  • Figure 3 is a schematic structural diagram of a mechanical device provided by an embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of a mechanical device provided by an embodiment of the present application.
  • Figure 5 is a schematic structural diagram of a mechanical device provided by an embodiment of the present application.
  • Fig. 6A is a perspective view of a tobacco leaf obtaining mechanism provided by an embodiment of the present application.
  • Fig. 6B is a front view of the tobacco leaf obtaining mechanism provided by an embodiment of the present application.
  • Fig. 6C is a side view of the tobacco leaf obtaining mechanism provided by an embodiment of the present application.
  • Fig. 6D is a top view of the tobacco leaf obtaining mechanism provided by an embodiment of the present application.
  • Fig. 6E is a schematic structural diagram of the tobacco leaf obtaining mechanism provided by an embodiment of the present application.
  • the flowchart used in the present disclosure shows operations implemented by the system according to some embodiments in the present disclosure. It should be clearly understood that the operations of the flowchart can be implemented out of order. Instead, the operations can be performed in reverse order or simultaneously. In addition, one or more other operations can be added to the flowchart. One or more operations can be removed from the flowchart.
  • the mechanical device includes an intelligent mechanical arm and a sheet-like article acquisition mechanism installed on it.
  • the sheet-like article acquisition mechanism includes a driver, a clamping jaw, a clamping piece and a suction cup, and the clamping jaw connects the driver and the clamping piece.
  • the clamping jaws When the clamping jaws are opened, the clamping piece is located on the side of the suction cup, leaving a space for the suction cup to absorb the target sheet-like article.
  • the clamping jaws are closed, the clamping piece is located below the suction cup to hold the target plate-shaped article.
  • the mechanical device disclosed in the present application can be used in many fields in addition to sorting sheet-like items (such as tobacco leaves), such as some strip-shaped surface irregularities, insufficient rigidity, and irregularly shaped plate-like structures (such as Sorting of broken paper), or fragile and fragile sheet structures (such as silicon wafers).
  • sheet-like items such as tobacco leaves
  • Fig. 1 is a schematic diagram of a tobacco leaf sorting system provided by an embodiment of the present application.
  • the tobacco leaf sorting system 100 includes a supply device 110, an image processing device 120, an encoder (not shown in the figure), and a sorting device 130.
  • the supply device 110 may be used to transport a plurality of tobacco leaves to the image processing device 120.
  • the plurality of tobacco leaves are tobacco leaves after roasting.
  • the plurality of tobacco leaves may be placed on the supply device 110 in a scattered state or in a superimposed state, and transported to the image processing device 120.
  • the tobacco leaves are transported to the image processing device 120 in a completely independent and spaced state.
  • the tobacco leaves are partially overlapped (for example, the overlap rate is not higher than 20%) and delivered to the image processing device 120.
  • the feeding device 110 may be a simple feeding belt, and the tobacco leaves are manually dispersed on the feeding belt, and then transported to the image processing device 120 by the feeding belt.
  • the supply device 110 may include a tobacco leaf placing pallet, a vibrating feeder, and a feeding belt.
  • the tobacco leaf placement pallet is used for placing tobacco leaves; the vibrating feeder can vibrate the tobacco leaf placement pallet and the feeding belt.
  • the tobacco leaves are shaken by vibration to facilitate sorting; the feeding belt is used to transport the tobacco leaves to the image processing device 120.
  • the image processing device 120 may be used to collect image information of tobacco leaves and obtain grade information of the tobacco leaves.
  • the image processing device 120 may include an image acquisition device and an information recognition device.
  • the image acquisition device may be used to acquire image information of tobacco leaves, the image information including the shape (if damaged), color (including visible light range and invisible light range), and the like of the tobacco leaf.
  • the image acquisition device may include a light shielding room, a light source, a sensor, and a camera (for example, a CMOS camera).
  • the light source can provide brightness for the shading room and create a good photographing environment.
  • the sensor may be a distance sensor, which detects the position of the tobacco leaf from the camera, so that the camera can obtain an image of the tobacco leaf when the tobacco leaf is in a proper position. For example, when the distance sensor detects that tobacco leaves are located directly below the camera, the camera starts to collect images of the tobacco leaves.
  • the information recognition device may be used to process image information of tobacco leaves and obtain grade information of the tobacco leaves.
  • the grade information may be the grade of tobacco leaves. For example, according to the quality of the tobacco leaves, the tobacco leaves are classified into the first grade, the second grade,..., the sixth grade, and the grade information is the first grade, the second grade,..., Or the sixth level.
  • the information recognition device may preprocess the image information of tobacco leaves, extract the features (for example, color feature, texture feature, shape feature, spatial relationship feature) in the image information, and then based on the The feature obtains the grade information of the tobacco leaf.
  • the information recognition device may obtain the grade information of the tobacco leaf through a convolutional neural network.
  • the information recognition device can obtain the grade information of the tobacco leaf through a simple classification model.
  • the encoder is a device that compiles and converts a signal (such as a bit stream) or data into a signal form that can be used for communication, transmission, and storage.
  • the encoder can convert angular displacement or linear displacement into electrical signals. Therefore, the encoder can be used to measure the movement information of the target tobacco leaf.
  • the target tobacco leaf may be any tobacco leaf to be sorted among the plurality of tobacco leaves transmitted from the supply device 110.
  • the movement information of the target tobacco leaf may include the movement speed of the target tobacco leaf, the time to reach the sorting device 130, and so on. Therefore, the sorting device 130 can grab or adsorb the target tobacco leaf at an appropriate time according to the movement information of the target tobacco leaf.
  • the sorting device 130 cannot grab or suck the tobacco leaves at an appropriate time. The process of automatic sorting of tobacco leaves cannot be completed.
  • the sorting device 130 may sort the target tobacco leaves according to the grade information and movement information of the tobacco leaves. Specifically, the sorting device 130 may determine an appropriate time to grab or adsorb the target tobacco leaf according to the movement information of the target tobacco leaf, and adjust the corresponding movement speed to grab or adsorb the tobacco leaf at the same time. Then, the sorting device 130 can place the tobacco leaves in the corresponding sorting collector ("target sorting collector") according to the grade information of the tobacco leaves, or place the target tobacco leaves on the corresponding conveyor belt (“target conveyor belt”). ), the target tobacco leaves are transported to the target sorting collector by the target conveyor belt.
  • target sorting collector the corresponding sorting collector
  • the sorting device 130 may include a mechanical arm and a tobacco leaf obtaining mechanism, where the tobacco leaf obtaining mechanism is installed on the mechanical arm, and the tobacco leaf obtaining mechanism may be used to suck up and lift tobacco leaves.
  • the mechanical arm may include a four-axis SCARA robot, a six-axis SCARA robot, or a parallel DELTA robot.
  • the robot has a high degree of freedom and a fast speed, and can quickly sort tobacco leaves according to their grade information and movement information.
  • Figures 3 to 6 For more information about the structure of the sorting device 130, please refer to Figures 3 to 6 and their descriptions.
  • the image processing device 120 may also be used to collect image information of the tobacco leaf and obtain information about the acquisition location of the target tobacco leaf.
  • the acquired position information also called grabbing position information or capturing position information, refers to the information corresponding to the specific position of the tobacco leaf that the sorting device 130 sucks, captures, or grabs when the tobacco leaves are sorted.
  • the image processing device 120 may establish a coordinate system for each tobacco leaf, and the acquired part information may be the coordinate information of the specific part of the tobacco leaf that the sorting device 130 sucks or grabs.
  • the sorting device 130 can sort the tobacco leaves according to their grade information, acquisition location information, and movement information.
  • the image processing device 120 may determine the above-mentioned acquired part information according to the shape and size of the tobacco leaf. For example, when the tobacco leaf is elongated, the image processing device 120 can determine that the middle part of the tobacco leaf is the part where the sorting device 130 sucks the tobacco leaf, and then can determine the coordinates of the middle part of the tobacco leaf as the acquisition part according to the size of the tobacco leaf.
  • the image processing device 120 obtains the grade information and the position information of the target tobacco leaf, and the encoder obtains the movement information of the target tobacco leaf
  • the image processing device 120 and the encoder can combine the grade information
  • the acquired part information and movement information are directly sent to the sorting device 130, or can be sent to the controller (for example, it may be included in the tobacco leaf sorting system 100, not shown in the figure), and the sorting device is controlled by the controller 130.
  • the tobacco leaf sorting system 100 may further include a transportation device 140.
  • the transport device 140 is connected to the supply device 110 and the image processing device 120 and can be used to transport tobacco leaves from the supply system 110 to the image processing device 120.
  • the transport device 140 increases the operating length of the tobacco leaf sorting system 100, reduces manual pressure, and improves the working efficiency of the entire system.
  • the transportation device 140 may include a climbing feeder 142.
  • the climbing feeder 142 is connected to the supply device 110 and the image processing device 120.
  • the climbing feeder 142 may be a conveyor belt.
  • the climbing feeder 142 includes an inlet end and an outlet end, the inlet end is used to receive the plurality of tobacco leaves from the supply device 110, and the outlet end is used to output the plurality of tobacco leaves.
  • the vertical height of the outlet end is greater than the vertical height of the inlet end, and there is an upward slope between the two. Due to the existence of the inclined slope, the tobacco leaves are affected by gravity during the conveying process of the tobacco leaves, and the overlapping tobacco leaves will be separated from each other as the conveying is misaligned, so partial overlap will be eliminated.
  • the climbing feeder 142 can spread the plurality of overlapping tobacco leaves with different orientations by an upward slope feeding, which reduces the overlap rate of the tobacco leaves and improves the accuracy and accuracy of the image processing device 120.
  • the inclined slope increases the length of the conveyor belt and improves the space utilization.
  • the transportation device 140 may include a ramp feeder 143.
  • the ramp feeder 143 is connected to the supply device 110 and the image processing device 120.
  • the ramp feeder 143 may be a conveyor belt.
  • the ramp feeder 143 includes an inlet end and an outlet end, the inlet end is used for receiving the plurality of tobacco leaves, and the outlet end is used for outputting the plurality of tobacco leaves.
  • the vertical height of the outlet end is smaller than the vertical height of the inlet end, and there is a downward slope between the two. Due to the existence of the inclined slope, in the process of tobacco leaf transportation, the partially overlapping tobacco leaves will slide and stagger under the influence of gravity, so the partial overlap will be eliminated. As a result, the ramp feeder 143 can spread the plurality of tobacco leaves overlapped together and in different orientations by a downward ramp feed, which reduces the overlap rate of the tobacco leaves and improves the accuracy and accuracy of the image processing device 120.
  • the inclined slope increases the length of the conveyor belt and improves the space utilization.
  • the transportation device 140 may include a combination of a climbing feeder 142 and a ramp feeder 143.
  • the ramp feeder 142 is connected to the supply device 110 and the ramp feeder 143, and the ramp feeder 143 is connected to the ramp feeder 142 and the image processing device 120.
  • the slopes of the climbing feeder 142 and the slope feeder 143 can be the same or different, and the best values of the slopes of the two can be determined based on experiments.
  • the transportation device 140 may further include a differential speed dispersion belt, for example, a primary differential speed dispersion belt 141 and a secondary differential speed dispersion belt 144.
  • the differential dispersing belt is a two-layer upper and lower conveying belt, and the tobacco leaves are conveyed at different speeds respectively.
  • the transmission speed of the upper conveyor belt is slower than the lower conveyor belt.
  • the differential speed dispersion belt can use the speed difference to increase the interval between two adjacent tobacco leaves, which facilitates the collection of image information of a single tobacco leaf, and improves the accuracy and precision of the image processing device 120.
  • the transportation device 140 may further include a primary differential speed dispersion belt 141, a climbing feeder 142, a slope feeder 143, and a secondary differential speed dispersion belt 144.
  • the first-stage differential dispersion belt 141 is connected to the supply device 110
  • the climbing feeder 142 is connected to the first-stage differential dispersion belt 141
  • the slope feeder 143 is connected to the climbing feeder 142
  • the second-stage differential dispersion belt 144 is connected to the slope feeder 143
  • the image processing device 120 is connected to the secondary differential dispersion belt 144.
  • the transportation device 140 includes a diverting device, which can divide the tobacco leaves on the transportation device 140 into two groups or more than two sets of lines.
  • the diverting device may be a streamlined or V-shaped splitter located in the middle of the same conveyor belt. The tip of the streamline faces the direction in which the tobacco leaves are transported. In this way, when the tobacco leaves pass through the leaf divider, they are divided to the left and right sides of the belt, and the direction of the tobacco leaves is the same forward.
  • the splitter may also be a V-shaped structure. The belt of the assembly line is divided into two different belts to transport tobacco leaves after passing through the V-shaped structure.
  • the tobacco leaves on the assembly line are divided into two groups after passing through the V-shaped structure, and they are respectively conveyed on two belts.
  • the tobacco leaf sorting system 100 includes corresponding image processing devices 120 and sorting devices 130, so that multiple image processing devices 120 and multiple sorting devices 130 on a set of tobacco leaf sorting system 100 can work at the same time, increasing the overall The working efficiency of the tobacco leaf sorting system 100.
  • FIG. 2 is a schematic diagram of an image processing device and a sorting device provided by an embodiment of the present application.
  • the tobacco leaf sorting system 100 may include a plurality of image processing devices 120 and a plurality of sorting devices 130.
  • the image processing device 120 includes a first image processing device and a second image processing device
  • the sorting device 130 includes a first sorting device and a second sorting device.
  • the first image processing device and the first sorting device can sort the tobacco leaves for the first time. If the initial sorting is not completed or fails, for example, the first sorting device fails to grasp the tobacco leaves, the second information collecting device and the second sorting device perform secondary sorting on the tobacco leaves, thereby The adaptability of the tobacco leaf sorting system 100 is increased to ensure that it can process various tobacco leaves. At this time, the first image processing device and the second image processing device may obtain tobacco leaf grade information differently, and the algorithm for acquiring tobacco leaf grade information by the second image processing device may be more complicated and more computationally expensive.
  • the first image processing device and the first sorting device can sort tobacco leaves at the same time.
  • the two are not in a sequential relationship, but in a parallel relationship, which increases the working efficiency of the tobacco leaf sorting system 100.
  • the tobacco leaf sorting system 100 may include a first image processing device 120-1, a second image processing device 120-2, a third image processing device 120-3, a first sorting device 130-1, and a second image processing device 120-2.
  • the sorting device 130-2, the third sorting device 130-3, and a plurality of sorting collectors 132 Since the sorting device 130 is an industrial robot, it can move in multiple dimensions in space according to the target.
  • the multiple sorting collectors 132 may be trays placed on the same horizontal plane, or placed on horizontal planes with different heights.
  • the plurality of sorting collectors 132 can be placed on different height levels according to the corresponding sorting information, such as in a shelf-like structure, which not only reduces the space occupied by the sorted collectors, but also increases the number of sorting collectors.
  • the degree of recognition between. After the sorting device sorts the target tobacco leaves according to the grade information (classification information) and movement information of the tobacco leaves, the target tobacco leaves are placed in a corresponding sorting collector.
  • the tobacco leaf sorting system 100 may include one or more image processing devices 120, and one or more sorting devices 130, and one image processing device 120 corresponds to two or more ⁇ sorting device 130.
  • the image processing device 120 obtains tobacco leaf information (eg, grade information), it transmits the information to a specific one of the corresponding two or more sorting devices 130, and the specific sorting device 130 The sorting device 130 completes the sorting of tobacco leaves.
  • FIGS 3 to 5 are schematic structural diagrams of sorting devices (ie, mechanical devices) provided by some embodiments of the present application.
  • the sorting device includes a tobacco leaf obtaining mechanism 131 and a mechanical arm.
  • the tobacco leaf obtaining mechanism 131 is mounted on the mechanical arm, and the tobacco leaf obtaining mechanism 131 is generally mounted on the mechanical arm through a mounting mechanism.
  • the sorting device 130 described in FIG. 3 includes a four-axis SCARA robot 134 and a tobacco leaf obtaining mechanism 131.
  • the tobacco leaf obtaining mechanism 131 is flange-mounted on the four-axis SCARA robot 134;
  • the sorting device 130 described in FIG. 4 includes a six-axis SCARA.
  • the robot 136 and the tobacco leaf obtaining mechanism 131 are installed on the six-axis SCARA robot 136 through a flange; the sorting device 130 described in FIG. 5 includes the DELTA robot 138 and the tobacco leaf obtaining mechanism 131, and the tobacco leaf obtaining mechanism 131 is installed through a moving platform On the DELTA robot 138.
  • a suspension mechanism is included at the end of the mechanical arm, the suspension mechanism is connected to a motor (not shown in the figure), the base is installed on the suspension mechanism and connected to the motor, and the motor drives the motor when it works.
  • the base rotates.
  • the tobacco leaf obtaining mechanism 131 may be directly installed on the motor and rotate with the rotation of the motor; the tobacco leaf obtaining mechanism 131 may also be connected to the motor through a transmission mechanism.
  • the motor drives the tobacco leaf obtaining mechanism 131 to rotate through the transmission mechanism.
  • the mechanical arm can move the tobacco leaf obtaining mechanism 131 to the target location, and then the motor rotates to turn the tobacco leaf obtaining mechanism 131 to a proper angle, thereby obtaining the target tobacco leaves.
  • the tobacco leaf obtaining mechanism 131 may include a base 600, a driver 610, a clamping jaw 620 and a suction cup 640.
  • the base 600 provides support for the entire tobacco leaf obtaining mechanism 131.
  • the base 600 can have any shape.
  • the base 600 may be connected to the motor of the above-mentioned mechanical arm through the suspension mechanism.
  • the base 600 can be directly mounted on the motor and rotate with the rotation of the motor.
  • the base 600 may also be connected to the motor through the transmission mechanism. When the motor rotates, the motor drives the tobacco leaf obtaining mechanism 131 to rotate through the transmission mechanism.
  • the driver 610 may be any mechanism capable of outputting linear motion, such as a combination of a motor and a crank slider mechanism, a cylinder, a hydraulic device, and so on.
  • the driver 610 is an air cylinder.
  • the piston rod 612 of the cylinder can make a reciprocating linear movement along the axial direction of the cylinder.
  • the suction cup 640 includes a suction cup head and a negative pressure generating device.
  • the negative pressure generating device can generate negative pressure on the suction cup head; the suction cup head can use the negative pressure to suck the target tobacco leaf.
  • the suction cup 640 may be a vacuum pump or a vacuum generator.
  • the suction cup 640 When the suction cup 640 generates a negative pressure, the target tobacco leaf is sucked by the suction cup head, and thus is captured by the tobacco leaf obtaining mechanism.
  • the suction cup 640 can release the target tobacco leaf by stopping the generation of negative pressure.
  • the target tobacco leaf has an uneven sheet structure
  • there is a gap between the target tobacco leaf and the suction cup head and ambient air can flow into the suction cup head from the gap, thereby releasing the suction cup 640 from adsorbing the target tobacco leaf. force.
  • the adsorbed target is a flat sheet structure, such as a semiconductor wafer
  • the suction cup head will closely stick to the surface of the target without leaving a gap.
  • the suction cup 640 can release the target by restoring the atmospheric pressure or generating a positive pressure.
  • the number of the suction cup 640 can be one or more. For example, in the structure shown in FIGS.
  • the number of the suction cups 640 is two, including a first suction cup 640-1 and a second suction cup 640-1.
  • the first suction cup 640-1 is on one side of the driving mechanism; the second suction cup is on the other side of the driving mechanism opposite to the first suction cup.
  • the distance between the first suction cup 640-1 and the second suction cup 640-2 is adjustable so as to be able to adapt to targets of different shapes and sizes (such as tobacco leaves of different shapes and sizes).
  • the clamping jaw 620 may include a plurality of clamping jaws.
  • the suction cup 640 first generates a negative pressure to suck the target tobacco leaf , And then the clamping jaw 620 is closed to grab or hold the target tobacco leaf.
  • the number of the clamping jaws 620 may be multiple.
  • the clamping jaws include a first clamping jaw 620-1 and a second clamping jaw 620-2.
  • the number of the clamping jaws 620 can also be 3 or more, which is not limited in this application.
  • the first clamping jaw 620-1 is generally a cantilever beam structure or any other equivalent structure.
  • the first jaw 620-1 may include a free end ("first free end") 630-1 and a pivot end ("first pivot end”) 631-1.
  • the first pivot end 631-1 can be pivotally connected to the base 600, so the first pivot end 631-1 can pivot along the first pivot axis 661-1.
  • the first free end 630-1 may be a long flat plate structure called a first clip.
  • the long side direction of the elongated flat structure is parallel to the first pivot axis 661-1, and its size can be designed according to the size of a common tobacco leaf (or target).
  • the second clamping jaws 620-2 may be arranged symmetrically with respect to the driver 610 with the first clamping jaws 620-1.
  • the second clamping jaw 620-2 may be substantially a cantilever beam structure or any other equivalent structure, and its shape may be the same as that of the first clamping jaw 620-1.
  • the second jaw 620-2 may include a free end ("second free end") 630-2 and a pivot end ("second pivot end”) 631-2.
  • the second pivot end 631-2 can be pivotally connected to the base 600, but its position relative to the driver 610 can be opposite to the first pivot end 631-1. Therefore, the second pivot end 631-2 can pivot along the second pivot shaft 661-2.
  • the second free end 630-2 may be a long flat plate structure, called a second clip.
  • the longitudinal direction of the elongated flat plate structure is parallel to the second pivot shaft 661-2, and its size can be designed according to the size of a common tobacco leaf (or target). Further, the second pivot shaft 661-2 may be parallel to the first pivot shaft 661-1.
  • the driver 610 can drive the first clamping jaw 620-1 and the second clamping jaw 620-2 to open or close.
  • the tobacco leaf obtaining mechanism may further include a first crank 650-1 and a second crank 650-2.
  • the first crank 650-1 may be rod-shaped and include a first crank end and a second crank end.
  • the first crank end may be pivotally connected to the piston rod 612 of the driver 610 via a pivot 663-1.
  • the second crank end may be pivotally connected to the first jaw 620-1 through a pivot 662-1.
  • the pivot 662-1 may be somewhere in the middle of the first jaw 620-1.
  • the driver 610 (or the piston rod 612), the first crank 650-1, the first clamping jaw 620-1 and the base 600 together form a first crank slider mechanism.
  • the driver 600 drives the piston rod 612 to perform linear motion
  • the first crank end 663-1 follows the piston rod 612 to perform the linear motion, thereby driving the first clamping jaw 620-1 around the first pivot axis 661- 1 Make a pivoting movement ("first pivot" ⁇ 1 ).
  • the second crank 650-2 may be rod-shaped, including a third crank end and a fourth crank end.
  • the third crank end may be pivotally connected to the piston rod 612 of the driver 610 via a pivot 663-2.
  • the fourth crank end may be pivotally connected to the second jaw 620-2 via a pivot 662-2.
  • the pivot 662-2 may be somewhere in the middle of the second jaw 620-2.
  • the driver 610 (or the piston rod 612), the second crank 650-2, the second clamping jaw 620-2 and the base 600 together form a second crank slider mechanism.
  • the driver 600 drives the piston rod 612 to perform the linear motion
  • the third crank end 663-2 follows the piston rod 612 to perform the linear motion, thereby driving the second clamping jaw 620-2 around the second pivot axis 661-2 makes a pivoting movement ("second pivot" ⁇ 2 ).
  • the first clamping piece 630-1 is located on one side (the "first side") of the suction cup 640, and the second The two clips 630-2 are located on the opposite side of the suction cup 640 ("second side").
  • the first clamping piece 630-1 When the first clamping jaw 620-1 and the second clamping jaw 620-2 are closed, the first clamping piece 630-1 is located below the suction cup 640 at a predetermined distance from the suction cup. Further, the long flat plate structure of the first clip 630-1 faces the suction cup 640 and is in a horizontal posture (that is, the plane of the flat plate structure is parallel to the conveyor belt), so that the suction cup 640 supports the target tobacco leaf from below when sucking the target tobacco leaf (or the target object). At the same time, when the first clamping jaw 620-1 and the second clamping jaw 620-2 are closed, the second clamping piece 620-2 is also located below the suction cup 640 and is far from the suction cup 640. The preset distance.
  • the long flat plate structure of the second clip 630-2 faces the suction cup 640 and is in a horizontal posture (that is, the plane of the flat plate structure is parallel to the conveyor belt), so that the suction cup 640 supports the target tobacco leaf from below when sucking the target tobacco leaf (or the target object). Therefore, the structure shown in FIGS. 6A-6E can prevent the target tobacco leaf from falling due to the suction cup 640 not sucking the target tobacco leaf.
  • the driver 610 controls the clamping pieces 630-1 and 630-2 to be located on the side of the suction cup 640. At this time, there is no obstruction under the suction cup 640, and the suction cup 640 can directly contact the tobacco leaves on the conveyor belt, thereby adsorbing the target tobacco leaves. After the suction cup 640 adsorbs the target tobacco leaf, the driver 610 controls the clip to be located below the suction cup 640 (ie, below the sucked tobacco leaf).
  • the mechanical arm can drive the tobacco leaf obtaining mechanism 131 to directly transport the target tobacco leaf to the corresponding target conveyor belt, and then the sucker 640 releases the tobacco leaf, and then the target conveyor belt removes the tobacco leaf.
  • the target tobacco leaves are transported to the corresponding target sorting collector 132; or the target tobacco leaves are directly conveyed to the target sorting collector 132.
  • the driver 610 controls the clips 630-1, 630-2 to be located below the suction cup 640 (ie, below the sucked target tobacco leaf), and the suction cup 640 immediately Remove the adsorption of the target tobacco leaf.
  • the target tobacco leaves fall onto the clip underneath, and the target tobacco leaves are transported to the target conveyor belt by the clip, and then transported to the target sorting collector 132 by the target conveyor belt.
  • the clip can hold the target tobacco leaf and transport the tobacco leaf to the target conveyor belt or the target sorting collector , So as to ensure the reliability of the target tobacco leaf transportation.
  • the suction cup 640 is only used to suck up and detach the target tobacco leaf from the conveyor belt, and the clip is used to transport the target tobacco leaf, which reduces the impact of the suction cup 640 on the target tobacco leaf while ensuring transportation reliability. The damage caused by the adsorption.
  • the first working state is after the suction cup 640 absorbs tobacco leaves.
  • the clip is located below the suction cup 640 and is used to lift the target tobacco leaf.
  • the second working state is before the suction cup 640 absorbs the target tobacco leaf.
  • the clip is located on the side of the suction cup 640 to provide a contact space for the suction cup 640 to absorb the target tobacco leaf.
  • the clamping jaws may include a first clamping jaw 620-1 and a second clamping jaw 620-2, and the clamping pieces may include a first clamping piece 630-1 and a second clamping piece 630-2,
  • the first clamping jaw 620-1 is connected to the driver 610
  • the second clamping jaw 620-2 is connected to the driver 610.
  • the driver 610 controls the first clamping piece 630-1 and the second clamping piece 630-2 simultaneously through the first clamping jaw 620-1 and the second clamping jaw 620-2.
  • the driver 610 controls the first clamping piece 630-1 and the second clamping piece 630-1 through the first clamping jaw 620-1 and the second clamping jaw 620-2
  • the two clamping pieces 630-2 are located at the side of the suction cup 640 at the same time.
  • the driver 610 can control the distance between the first clip 630-1 and the second clip 630-2.
  • the distance can be adjusted according to the size of the target tobacco leaf to be adsorbed by the suction cup 640, so that the tobacco leaf obtaining mechanism 131 can adsorb and transport target tobacco leaves of various sizes. For example, when the widths of the first clip 630-1 and the second clip 630-2 are 10 cm, and the maximum width of the target tobacco leaf is 30 cm, the driver 610 can control the first clip 630-1 and the second clip
  • the distance between the pieces 630-2 is greater than 10 cm and less than 30 cm, such as 12 cm.
  • the driver 610 can control the first clip 630-1 and the second clip 630-2 to be located on the same horizontal plane. Thereby reducing the damage of the clip to the target tobacco leaf during lifting.
  • the suction cup 640 includes a first suction cup 640-1 and a second suction cup 640-2.
  • the suction cup Compared with one suction cup, when two suction cups absorb the target tobacco leaf, the damage to the target tobacco leaf is less and the adsorption force is better. This is because when the tobacco leaf obtaining mechanism 131 has only one suction cup, the suction cup generally sucks the middle part of the target tobacco leaf. At this time, the two ends of the target tobacco leaf sag due to gravity, and the entire target tobacco leaf is in an inverted "v" shape. While the tobacco leaf is easily deformed, the contact between the target tobacco leaf and the suction cup is not close.
  • the tobacco leaf obtaining mechanism 131 includes two suction cups
  • the two suction cups generally suck both ends of the target tobacco leaf respectively.
  • the entire target tobacco leaf is linear, and the two suction cups have better adsorption force on the target tobacco leaf.
  • the driver 610 controls the clamping piece to be located under the first suction cup 640-1 and the second suction cup 640-2; when the clamping jaw is opened, the clamping piece made by the driver 610 is located at the first suction cup 640-1 and the second suction cup The side of 640-2.
  • the clamping jaws are closed after the first suction cup 640-1 and the second suction cup 640-2 adsorb the target tobacco leaf.
  • the clip is located below the first suction cup 640-1 and the second suction cup 640-2, and is used to lift the target tobacco leaf.
  • the opening of the clamping jaws occurs before the first suction cup 640-1 and the second suction cup 640-2 absorb the target tobacco leaf and after the target tobacco leaf is transported to the target conveyor belt or the target sorting collector.
  • the clip is located on the side of the first suction cup 640-1 and the second suction cup 640-2, and provides a contact space for the first suction cup 640-1 and the second suction cup 640-2 to suck or release the target tobacco leaf.
  • the distance between the first suction cup 640-1 and the second suction cup 640-2 is adjustable.
  • the suction cup is connected to the lower part of the driver 610.
  • the distance between the first suction cup 640-1 and the second suction cup 640-2 is adjustable .
  • the distance between the first suction cup 640-1 and the second suction cup 640-2 is adjustable, the distance between the two parts where the two suction cups adsorb the same target tobacco leaf can be adjusted to ensure that the two suction cups can adsorb the target tobacco leaf More reliable and safer.
  • the distance between the first suction cup 640-1 and the second suction cup 640-2 can be adjusted to 17 cm, so that the two suction cups adsorb the target tobacco leaves more evenly, so that the entire target The tobacco leaves are straight, instead of the inverted "v" shape described above.
  • numbers expressing quantities or properties used to describe and claim certain embodiments of this application should be understood as modified by the terms “about”, “approximately” or “substantially” in some cases. For example, unless otherwise stated, “about”, “approximately” or “substantially” can mean a ⁇ 20% variation of the value described. Therefore, in some embodiments, the numerical parameters listed in the written description and appended claims are approximations, which may vary according to the desired properties that a particular embodiment is attempting to achieve. In some embodiments, the numerical parameters should be interpreted based on the number of significant figures reported and by applying common rounding techniques. Although some embodiments described in this application list a wide range of numerical ranges and the parameters are approximate values, the specific examples all list as accurate numerical values as possible.

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Abstract

一种用于获取片板状物品的机械装置，包括基座（600），在基座（600）上安装有吸盘（640）、驱动器（610）、第一夹爪（620-1）和第二夹爪（620-2），第一夹爪（620-1）包括能沿着第一枢转轴（661-1）枢转的第一枢转端（631-1）和作为第一自由端（630-1）的第一夹片，第二夹爪（620-2）包括能沿着第二枢转轴（661-2）枢转的第二枢转端（631-2）和作为第二自由端（630-2）的第二夹片，第一夹片和第二夹片为长条形平板结构并沿着平行于枢转轴的方向延伸。用于获取片板状物品的机械装置通过夹爪可以托举片板状物品，减小了分拣对物品损伤的同时降低了物品脱落的风险，保证了分拣的顺利进行。

Description

一种用于获取片板状物品的机械装置 技术领域
本发明涉及烟叶分拣装置，尤其涉及一种用于获取片板状物品的机械装置。
背景技术
烟草是一种重要的经济作物，其产品烟叶是烟草制造工业的重要原料。由于受到不同地域气候、环境、土壤以及品种、着生部位、栽植措施和烘烤工艺的影响，烟叶的质量差异很大，因此我们必须对烟叶进行必要地分级，分拣出不同质量的烟叶，以类划分，以质论价，合理利用资源，以适应农业和经济发展的需求。
烟叶的物理特征是形状不太规则的、不平整的、比较脆弱的板状物体。每个烟叶的颜色、大小、形状都不同。目前，烟叶分拣都是以人工操作为主，通过操作人员观察烟叶的色泽、长度等各种评判指标将不同品质的烟叶摆放到不同的区域加以隔离和评级。该烟叶分拣劳动强度大，耗费人力多，生产效率低。因此，开发一种自动化的用于获取烟叶(或者片板状物品)的分拣装置是十分重要，并具有重要经济价值的。
发明内容
本发明实施例旨在提供一种用于获取片板状物品(比如烟叶)的机械装置。一方面，本发明提供的机械装置包括安装了片板状物品获取机构的智能机械臂，可以快速地对片板状物品分拣。另一方面，本发明提供的机械装置包括具有夹片的片板状物品获取机构。所述片板状物品获取机构在分拣片板状物品时，对片板状物品的损伤小且对片板状物品可以实现可靠运输。
如上构思，本发明实施例所采用的技术方案包括一种用于获取片板状物品的机械装置。所述机械装置包括：基座；吸盘，安装在所述基座上；第一夹爪，包括：第一枢转端，安装在所述基座上并且能沿着第一枢转轴枢转，第一自由端，包括第一夹片，所述第一夹片为长条形平板结构，其长边平行于所述第一枢转轴；第二夹爪，包括：第二枢转端，安装在所述基座上并且能沿着第二枢转轴枢转，和第二自由端，包括第二夹片，所述第二夹片为长条形平板结构，其长边平行于所述第二枢转轴；和驱动器，安装在所述基座上并分别同所述第一 夹爪和所述第二夹爪机械连接以驱动所述第一夹爪和第二夹爪做张开或闭合的动作。
根据本申请中的一些实施例，所述的机械装置还包括第一曲柄和第二曲柄。所述第一曲柄包括：第一曲柄端，可枢转地连接在所述驱动器上，和第二曲柄端，可枢转地连接在所述第一夹爪上；所述第二曲柄包括：第三曲柄端，可枢转地连接在所述驱动器上，和第四曲柄端，可枢转地连接在所述第二夹爪上。
根据本申请中的一些实施例，所述驱动器、所述第一曲柄、所述第一夹爪同所述基座形成第一曲柄滑块机构，所述驱动器被配置为能够驱动所述第一曲柄端线性运动，从而带动所述第一夹爪绕所述第一枢转轴做第一枢转；所述驱动器、所述第二曲柄、所述第二夹爪同所述基座形成第二曲柄滑块机构，所述驱动器被配置为能够驱动所述第三曲柄端线性运动，从而带动所述第二夹爪绕所述第二枢转轴做第二枢转，且所述第二枢转同所述第一枢转方向相反。
根据本申请中的一些实施例，所述第一夹爪和所述第二夹爪闭合时：所述第一夹片位于所述吸盘的下方，距所述吸盘为预设距离，以便在所述吸盘吸住不平整平面结构物品的时候从下方托住所述物品；和所述第二夹片位于所述吸盘的下方，距所述吸盘为所述预设距离，以便在所述吸盘吸住所述物品的时候从下方托住所述物品。
根据本申请中的一些实施例，所述第一夹爪和所述第二夹爪闭合时：所述第一夹片的长条形平板结构面向所述吸盘；和所述第二夹片的长条形平板结构面向所述吸盘。
根据本申请中的一些实施例，所述第一夹爪和所述第二夹爪闭合时：所述第一夹片的长条形平板结构呈水平姿态；和所述第二夹片的长条形平板结构呈水平姿态。
根据本申请中的一些实施例，所述第一夹爪和所述第二夹爪张开时：所述第一夹片位于所述吸盘的第一侧，所述第二夹片位于所述吸盘的第二侧，所述第一侧同所述第二侧相对。
根据本申请中的一些实施例，所述吸盘包括：第一吸盘，在所述驱动器的一侧；和第二吸盘，在所述驱动器同第一吸盘相对的另一侧，其中，所述第一吸盘和第二吸盘之间的距离可调。
根据本申请中的一些实施例，所述机械装置还包括机械臂，所述基座安装在所述机械臂上。
根据本申请中的一些实施例，所述机械臂包括悬挂机构，所述悬挂机构连接电机，所述基座安装在所述悬挂机构上，所述电机工作时驱动所述基座旋转。
综上所述，本发明实施例所提供的技术方案中，所述机械装置包括智能机械臂，从吸起片板状物品到将所述片板状物品放置在对应的分类收集器中，不需要人工的辅助。此外，分拣装置包括片板状物品获取机构，片板状物品获取机构包括夹片，在降低分拣对片板状物品损伤的同时，降低了片板状物品从片板状物品获取机构脱落的风险，保证片板状物品分拣的顺利进行。
附图说明
图1是本申请实施例提供的一种烟叶分拣系统示意图；
图2是本申请实施例提供的一种图像处理装置及分拣装置示意图；
图3是本申请实施例提供的一种机械装置结构示意图；
图4是本申请实施例提供的一种机械装置结构示意图；
图5是本申请实施例提供的一种机械装置结构示意图；
图6A是本申请实施例提供的一种烟叶获取机构的立体图；
图6B是本申请实施例提供的所述烟叶获取机构的正视图；
图6C是本申请实施例提供的所述烟叶获取机构的侧视图；
图6D是本申请实施例提供的所述烟叶获取机构的俯视图；以及
图6E是本申请实施例提供的所述烟叶获取机构的结构示意图。
具体实施方式
以下描述提供了本申请的特定应用场景和要求，目的是使本领域技术人员能够制造和使用本申请中的内容。对于本领域技术人员来说，对所公开的实施例的各种局部修改是显而易见的，并且在不脱离本公开的精神和范围的情况下，可以将这里定义的一般原理应用于其他实施例和应用。因此，本公开不限于所示的实施例，而是与权利要求一致的最宽范围。
这里使用的术语仅用于描述特定示例实施例的目的，而不是限制性的。比如，除非 上下文另有明确说明，这里所使用的，单数形式“一”，“一个”和“该”也可以包括复数形式。当在本说明书中使用时，术语“包括”、“包含”和/或“含有”意思是指所关联的整数，步骤、操作、元素和/或组件存在，但不排除一个或多个其他特征、整数、步骤、操作、元素、组件和/或在该系统/方法中可以添加其他特征、整数、步骤、操作、元素、组件。
考虑到以下描述，本公开的这些特征和其他特征、以及结构的相关元件的操作和功能、以及部件的组合和制造的经济性可以得到明显提高。参考附图，所有这些形成本公开的一部分。然而，应该清楚地理解，附图仅用于说明和描述的目的，并不旨在限制本公开的范围。
本公开中使用的流程图示出了根据本公开中的一些实施例的系统实现的操作。应该清楚地理解，流程图的操作可以不按顺序实现。相反，操作可以以反转顺序或同时实现。此外，可以向流程图添加一个或多个其他操作。可以从流程图中移除一个或多个操作。
本申请的一个方面涉及一种分拣片板状物品的机械装置。具体地，该机械装置包括智能机械臂以及安装在其上的片板状物品获取机构。所述片板状物品获取机构包括驱动器、夹爪、夹片和吸盘，所述夹爪连接所述驱动器和所述夹片。在所述夹爪张开时，所述夹片位于所述吸盘的侧方，让出空间供所述吸盘吸附目标片板状物品。在夹爪闭合时，所述夹片位于所述吸盘的下方托住所述目标片板状物品。本申请公开的机械装置作为分拣装置除了分拣片板状物品(比如烟叶)外还可以应用在多个领域，例如一些条形表面不平整、刚度不够、形状不规则的板状结构(比如破碎的纸片)、或者易碎怕摔的片状结构(比如硅晶片)等的分拣。为了方便说明，本申请后续描述中以烟叶分拣为例陈述本申请中的技术解决方案。
图1是本申请实施例提供的一种烟叶分拣系统示意图。如图所示，烟叶分拣系统100包括供给装置110、图像处理装置120、编码器(未在图上示出)以及分拣装置130。
供给装置110可以用于将多个烟叶运送至图像处理装置120。所述多个烟叶是经过烘烤后的烟叶。所述多个烟叶可以呈分散的状态或叠加的状态杂乱的被放置在供给装置110上，并且被运送至图像处理装置120。在另一些情况下，烟叶呈完全独立的、间隔的状态运送至图像处理装置120。在另一些情况下，烟叶呈部分可以呈重叠的状态(例如，重叠率不高于20％)运送至图像处理装置120。
在一些实施例中，供给装置110可以是简单的上料皮带，由人工将烟叶分散在所述上料 皮带上，再由所述上料皮带运输至图像处理装置120。在另一些情况下，供给装置110可以包括烟叶放置栈板、震动给料机和上料皮带。所述烟叶放置栈板用于放置烟叶；所述震动给料机可以对所述烟叶放置栈板以及上料皮带产生振动。通过振动将所述烟叶抖散，便于分拣；所述上料皮带用于运输烟叶至图像处理装置120。
图像处理装置120可以用于采集烟叶的图像信息并得到所述烟叶的等级信息。在一些实施例中，图像处理装置120可以包括图像获取装置和信息识别装置。
所述图像获取装置可以用于获取烟叶的图像信息，所述图像信息包含烟叶的形状(如有无破损)、颜色(包括可见光范围和不可见光范围)等。在一些实施例中，所述图像获取装置可以包括遮光室、光源、传感器和摄像机(例如，CMOS摄像机)。所述光源可以为所述遮光室提供亮度，营造良好拍照环境。所述传感器可以为距离传感器，检测烟叶距离摄像机的位置，从而使得摄像机可以在烟叶处于合适的位置时获取烟叶的图像。例如，当所述距离传感器检测到烟叶位于所述摄像机正下方时，所述摄像机开始采集所述烟叶的图像。
所述信息识别装置可以用于，处理烟叶的图像信息并获取所述烟叶的等级信息。所述等级信息可以是烟叶的等级。例如，根据烟叶的质量将烟叶分为第一等级、第二等级、......、第六等级，所述等级信息即为第一等级、第二等级、......，或第六等级。在一些实施例中，所述信息识别装置可以对烟叶的图像信息进行预处理，提取所述图像信息中的特征(例如，颜色特征、纹理特征、形状特征、空间关系特征)，然后基于所述特征获取所述烟叶的等级信息。例如，所述信息识别装置可以通过卷积神经网络获取所述烟叶的等级信息。又例如，所述信息识别装置可以通过简单的分类模型获取所述烟叶的等级信息。
所述编码器是将信号(如比特流)或数据进行编制、转换为可用以通讯、传输和存储的信号形式的设备。比如，所述编码器可以把角位移或直线位移转换成电信号。因此所述编码器可以用于测算目标烟叶的运动信息。所述目标烟叶可以为从供给装置110传来的所述多个烟叶中即将被分拣的任何一个烟叶。所述目标烟叶的运动信息可以包括所述目标烟叶的运动速度、到达分拣装置130的时间等等。从而，分拣装置130可以根据所述目标烟叶的运动信息在合适的时刻抓取或吸附所述目标烟叶。应当可以理解的是，在没有编码器获取烟叶运动信息的情况下，即使分拣装置130获得了烟叶的等级信息后，分拣装置130也无法在适当的时刻抓取或吸取所述烟叶，从而不能完成烟叶自动分拣的过程。
分拣装置130可以根据所述烟叶的等级信息和运动信息对所述目标烟叶进行分拣。具体地，分拣装置130可以根据所述目标烟叶的运动信息，确定合适的时刻抓取或吸附所述目标 烟叶，同时调整相应的运动速度抓取或吸附所述烟叶。然后，分拣装置130可以根据烟叶的等级信息将所述烟叶放置在相应的分类收集器里(“目标分类收集器”)，或者将所述目标烟叶放置在相应的传送带上(“目标传送带”)，由所述目标传送带将所述目标烟叶运送到所述目标分类收集器中。
在一些情况下，分拣装置130可以包括机械臂和烟叶获取机构，所述烟叶获取机构安装在所述机械臂上，所述烟叶获取机构可以用于将烟叶吸起并托举。所述机械臂可以包括四轴SCARA机器人、六轴SCARA机器人或并联DELTA机器人，所述机器人自由度高、速度快，可以快速根据烟叶的等级信息，和运动信息对烟叶进行分拣。更多关于分拣装置130的结构信息可以参加图3至图6及其描述。
以上描述的烟叶分拣系统100存在一些变体，这些变体也在本申请保护的范围之内。这些变体可以包括以下实施例：
在一些实施例中，图像处理装置120还可以用于，采集烟叶的图像信息并得到所述目标烟叶的获取部位信息。所述获取部位信息，又称为抓取部位信息或者捕获部位信息，是指在分拣烟叶时分拣装置130吸取、捕获或抓取烟叶具体部位对应的信息。例如，所述图像处理装置120可以对每一片烟叶建立坐标系，所述获取部位信息可以是分拣装置130吸取或抓取所述烟叶具体部位的坐标信息。
相应地，分拣装置130可以根据烟叶的等级信息、获取部位信息和运动信息对所述烟叶进行分拣。
图像处理装置120可以根据烟叶的形状和尺寸确定上述获取部位信息。例如，当烟叶是细长型时，图像处理装置120可以确定烟叶的中间部位为分拣装置130吸取烟叶的部位，然后可以根据烟叶的尺寸，确定所述烟叶中间部位的坐标为获取部位。
应当可以理解的是，在图像处理装置120获取所述目标烟叶的等级信息、获取部位信息，以及编码器获取所述目标烟叶的运动信息后，图像处理装置120以及编码器可以将所述等级信息、获取部位信息和运动信息直接发送给分拣装置130，也可以发送给控制器(例如，可以包含在烟叶分拣系统100中,图中未标出)，通过所述控制器控制分拣装置130。
在一些实施例中，烟叶分拣系统100还可以包括运输装置140。运输装置140连接供给装置110与图像处理装置120，可以用于将烟叶从供给系统110运送至图像处理装置120处。运输装置140增加了烟叶分拣系统100的作业长度，减少了人工的压力，提高了整个系统的 工作效率。
运输装置140可以包括爬坡送料机142。爬坡送料机142连接供给装置110和图像处理装置120。
爬坡送料机142可以为传送带。爬坡送料机142包括进口端和出口端，所述进口端用于从所述供给装置110处接收所述多个烟叶，所述出口端用于输出所述多个烟叶。所述出口端的垂直高度大于所述进口端的垂直高度，两者之间存在向上的倾斜坡度。由于倾斜斜坡的存在，在烟叶传输过程中，烟叶受重力影响，相互叠加的烟叶会是随着传输发生错位而拉开彼此的距离，因此会消除部分重叠。由此，爬坡送料机142可以通过向上的斜坡送料将所述多个交叠在一起且不同朝向的烟叶分散开距离，降低了烟叶的重叠率，提高图像处理装置120的精度和准确度。同时，在固定的横向长度空间中，倾斜斜坡增加了传送带的长度，提高了空间的利用率。
运输装置140可以包括斜坡送料机143。斜坡送料机143连接供给装置110和图像处理装置120。
斜坡送料机143可以为传送带。斜坡送料机143包括进口端和出口端，所述进口端用于接收所述多个烟叶，所述出口端用于输出所述多个烟叶。所述出口端的垂直高度小于所述进口端的垂直高度，两者之间存在向下的倾斜坡度。由于倾斜斜坡的存在，在烟叶传输过程中，部分重叠的烟叶受重力影响会发生滑动而错开，因此会消除部分重叠。由此，斜坡送料机143可以通过向下的斜坡送料将所述多个交叠在一起且不同朝向的烟叶分散开距离，降低了烟叶的重叠率，提高图像处理装置120的精度和准确度。同时，在固定的横向长度空间中，倾斜斜坡增加了传送带的长度，提高了空间的利用率。
运输装置140可以包括爬坡送料机142和斜坡送料机143的组合。爬坡送料机142连接供给装置110和斜坡送料机143，斜坡送料机143连接爬坡送料机142与图像处理装置120。爬坡送料机142和斜坡送料机143的倾斜坡度可以相同或不同，两者的倾斜坡度可以根据实验确定最佳数值。
运输装置140还可以包括差速分散皮带，例如，一级差速分散皮带141和二级差速分散皮带144。所述差速分散皮带为上下两层传输皮带，分别以不同的速度传输所述烟叶。通常，上一层传输皮带的传输速度慢于下层传输皮带。当两片临近的烟叶依次从上层皮带落入下层皮带的时候，先落下来的烟叶速度骤然增加，从而拉开了其临近的烟叶的距离。因此，所述差速分散皮带可以利用速度差，使得相邻两片烟叶之间的间隔变大，便于采集单个烟叶的图 像信息，提高了图像处理装置120的准确度和精确度。
作为示例，运输装置140还可以包括一级差速分散皮带141、爬坡送料机142、斜坡送料机143和二级差速分散皮带144。一级差速分散皮带141与供给装置110相连，爬坡送料机142与一级差速分散皮带141相连，斜坡送料机143与爬坡送料机142相连，二级差速分散皮带144与斜坡送料机143相连，图像处理装置120与二级差速分散皮带144相连。
在一些情况下，运输装置140包括分流装置，所述分流装置可以将运输装置140上的烟叶分为两组或两组以上的流水线。比如，所述分流装置可以是位于所述同一个传送带中间的流线型或者V形分叶器。流线的尖端面向所述烟叶被运送来的方向。这样，当所述烟叶经过所述分叶器的时候便被分到了皮带的左右两侧，且所述烟叶的朝向一致向前。或者，所述分叶器也可以是一个V形结构。所述流水线的皮带在经过所述V形结构后分成两条不同的皮带分别运送烟叶。因此，所述流水线上的烟叶在经过所述V形结构之后被分成两组，分别在两条皮带上被运送。相应地，烟叶分拣系统100包括对应的图像处理装置120和分拣装置130，这样一套烟叶分拣系统100上多个图像处理装置120和多个分拣装置130可以同时工作，增加了整个烟叶分拣系统100的工作效率。
图2是本申请实施例提供的一种图像处理装置及分拣装置示意图。烟叶分拣系统100可以包括多个图像处理装置120及多个分拣装置130。
例如，图像处理装置120包括第一图像处理装置以及第二图像处理装置，分拣装置130包括第一分拣装置以及第二分拣装置。
在一些情况下，所述第一图像处理装置与所述第一分拣装置可以对烟叶进行初次分拣。若所述初次分拣未完成或失败，例如所述第一分拣装置抓取烟叶失败，所述第二信息采集装置和所述第二分拣装置对所述烟叶进行二次分拣，从而增大了烟叶分拣系统100的适应性，保证其可以处理各种烟叶。此时，第一图像处理装置与第二图像处理装置获取烟叶等级信息可以是不同的，所述第二图像处理装置获取烟叶等级信息的算法可能更复杂、运算量更大。
在另一些情况下，所述第一图像处理装置与所述第一分拣装置，以及所述第二信息采集装置和所述第二分拣装置，可以同时对烟叶进行分拣。此时，两者不是先后关系，而为平行关系，增加了烟叶分拣系统100的工作效率。
如图所示，烟叶分拣系统100可以包括第一图像处理装置120-1、第二图像处理装置120-2、第三图像处理装置120-3、第一分拣装置130-1、第二分拣装置130-2、第三分拣装置130-3， 以及多个分类收集器132。由于分拣装置130是工业机器人，可以根据目标在空间的多个维度进行运动，所述多个分类收集器132可以是放置在同一水平面的料盘，也可以放置在高度不同的水平面上的。比如，所述多个分类收集器132可以根据对应的分类信息被放置在不同高度的水平面上，如呈类似货架的结构，这样不仅减少了分类收集器的占用空间，而且增加各个分类收集器之间的辨识度。所述分拣装置根据所述烟叶的等级信息(分类信息)和运动信息对所述目标烟叶进行分拣后，将所述目标烟叶放置在对应的分类收集器中。
应当可以理解的是，在一些实施例中，烟叶分拣系统100可以包括一个或多个图像处理装置120，以及一个或多个分拣装置130，一个图像处理装置120对应两个或两个以上的分拣装置130。当该图像处理装置120得到烟叶的信息(如，等级信息)后，将所述信息传输给所述对应的两个或两个以上的分拣装置130中的特定的一个，由该特定的分拣装置130完成烟叶的分拣。
图3至图5是本申请一些实施例提供的分拣装置(即，机械装置)结构示意图。所述分拣装置包括烟叶获取机构131以及机械臂。烟叶获取机构131安装在机械臂上，烟叶获取机构131一般通过挂载机构安装在机械臂上。比如，图3描述的分拣装置130包括四轴SCARA机器人134和烟叶获取机构131，烟叶获取机构131通过法兰安装在四轴SCARA机器人134上；图4描述的分拣装置130包括六轴SCARA机器人136和烟叶获取机构131，烟叶获取机构131通过法兰安装在六轴SCARA机器人136上；图5描述的分拣装置130包括DELTA机器人138和烟叶获取机构131，烟叶获取机构131通过动平台安装在DELTA机器人138上。
在所述机械臂的末端包括悬挂机构，所述悬挂机构连接电机(图中未示出)，所述基座安装在所述悬挂机构上并同所述电机连接，所述电机工作时驱动所述基座旋转。比如烟叶获取机构131可以直接安装在所述电机上，随着电机的转动而转动；烟叶获取机构131也可以是通过传动机构同所述电机连接。当所述电机转动的时候，所述电机通过所述传动机构带动烟叶获取机构131转动。这样，在进行烟叶分拣的时候，机械臂便可以将所述烟叶获取机构131移动到目标地点，然后电机旋转，将烟叶获取机构131转到合适的角度，从而获取目标烟叶。
图6A至图6E分别是本申请实施例提供的烟叶获取机构131的立体图、正视图、侧视图、俯视图以及结构示意图。所述烟叶获取机构131可以包括基座600、驱动器610、夹爪620和吸盘640。
基座600为整个烟叶获取机构131提供支撑。根据具体的设计需要，基座600可以是任 何形状。进一步地，基座600可以通过所述悬挂机构连接到上述机械臂的所述电机上。比如基座600可以直接安装在所述电机上，随着电机的转动而转动。基座600也可以是通过所述传动机构同所述电机连接。当所述电机转动的时候，所述电机通过所述传动机构带动烟叶获取机构131转动。
驱动器610可以是能够输出直线运动的任何机构，比如电机和曲柄滑块机构的组合、气缸、液压装置等等。在图6A-6E所示的结构中，所述驱动器610为一个气缸。所述气缸启动的时候，所述气缸的活塞杆612可以沿着所述气缸的轴线方向做往复的直线运动。
所述吸盘640包括吸盘头和负压产生装置。负压产生装置可以在吸盘头上产生负压；吸盘头可以利用所述负压吸住目标烟叶。比如，吸盘640可以为真空泵或者是真空发生器。当吸盘640产生负压时，所述目标烟叶被吸盘头吸住，从而被烟叶获取机构捕获。吸盘640可以通过停止产生负压来释放目标烟叶。此时，由于目标烟叶为不平整的片状结构，目标烟叶同吸盘头之间留有缝隙，周围空气可以从所述空隙间流入吸盘头内，从而解除了所述吸盘640对目标烟叶的吸附力。如果吸附的目标物是平整的片状结构，比如半导体晶片，则吸盘头会紧密的贴住所述目标物表面而不留缝隙。这种情况下，吸盘640可以通过恢复大气压或者产生正压来释放目标物。所述吸盘640的数量可以为一个也可以为多个。比如在图6A-6D所示的结构中，所述吸盘640的数量为2个，包括第一吸盘640-1和第二吸盘640-1。第一吸盘640-1在所述驱动机构的一侧；第二吸盘在所述驱动机构同第一吸盘相对的另一侧。在一些实施例中，所述第一吸盘640-1和第二吸盘640-2之间的距离可调，以便能够适应不同形状和大小的目标物(比如不同形状和大小的烟叶)。
所述夹爪620可以包括多个夹爪。当所述机械臂移动并且将所述烟叶获取机构131对准传送带上的所述目标烟叶并且将所述烟叶获取机构转到适合的角度时，所述吸盘640首先产生负压吸住所述目标烟叶，然后所述夹爪620闭合，抓取或者托住所述目标烟叶。
为了达到上述目的，所述夹爪620的数量可以是多个。比如图6A-6E所示结构中，所述夹爪就包括第一夹爪620-1和第二夹爪620-2。当然，所述夹爪620的数量也可以是3个或者更多，本申请对此不作限定。
第一夹爪620-1大体上呈悬臂梁结构或者其他任何等同的结构。第一夹爪620-1可以包括自由端(“第一自由端”)630-1和枢转端(“第一枢转端”)631-1。第一枢转端631-1同所述基座600可以可枢转地连接，因此第一枢转端631-1可以沿着第一枢转轴661-1枢转。第一自由端630-1可以为长条形平板结构，称作第一夹片。所述长条形平板结构的长边方向 平行于所述第一枢转轴661-1，其尺寸可以根据常见的烟叶(或者目标物)的尺寸进行设计。
第二夹爪620-2可以同第一夹爪620-1相对于驱动器610对称排列。比如，第二夹爪620-2可以大体上呈悬臂梁结构或者其他任何等同的结构，其形状与第一夹爪620-1可以相同。第二夹爪620-2可以包括自由端(“第二自由端”)630-2和枢转端(“第二枢转端”)631-2。第二枢转端631-2同所述基座600可以可枢转地连接，但是其位置相对于所述驱动器610来说可以同第一枢转端631-1相对。因此第二枢转端631-2可以沿着第二枢转轴661-2枢转。第二自由端630-2可以为长条形平板结构，称作第二夹片。所述长条形平板结构的长边方向平行于所述第二枢转轴661-2，其尺寸可以根据常见的烟叶(或者目标物)的尺寸进行设计。进一步地，所述第二枢转轴661-2可以同所述第一枢转轴661-1平行。
所述驱动器610可以驱动第一夹爪620-1和第二夹爪620-2做张开或闭合的动作。为此，所述烟叶获取机构还可以进一步地包括第一曲柄650-1和第二曲柄650-2。所述第一曲柄650-1可以是杆状，包括第一曲柄端和第二曲柄端。所述第一曲柄端可以通过枢轴663-1可枢转地连接在所述驱动器610的活塞杆612上。所述第二曲柄端可以通过枢轴662-1可枢转地连接在所述第一夹爪620-1上。其中所述枢轴662-1可以在所述第一夹爪620-1的中间某处。这样，所述驱动器610(或者活塞杆612)、所述第一曲柄650-1、所述第一夹爪620-1同所述基座600共同形成了第一曲柄滑块机构。当驱动器600驱动活塞杆612进行直线运动的时候，第一曲柄端663-1跟随活塞杆612做所述线性运动，从而带动所述第一夹爪620-1绕所述第一枢转轴661-1做枢转运动(“第一枢转”θ 1)。所述第二曲柄650-2可以是杆状，包括第三曲柄端和第四曲柄端。所述第三曲柄端可以通过枢轴663-2可枢转地连接在所述驱动器610的活塞杆612上。所述第四曲柄端可以通过枢轴662-2可枢转地连接在所述第二夹爪620-2上。其中所述枢轴662-2可以在所述第二夹爪620-2的中间某处。这样，所述驱动器610(或者活塞杆612)、所述第二曲柄650-2、所述第二夹爪620-2同所述基座600共同形成了第二曲柄滑块机构。当驱动器600驱动活塞杆612进行所述直线运动的时候，第三曲柄端663-2跟随活塞杆612做所述线性运动，从而带动所述第二夹爪620-2绕所述第二枢转轴661-2做枢转运动(“第二枢转”θ 2)。当所述第一曲柄滑块机构和所述第二曲柄滑块机构尺寸相同位置对称的时候，所述第一枢转同所述第二枢转方向相反，即θ 1＝-θ 2。因此，驱动器610通过活塞杆612的直线运动，驱动了夹爪620的张开和闭合。
当所述第一夹爪620-1和所述第二夹爪620-2张开时，所述第一夹片630-1位于所述吸盘640的一侧(“第一侧”)，所述第二夹片630-2位于所述吸盘640相对的另一侧(“第二侧”)。
当所述第一夹爪620-1和所述第二夹爪620-2闭合时，所述第一夹片630-1位于所述吸盘640的下方，距所述吸盘为预设距离。进一步地，所述第一夹片630-1的长条形平板结构面向所述吸盘640，并且呈水平姿态(也就是说所述平板结构的平面平行于所述传送带)，以便在所述吸盘640吸住所述目标烟叶(或者目标物)的时候从下方托住所述目标烟叶。同时，当所述第一夹爪620-1和所述第二夹爪620-2闭合时，所述第二夹片620-2也位于所述吸盘640的下方，距所述吸盘640为所述预设距离。进一步地，所述第二夹片630-2的长条形平板结构面向所述吸盘640，并且呈水平姿态(也就是说所述平板结构的平面平行于所述传送带)，以便在所述吸盘640吸住所述目标烟叶(或者目标物)的时候从下方托住所述目标烟叶。因此，图6A-6E所示的结构便可以避免因吸盘640没有吸住所述目标烟叶而造成所述目标烟叶掉落。
为了更好的介绍所述第一工作状态和所述第二工作状态，这里对烟叶获取机构131的工作过程做一个简单的描述。在烟叶获取机构131捕获所述目标烟叶前，驱动器610控制夹片630-1，630-2位于吸盘640的侧方。此时，所述吸盘640的下方没有遮挡物，所述吸盘640可以与所述传送带上的烟叶直接接触，从而吸附目标烟叶。当所述吸盘640吸附了所述目标烟叶后，驱动器610控制夹片位于吸盘640的下方(即，被吸附的烟叶的下方)。根据所述目标烟叶的所述等级信息，机械臂可以带动所述烟叶获取机构131直接将所述目标烟叶运输至相应的目标传送带上方，然后吸盘640放开烟叶，再由所述目标传送带将所述目标烟叶运输至相应的目标分类收集器132中；或者直接将所述目标烟叶运送到所述目标分类收集器132中。或者，当所述吸盘640吸附所述目标烟叶后，驱动器610控制夹片630-1，630-2位于吸盘640的下方(即，所述被吸附的目标烟叶的下方)，所述吸盘640随即解除对所述目标烟叶的吸附。因此，所述目标烟叶落入到位于其下方的夹片上，由所述夹片将所述目标烟叶运输至目标传送带上，再由所述目标传送带运输至目标分类收集器132中。在前一种情况下，当所述吸盘640与目标烟叶吸附不牢固导致所述烟叶掉落时，所述夹片可以托住所述目标烟叶，将烟叶运输至目标传送带上或者目标分类收集器中，从而保证了目标烟叶运输的可靠性。在第二种情况下，所述吸盘640仅仅用于将目标烟叶吸起、脱离传送带，由所述夹片对所述目标烟叶进行运输，在保证运输可靠性的同时减少了吸盘640对目标烟叶的吸附造成的损伤。
由上可知，所述第一工作状态为所述吸盘640吸附烟叶后。此时，所述夹片位于所述吸盘640下方，用于托举所述目标烟叶。所述第二工作状态为所述吸盘640吸附目标烟叶前。此时，所述夹片位于所述吸盘640侧方，为所述吸盘640吸附目标烟叶提供接触空间。
在一些实施例中，所述夹爪可以包括第一夹爪620-1和第二夹爪620-2，所述夹片可以 包括第一夹片630-1和第二夹片630-2，第一夹爪620-1连接驱动器610，第二夹爪620-2连接驱动器610。在所述第一夹爪和第二夹爪闭合时，驱动器610通过第一夹爪620-1和第二夹爪620-2控制第一夹片630-1和第二夹片630-2同时位于所述吸盘640的下方；在所述第一夹爪和第二夹爪张开时，驱动器610通过第一夹爪620-1和第二夹爪620-2控制第一夹片630-1和第二夹片630-2同时位于所述吸盘640的侧方。
当第一夹片630-1和第二夹片630-2同时位于所述吸盘640的下方时，驱动器610可以控制第一夹片630-1和第二夹片630-2之间的距离。所述距离可以根据吸盘640将要吸附的目标烟叶的尺寸进行调节，从而使得烟叶获取机构131可以对多种尺寸的目标烟叶进行吸附和运输。例如，当第一夹片630-1和第二夹片630-2的宽度分别为10厘米，目标烟叶的最大宽度为30厘米时，驱动器610可以控制第一夹片630-1和第二夹片630-2之间的距离大于10厘米且小于30厘米，如12厘米。
当第一夹片630-1和第二夹片630-2同时位于所述吸盘640的下方时，驱动器610可以控制第一夹片630-1和第二夹片630-2位于同一水平面上，从而减小托举时夹片对目标烟叶的损伤。
在一些实施例中，所述吸盘640包括第一吸盘640-1和第二吸盘640-2。相对于一个吸盘，两个吸盘吸附目标烟叶时对目标烟叶的损伤较小且吸附力更好。这是因为，当烟叶获取机构131仅有一个吸盘时，所述吸盘一般吸取目标烟叶的中间部位，此时目标烟叶的两端由于重力的原因下垂，整个目标烟叶呈倒“v”型，目标烟叶容易变形的同时目标烟叶与吸盘的接触不紧密。而当烟叶获取机构131包括两个吸盘时，所述两个吸盘一般分别吸取目标烟叶的两端，此时整个目标烟叶呈直线型，且两个吸盘对目标烟叶的吸附力更好。
在夹爪620闭合时，驱动器610控制夹片位于第一吸盘640-1和第二吸盘640-2的下方；在夹爪张开时，驱动器610制夹片位于第一吸盘640-1和第二吸盘640-2的侧方。
所述夹爪闭合发生在第一吸盘640-1和第二吸盘640-2吸附目标烟叶后。此时，夹片位于第一吸盘640-1和第二吸盘640-2下方，用于托举所述目标烟叶。所述夹爪张开发生在第一吸盘640-1和第二吸盘640-2吸附目标烟叶前以及将目标烟叶运送到目标传送带或者目标分类收集器之后。此时，夹片位于第一吸盘640-1和第二吸盘640-2侧方，为第一吸盘640-1和第二吸盘640-2吸附或者释放所述目标烟叶提供接触空间。
在一些情况下，第一吸盘640-1和第二吸盘640-2之间的距离可调。例如，根据上文的描述，吸盘与驱动器610的下部连接，当吸盘与驱动器610之间的连接件长度可变时，第一 吸盘640-1和第二吸盘640-2之间的距离可调。
当第一吸盘640-1和第二吸盘640-2之间的距离可调时，两个吸盘吸附同一目标烟叶的两个部位之间的距离可调，从而保证两个吸盘对目标烟叶的吸附更加可靠和安全。例如，当目标烟叶的长度为51厘米时，第一吸盘640-1和第二吸盘640-2之间的距离可以调整为17厘米，使得两个吸盘对目标烟叶的吸附比较均匀，使得整个目标烟叶呈直线型，而不会出现上文所描述的倒“v”型。
综上所述，在阅读本详细公开内容之后，本领域技术人员可以明白，前述详细公开内容可以仅以示例的方式呈现，并且可以不是限制性的。尽管这里没有明确说明，本领域技术人员可以理解本申请意图囊括对实施例的各种合理改变，改进和修改。这些改变，改进和修改旨在由本公开提出，并且在本公开的示例性实施例的精神和范围内。
此外，本申请中的某些术语已被用于描述本公开的实施例。例如，“一个实施例”，“实施例”和/或“一些实施例”意味着结合该实施例描述的特定特征，结构或特性可以包括在本公开的至少一个实施例中。因此，可以强调并且应当理解，在本说明书的各个部分中对“实施例”或“一个实施例”或“替代实施例”的两个或更多个引用不一定都指代相同的实施例。此外，特定特征，结构或特性可以在本公开的一个或多个实施例中适当地组合。
应当理解，在本公开的实施例的前述描述中，为了帮助理解一个特征，出于简化本公开的目的，本申请有时将各种特征组合在单个实施例、附图或其描述中。或者，本申请又是将各种特征分散在多个本发明的实施例中。然而，这并不是说这些特征的组合是必须的，本领域技术人员在阅读本申请的时候完全有可能将其中一部分特征提取出来作为单独的实施例来理解。也就是说，本申请中的实施例也可以理解为多个次级实施例的整合。而每个次级实施例的内容在于少于单个前述公开实施例的所有特征的时候也是成立的。
在一些实施方案中，表达用于描述和要求保护本申请的某些实施方案的数量或性质的数字应理解为在某些情况下通过术语“约”，“近似”或“基本上”修饰。例如，除非另有说明，否则“约”，“近似”或“基本上”可表示其描述的值的±20％变化。因此，在一些实施方案中，书面描述和所附权利要求书中列出的数值参数是近似值，其可以根据特定实施方案试图获得的所需性质而变化。在一些实施方案中，数值参数应根据报告的有效数字的数量并通过应用普通的舍入技术来解释。尽管阐述本申请的一些实施 方案列出了广泛范围的数值范围和参数是近似值，但具体实施例中都列出了尽可能精确的数值。
本文引用的每个专利，专利申请，专利申请的出版物和其他材料，例如文章，书籍，说明书，出版物，文件，物品等，可以通过引用结合于此。用于所有目的的全部内容，除了与其相关的任何起诉文件历史，可能与本文件不一致或相冲突的任何相同的，或者任何可能对权利要求的最宽范围具有限制性影响的任何相同的起诉文件历史。现在或以后与本文件相关联。举例来说，如果在与任何所包含的材料相关联的术语的描述、定义和/或使用与本文档相关的术语、描述、定义和/或之间存在任何不一致或冲突时，使用本文件中的术语为准。
最后，应理解，本文公开的申请的实施方案是对本申请的实施方案的原理的说明。其他修改后的实施例也在本申请的范围内。因此，本申请披露的实施例仅仅作为示例而非限制。本领域技术人员可以根据本申请中的实施例采取替代配置来实现本申请中的发明。因此，本申请的实施例不限于申请中被精确地描述过的哪些实施例。

Claims (10)

  1. 一种用于获取片板状物品的机械装置，其特征在于，包括，
    基座；
    吸盘，安装在所述基座上；
    第一夹爪，包括：
    第一枢转端，安装在所述基座上并且能沿着第一枢转轴枢转，
    第一自由端，包括第一夹片，所述第一夹片为长条形平板结构，其长边平行于所述第一枢转轴；
    第二夹爪，包括：
    第二枢转端，安装在所述基座上并且能沿着第二枢转轴枢转，和
    第二自由端，包括第二夹片，所述第二夹片为长条形平板结构，其长边平行于所述第二枢转轴；和
    驱动器，安装在所述基座上并分别同所述第一夹爪和所述第二夹爪机械连接以驱动所述第一夹爪和第二夹爪做张开或闭合的动作。
  2. 如权利要求1所述的机械装置，其特征在于，还包括：
    第一曲柄，包括：
    第一曲柄端，可枢转地连接在所述驱动器上，和
    第二曲柄端，可枢转地连接在所述第一夹爪上；和
    第二曲柄，包括：
    第三曲柄端，可枢转地连接在所述驱动器上，和
    第四曲柄端，可枢转地连接在所述第二夹爪上。
  3. 如权利要求2所述的机械装置，其特征在于，
    所述驱动器、所述第一曲柄、所述第一夹爪同所述基座形成第一曲柄滑块机构，
    所述驱动器被配置为能够驱动所述第一曲柄端线性运动，从而带动所述第一夹爪绕所述第一枢转轴做第一枢转，
    所述驱动器、所述第二曲柄、所述第二夹爪同所述基座形成第二曲柄滑块机构，
    所述驱动器被配置为能够驱动所述第三曲柄端线性运动，从而带动所述第二夹爪绕所述第二枢转轴做第二枢转，且所述第二枢转同所述第一枢转方向相反。
  4. 如权利要求1所述的机械装置，其特征在于，所述第一夹爪和所述第二夹爪闭合时：
    所述第一夹片位于所述吸盘的下方，距所述吸盘为预设距离，以便在所述吸盘吸住不平整平面结构物品的时候从下方托住所述物品；和
    所述第二夹片位于所述吸盘的下方，距所述吸盘为所述预设距离，以便在所述吸盘吸住所述物品的时候从下方托住所述物品。
  5. 如权利要求4所述的机械装置，其特征在于，所述第一夹爪和所述第二夹爪闭合时：
    所述第一夹片的长条形平板结构面向所述吸盘；和
    所述第二夹片的长条形平板结构面向所述吸盘。
  6. 如权利要求4所述的机械装置，其特征在于，所述第一夹爪和所述第二夹爪闭合时：
    所述第一夹片的长条形平板结构呈水平姿态；和
    所述第二夹片的长条形平板结构呈水平姿态。
  7. 如权利要求4所述的机械装置，其特征在于，所述第一夹爪和所述第二夹爪张开时：
    所述第一夹片位于所述吸盘的第一侧，所述第二夹片位于所述吸盘的第二侧，所述第一侧同所述第二侧相对。
  8. 如权利要求1所述的机械装置，其特征在于，所述吸盘包括：
    第一吸盘，在所述驱动器的一侧；和
    第二吸盘，在所述驱动器同第一吸盘相对的另一侧，
    其中，所述第一吸盘和第二吸盘之间的距离可调。
  9. 如权利要求1所述的机械装置，其特征在于，还包括机械臂，所述基座安装在所述机械臂上。
  10. 如权利要求9所述的机械装置，其特征在于，
    所述机械臂包括悬挂机构，所述悬挂机构连接电机，
    所述基座安装在所述悬挂机构上，
    所述电机工作时驱动所述基座旋转。
PCT/CN2019/124952 2019-12-12 2019-12-12 一种用于获取片板状物品的机械装置 WO2021114190A1 (zh)

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