CN112914146B - Intelligent tobacco stem feeding control system and control method - Google Patents
Intelligent tobacco stem feeding control system and control method Download PDFInfo
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- CN112914146B CN112914146B CN202110336596.2A CN202110336596A CN112914146B CN 112914146 B CN112914146 B CN 112914146B CN 202110336596 A CN202110336596 A CN 202110336596A CN 112914146 B CN112914146 B CN 112914146B
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- A—HUMAN NECESSITIES
- A24—TOBACCO; CIGARS; CIGARETTES; SIMULATED SMOKING DEVICES; SMOKERS' REQUISITES
- A24B—MANUFACTURE OR PREPARATION OF TOBACCO FOR SMOKING OR CHEWING; TOBACCO; SNUFF
- A24B5/00—Stripping tobacco; Treatment of stems or ribs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to an intelligent tobacco stem feeding control system and method, comprising a double-shaft truss robot sub-control system, a vision system moving sub-control system, a tobacco stem packet unloading and stacking mechanism sub-control system, a tobacco stem packet breaking and unloading mechanism sub-control system, a tobacco stem packet feeding dustproof mechanism sub-control system, an empty tobacco stem packet recycling bin mechanism sub-control system and a PLC main control system. The intelligent system of the technical scheme completely replaces manual operation, achieves all processes of transferring the tobacco stem package from the transport vehicle to the appointed area and from the appointed area to the tobacco stem conveyor, breaking package and unloading the tobacco stem package and recycling the empty tobacco stem package, and truly achieves automatic and intelligent tobacco stem feeding.
Description
Technical Field
The invention relates to the technical field of automatic and intelligent cigarette production, in particular to an intelligent tobacco stem feeding control system and an intelligent tobacco stem feeding control method.
Background
At present, in a tobacco shred manufacturing workshop, the feeding of tobacco stems is finished by manual operation in the vast majority: the tobacco stalk bags filled with tobacco stalks are transported to a designated area by a transport vehicle to be stacked randomly, and the hooks (three hooks at present) are moved in the east-west direction and the up-down direction by utilizing a remote controller. The operator moves the hook to the position where the tobacco stem package needs to be opened by using the remote controller, and manually hooks three tobacco stem packages respectively (the tobacco stem packages in the north-south direction need to manually pull the hook to move to the position for hooking). After the tobacco stem package is hooked, when the remote controller is operated to move the tobacco stem package to the high position such as the dust hood, an operator fixes the tobacco stem package by one hand, and after the cutting knife is operated by the other hand to scratch the bottom of the tobacco stem package, the additional manual shaking is carried out, so that the tobacco stem completely falls into the conveying belt (the other two tobacco stem packages are operated in the same way, but a rotating hook is arranged in the middle to search for the non-opened tobacco stem package). And after the opening of the tobacco stem bag is completed, manually placing the empty tobacco stem bag to a specified position.
In order to improve the whole automation degree and realize personnel reduction and synergy, on the premise of meeting the production process requirements, automation equipment and robots are used for realizing the automation of production.
Disclosure of Invention
The invention aims to provide an intelligent tobacco stem feeding control system and an intelligent tobacco stem feeding control method, which can ensure action execution and path optimization of an intelligent tobacco stem feeding system based on a mobile vision technology.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the intelligent tobacco stem feeding control system comprises a double-shaft truss robot sub-control system, a vision system moving sub-control system, a tobacco stem packet unloading and stacking mechanism sub-control system, a tobacco stem packet breaking and unloading mechanism sub-control system, a tobacco stem packet feeding and dustproof mechanism sub-control system, an empty tobacco stem packet recycling bin mechanism sub-control system and a PLC main control system;
the automatic tobacco stem package unloading and stacking device comprises a double-shaft truss robot sub-control system, a vision system moving sub-control system, a tobacco stem package unloading and stacking mechanism sub-control system, a tobacco stem package feeding and dustproof mechanism sub-control system and an empty tobacco stem package recycling bin mechanism sub-control system, which are respectively in communication connection with a PLC main control system.
Further, the double-shaft truss robot sub-control system comprises a double-shaft truss robot controller, a first servo motor controller, a second servo motor controller and a proximity switch, wherein the double-shaft truss robot controller is in bidirectional communication connection with the PLC main controller, and the double-shaft truss robot is respectively in electric signal connection with the first servo motor controller, the second servo motor controller and the proximity switch.
Further, the vision system movement sub-control system comprises a vision controller, a first camera, a third servo motor and a trigger sensor; the visual controller is in bidirectional communication connection with the PLC main controller, and the first camera, the third servo motor and the trigger sensor are respectively in electric signal connection with the visual controller.
Further, the tobacco stalk package unloading and stacking mechanism sub-control system comprises the visual controller, a third servo motor, a first camera, a first steering motor, a second steering motor, a third steering motor, a laser sensor, a first cylinder and a first weight sensor;
the laser sensor and the first weight sensor are respectively connected with the vision controller and the PLC main controller in an electric signal manner;
the third servo motor, the first camera, the first steering motor, the second steering motor, the third steering motor and the first cylinder are all in electrical signal connection with the vision controller.
Further, the tobacco stalk breaking and discharging mechanism sub-control system comprises a stalk breaking and discharging controller, a second cylinder, a third cylinder, a fourth cylinder, a fifth cylinder, a sixth cylinder, a seventh cylinder and a first motor;
the stalk breaking and packing discharging controller is in communication connection with the PLC main controller, and the second cylinder, the third cylinder, the fourth cylinder, the fifth cylinder, the sixth cylinder, the seventh cylinder and the first motor are in electric signal connection.
Further, the tobacco stalk package material loading dustproof mechanism sub-control system includes material loading dustproof controller and eighth cylinder, the material loading dustproof controller with PLC main control unit electrical signal connection, eighth cylinder with material loading dustproof controller electrical signal connection.
Further, the empty tobacco stalk bag recycling bin mechanism sub-control system comprises a recycling bin controller and a ninth cylinder; the recycling bin controller is in electrical signal connection with the PLC main controller, and the ninth cylinder is in electrical signal connection with the recycling bin controller.
The intelligent tobacco stem feeding control method using any one of the intelligent tobacco stem feeding control systems comprises the following control methods:
s1, starting an intelligent tobacco stem feeding system, and controlling an electromagnetic valve to keep ventilation and achieve a dustproof function by a visual controller of a visual system mobile sub-control system;
s2, when the transport vehicle depends on a fixed position, the sensor is triggered to transmit detected signals to the vision controller and the PLC main controller;
the PLC main controller transmits a control signal to the double-shaft truss robot sub-control system to control the first motion axis of the double-shaft truss robot to perform corresponding actions; the visual controller of the visual system moving sub-control system controls the third servo motor to move on the moving track, so that the first camera reaches a specified position for photographing detection, then moves to the specified position for stacking the tobacco stem packets for data acquisition and recording, and transmits a photographing picture and acquired data to the PLC main controller through the visual controller;
s3, the PLC main controller controls the tobacco stalk packet unloading and stacking mechanism sub-control system and the double-shaft truss robot sub-control system to place the tobacco stalk packet to the corresponding position according to the data acquired by the vision system movement sub-control system;
s4, a PLC main controller controls a double-shaft truss robot sub-control system and a tobacco stem package breaking and unloading mechanism sub-control system to finish tobacco stem package breaking and unloading in a tobacco stem package feeding dustproof mechanism of a tobacco stem conveying mechanism;
s5, when the double-truss robot sub-control system controls the second servo motor to act so as to move the tobacco stem package into the tobacco stem package feeding dustproof mechanism, the tobacco stem package feeding dustproof mechanism sub-control system controls the tobacco stem package feeding dustproof mechanism to act, so that the tobacco stem package breaking and discharging mechanism completes breaking and discharging in the tobacco stem package feeding dustproof mechanism;
s6, after the tobacco stem package breaking and discharging mechanism completes breaking and discharging in the tobacco stem package feeding and dust preventing mechanism, the PLC main control system controls the empty tobacco stem package recycling bin mechanism sub-control system to complete that the empty tobacco stem package falls into the empty tobacco stem package recycling bin.
In the scheme, the double-shaft truss robot can grasp a bag from a transport vehicle and put the bag in a designated area, can grasp the bag from the designated area and unpack the bag on a conveyor belt, and can realize integral automation; the tobacco stalk package positioning on the transport vehicle and the tobacco stalk package positioning in the placement area are completed by a set of mobile vision system, and the spark detection is completed; and the second moving shaft moves into the feeding dustproof mechanism to open the bag, so that the tobacco stems are prevented from being scattered.
The beneficial effects of the invention are as follows:
the intelligent system of the technical scheme completely replaces manual operation, achieves all processes of transferring the tobacco stem package from the transport vehicle to the appointed area and from the appointed area to the tobacco stem conveyor, breaking package and unloading the tobacco stem package and recycling the empty tobacco stem package, and truly achieves automatic and intelligent tobacco stem feeding.
Drawings
FIG. 1 is a schematic diagram of an intelligent tobacco stem feeding system;
FIG. 2 is a topological diagram of an intelligent tobacco stem feeding control method;
FIG. 3 is a schematic diagram of a vision system movement sub-control system;
FIG. 4 is a schematic diagram of a sub-control system of a tobacco stalk packet unloading and stacking mechanism;
FIG. 5 is a schematic diagram of a sub-control system of a tobacco stem wrap-around unloading mechanism;
FIG. 6 is a schematic diagram of a sub-control system of the feeding dust-proof mechanism;
fig. 7 is a schematic diagram of a control system of an empty tobacco stalk bag recycling bin.
Detailed Description
The following examples are given by way of illustration only and are not to be construed as limiting the scope of the invention.
In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," "outer," and the like indicate an orientation or a positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention, and furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, and can also be communicated with the inside of two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The technical scheme of the invention is further described in detail through the following specific embodiments and the accompanying drawings.
As shown in fig. 1 to 7, an intelligent tobacco stem feeding control system comprises a double-shaft truss robot sub-control system 1, a vision system moving sub-control system 2, a tobacco stem packet unloading and stacking mechanism sub-control system 3, a tobacco stem packet breaking and unloading mechanism sub-control system 4, a tobacco stem packet feeding dustproof mechanism sub-control system 5, an empty tobacco stem packet recycling barrel mechanism sub-control system 6 and the like, wherein all sub-control systems are communicated through a PLC main control system of the intelligent tobacco stem feeding system based on a moving vision technology, and mutually matched with each other to realize a system function.
The double-shaft truss robot sub-control system 1 is characterized in that the double-shaft truss robot is provided with two moving shafts, namely a first moving shaft (comprising a Y shaft and a Z shaft) and a second moving shaft (comprising the Y shaft and the Z shaft), wherein the first moving shaft realizes the function of stacking a tobacco stem bag unloading machine, and the second moving shaft realizes the function of unloading a tobacco stem bag breaking machine; the first moving shaft and the second moving shaft share the X shaft of the truss robot, the initial positions of the Y shafts of the first moving shaft and the second moving shaft are set as two ends of the X shaft, the positive and negative rotation circles of the servo motors are controlled to achieve the positions of the Y shafts of the first moving shaft and the second moving shaft on the X shaft, and the positive and negative rotation circles of the two servo motors (respectively, the first servo motor and the second servo motor) are provided with an interlocking function to achieve the anti-collision function; meanwhile, proximity switches are arranged on the Y-axis of the first moving axis and the Y-axis of the second moving axis, signals are given when the two Y-axes reach a threshold distance, and the two servo motors are controlled to stop rotating; the double-shaft anti-collision function of the truss robot is realized under double control; the motion distances of the double-shaft truss robot in the X direction, the Y direction and the Z direction are realized by controlling the rotation of a servo motor.
The visual system moving sub-control system 2 is provided with a camera, the camera is integrally arranged in a dustproof mechanism designed according to the visual angle of the camera, and when the intelligent tobacco stem feeding system based on the moving visual technology is started, the visual system moving sub-control system 2 controls the electromagnetic valve to keep ventilation to achieve the dustproof function; when the transport vehicle stops at a fixed position to prepare for unpacking, a trigger signal is sent to the vision system moving sub-control system 2, and the vision system moving sub-control system 2 controls the third servo motor 8 to move on a moving track, so that the first camera reaches a specified position to carry out shooting detection; then moving to a specified position of stacking the tobacco stem packets for data acquisition and recording, and acquiring the tobacco stem packet placement condition of a specified placement area, wherein the tobacco stem packet placement condition comprises the placeable position and the number of the tobacco stem packets at each position; and after the first moving shaft is piled for one time, the system revises and stores the arrangement condition of the tobacco stem package, so that the grabbing of the second moving shaft is controlled conveniently.
The tobacco stalk package unloading and stacking mechanism sub-control system 3 is used for adjusting the angle of the tobacco stalk package unloading and stacking mechanism in the XY plane according to the angle of the tobacco stalk package in the XY/XZ/YZ plane in the three-dimensional coordinate system, the angle of the tobacco stalk package unloading and stacking mechanism in the XZ plane is adjusted by the first steering motor 9, the angle of the tobacco stalk package unloading and stacking mechanism in the XZ plane is adjusted by the third steering motor 12, and the angle of the tobacco stalk package unloading and stacking mechanism in the YZ plane is adjusted by the second steering motor 11 when the motion axis is moved to the grabbing position of the transport vehicle; adjusting the height of a motion axis I of the double-shaft truss robot in the Z direction according to the distance between the displacement laser sensor and the tobacco stalk bag; the first cylinder 14 is retracted to enable the clamping jaw to clamp the tobacco stem package, then the tobacco stem package is separated from the transport vehicle by lifting the moving shaft of the double-shaft truss robot, the first weighing sensor 10 obtains the weight of the tobacco stem package and stores the weight, and the first weighing sensor is moved to be placed to the corresponding position by the moving shaft of the double-shaft truss robot according to the placement position of the appointed placement area obtained by the vision system.
The tobacco stalk breaking and discharging mechanism sub-control system 4 is used for adjusting the height of the two-axis truss robot moving axis II in the Z direction according to the distance between the two-axis truss robot moving axis II and the tobacco stalk package acquired by the displacement laser sensor and the corresponding position of the tobacco stalk package to be taken according to the information such as the position, the weight and the like of the tobacco stalk package placed by the two-axis truss robot moving axis I stored in the database, and the fifth air cylinder 19 and the seventh air cylinder 22 are used for adjusting the distance between the four hooks so as to adapt to the size of the corresponding tobacco stalk package; the hooks turn over to hook four corners of the tobacco stem package, the second air cylinder 15 is retracted to enable the clamping jaw to clamp the tobacco stem package, and the second moving shaft of the double-shaft truss robot is lifted and moved into the tobacco stem package feeding dustproof mechanism; the sixth cylinder 21 is retracted so that the blade hooks the tobacco stem packet, the seventh cylinder 22 moves to scratch the tobacco stem packet, and then the sixth cylinder 21 and the seventh cylinder 22 are reset successively; the first cylinder 15 stretches out to enable the clamping jaw to be loosened, the fourth cylinder 18 stretches out to enable the tobacco stem package to have enough overturning space, the first motor 23 rotates to enable the tobacco stem package to integrally rotate 180 degrees, the opening faces downwards, the tobacco stems automatically fall into the feeding dustproof mechanism from the inside of the tobacco stem package, meanwhile, the third cylinder 17 continuously reciprocates to beat the tobacco stem package to enable the tobacco stem to be discharged fast and cleanly, and the four corners of the tobacco stem package are hooked by hooks, so that the tobacco stems fall cleanly.
And when the two moving shafts of the double-shaft truss robot clamp the tobacco stem package into the mechanism, the two moving shafts of the double-shaft truss robot give out signals, the eight air cylinders 24 are controlled to be closed by the tobacco stem package feeding dustproof mechanism sub-control system 5, and the tobacco stem package breaking and discharging mechanism executes corresponding actions in the feeding dustproof mechanism.
The sub-control system 6 of the empty tobacco stalk bag recycling bin mechanism, when the motion of breaking and unloading the tobacco stalk bags is completed by the motion shaft II of the double-shaft truss robot, the third air cylinder 17 gives a signal, the eighth air cylinder 24 is retracted to open the feeding dustproof mechanism, the motion shaft II of the double-shaft truss robot moves to the position above the empty tobacco stalk bag recycling bin mechanism with the empty tobacco stalk bags, moves downwards to a fixed position, the empty tobacco stalk bags are clamped by the closure of the four ninth air cylinders 25, the hook is reset to complete the unpacking of the empty tobacco stalk bags, and then the motion shaft II of the double-shaft truss robot moves upwards to reset the motor in a rotating way; the four ninth cylinders 25 are simultaneously opened so that the empty tobacco stem packets automatically fall into the recycling bin.
The invention comprises a double-shaft truss robot sub-control system 1, a vision system moving sub-control system 2, a tobacco stem package unloading and stacking mechanism sub-control system 3, a tobacco stem package breaking and unloading mechanism sub-control system 4, a tobacco stem package feeding and dustproof mechanism sub-control system 5, an empty tobacco stem package recycling bin mechanism sub-control system 6 and the like.
The whole action flow of the scheme is as follows:
the transport vehicle is parked at a fixed position, and the sensor detects a signal and transmits the signal to the vision system mobile sub-control system 2;
the first camera moves to a designated position to collect tobacco stem type number information of the transport vehicle and tobacco stem packet information on the vehicle, a packet taking sequence is determined through a visual algorithm, and a tobacco stem packet unloading and stacking mechanism sub-control system 3 takes tobacco stem packets according to the sequence;
the first motion axis of the double-shaft truss robot is used for taking bags according to a given sequence of a vision system, weighing the bags and then placing the bags in a designated area;
the second motion axis of the double-axis truss robot moves to a corresponding position according to the information of the tobacco stem package placement area given by the vision system to fetch the package, and the sub-control system 4 of the tobacco stem package breaking and unloading mechanism controls the clamping of the tobacco stem package;
moving a second moving shaft of the double-shaft truss robot into a feeding dustproof mechanism of the tobacco stem conveyor, and performing breaking and shaking discharging by a tobacco stem breaking and discharging mechanism sub-control system 4;
the second motion axis of the double-axis truss robot finally moves to the fixed position of the empty tobacco stalk bag recycling bin, and the empty tobacco stalk bag recycling bin mechanism sub-control system 6 executes the action of emptying the tobacco stalk bag;
(7) And repeatedly executing the action flow to carry out production.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which are all within the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents.
Claims (6)
1. The intelligent tobacco stem feeding control system is characterized by comprising a double-shaft truss robot sub-control system, a vision system moving sub-control system, a tobacco stem packet unloading and stacking mechanism sub-control system, a tobacco stem packet breaking and unloading mechanism sub-control system, a tobacco stem packet feeding dustproof mechanism sub-control system, an empty tobacco stem packet recycling bin mechanism sub-control system and a PLC main control system;
the double-shaft truss robot sub-control system, the vision system moving sub-control system, the tobacco stem packet unloading and stacking mechanism sub-control system, the tobacco stem packet breaking and unloading mechanism sub-control system, the tobacco stem packet feeding and dustproof mechanism sub-control system and the empty tobacco stem packet recycling bin mechanism sub-control system are respectively in communication connection with the PLC main control system;
the double-shaft truss robot sub-control system comprises a double-shaft truss robot controller, a first servo motor controller, a second servo motor controller and a proximity switch, wherein the double-shaft truss robot controller is in bidirectional communication connection with the PLC main controller, and the double-shaft truss robot is respectively in electric signal connection with the first servo motor controller, the second servo motor controller and the proximity switch;
the double-shaft truss robot is provided with two moving shafts, namely a first moving shaft and a second moving shaft, wherein the first moving shaft realizes the function of stacking the tobacco stem package unloading truck, and the second moving shaft realizes the function of breaking and package unloading of the tobacco stems; the first moving shaft and the second moving shaft share the X shaft of the truss robot, the initial positions of the Y shafts of the first moving shaft and the second moving shaft are set to be two ends of the X shaft, the positive and negative rotation turns of the servo motor are controlled to be positioned on the X shaft, and the positive and negative rotation turns of the two servo motors are set to be interlocked to achieve the anti-collision function;
the tobacco stem breaking and discharging mechanism sub-control system comprises a stem breaking and discharging controller, a second cylinder, a third cylinder, a fourth cylinder, a fifth cylinder, a sixth cylinder, a seventh cylinder and a first motor;
the stem-breaking and bag-discharging controller is in communication connection with the PLC main controller, and the second cylinder, the third cylinder, the fourth cylinder, the fifth cylinder, the sixth cylinder, the seventh cylinder and the first motor are in electric signal connection;
the second biaxial truss robot moving axis is used for adjusting the height of the second biaxial truss robot moving axis in the Z direction according to the position and weight information of the tobacco stalk bags to be taken, which are stored in the database, of the first biaxial truss robot moving axis, the distance between the second biaxial truss robot moving axis and the tobacco stalk bags is acquired by the displacement laser sensor, and the fifth air cylinder and the seventh air cylinder are used for adjusting the distance between the four hooks so as to adapt to the size of the corresponding tobacco stalk bags; the hooks turn over to hook four corners of the tobacco stem package, the second cylinder is retracted to enable the clamping jaw to clamp the tobacco stem package, and the second moving shaft of the double-shaft truss robot is lifted and moved into the tobacco stem package feeding dustproof mechanism; the sixth cylinder is retracted to enable the blade to hook the tobacco stem package, the tenth cylinder moves to scratch the tobacco stem package, and then the sixth cylinder and the tenth cylinder are reset successively; the second cylinder stretches out and makes the clamping jaw loosen, and the fourth cylinder stretches out and makes the tobacco stalk package have sufficient upset space, and first motor rotation makes the whole 180 of tobacco stalk package rotatory, and the opening is down, and the tobacco stalk automatically drops in the material loading dustproof mechanism from the tobacco stalk package, and the while third cylinder constantly reciprocating motion beats the tobacco stalk package and makes the tobacco stalk discharge clean fast.
2. The intelligent tobacco stem feeding control system according to claim 1, wherein the vision system movement sub-control system comprises a vision controller, a first camera, a third servo motor and a trigger sensor; the visual controller is in bidirectional communication connection with the PLC main controller, and the first camera, the third servo motor and the trigger sensor are respectively in electric signal connection with the visual controller;
when the intelligent tobacco stem feeding system based on the mobile vision technology is started, the vision system mobile sub-control system controls the electromagnetic valve to keep ventilation to achieve the dustproof function; when the transport vehicle stops at a fixed position to prepare for unpacking, a trigger signal is sent to a vision system movement sub-control system, and the vision system movement sub-control system controls a third servo motor to move on a moving track, so that a first camera reaches a specified position to carry out shooting detection; and then moving to a specified position of the tobacco stalk packet stacking for data acquisition and recording, and acquiring the tobacco stalk packet placement condition in a specified placement area.
3. The intelligent tobacco stem feeding control system according to claim 2, wherein the tobacco stem packet unloading and stacking mechanism sub-control system comprises a first steering motor, a second steering motor, a third steering motor, a laser sensor, a first cylinder and a first weight sensor;
the laser sensor and the first weight sensor are respectively connected with the vision controller and the PLC main controller in an electric signal manner;
the first steering motor, the second steering motor, the third steering motor and the first cylinder are all in electrical signal connection with the vision controller;
when the first motion shaft moves to the grabbing position of the transport vehicle, the first steering motor adjusts the angle of the tobacco stem packet unloading and stacking mechanism in the XY plane according to the angle of the tobacco stem packet acquired by the vision system, the third steering motor adjusts the angle of the tobacco stem packet unloading and stacking mechanism in the XZ plane, and the second steering motor adjusts the angle of the tobacco stem packet unloading and stacking mechanism in the YZ plane; adjusting the height of a motion axis I of the double-shaft truss robot in the Z direction according to the distance between the displacement laser sensor and the tobacco stalk bag; the first cylinder retracts to enable the clamping jaw to clamp the tobacco stalk packet, then the tobacco stalk packet is separated from the transport vehicle by lifting the moving shaft I of the double-shaft truss robot, the first weighing sensor obtains the weight of the tobacco stalk packet and stores the weight, and the first weighing sensor is moved to be placed to the corresponding position by the moving shaft I of the double-shaft truss robot according to the placement position of the appointed placement area obtained by the vision system.
4. The intelligent tobacco stem feeding control system according to claim 1, wherein the tobacco stem package feeding dustproof mechanism sub-control system comprises a feeding dustproof controller and an eighth cylinder, wherein the feeding dustproof controller is electrically connected with the PLC main controller, and the eighth cylinder is electrically connected with the feeding dustproof controller; when the second moving shaft of the double-shaft truss robot clamps the tobacco stem bags into the mechanism, the second moving shaft of the double-shaft truss robot gives out signals, and the feeding dustproof controller controls the eighth cylinder to be closed.
5. The intelligent tobacco stem feeding control system according to claim 1, wherein the empty tobacco stem bag recycling bin mechanism sub-control system comprises a recycling bin controller and a ninth cylinder; the recycling bin controller is in electrical signal connection with the PLC main controller, and the ninth air cylinder is in electrical signal connection with the recycling bin controller; the second moving shaft of the double-shaft truss robot moves to the upper part of the empty tobacco stem bag recycling bin mechanism with the empty tobacco stem bags, moves downwards to a fixed position, closes and clamps the empty tobacco stem bags by four ninth cylinders, resets the hooks to finish the unpacking of the empty tobacco stem bags, and then moves upwards to reset the motor in a rotating way; the four ninth cylinders are simultaneously opened so that the empty tobacco stalk bags automatically fall into the recycling bin.
6. An intelligent tobacco stem feeding control method, which uses the intelligent tobacco stem feeding control system according to any one of the claims 1 to 5, is characterized by comprising the following control methods:
s1, starting an intelligent tobacco stem feeding system, and controlling an electromagnetic valve to keep ventilation and achieve a dustproof function by a visual controller of a visual system mobile sub-control system;
s2, when the transport vehicle depends on a fixed position, a triggering sensor of a vision system movement sub-control system transmits a detected signal to a vision controller and a PLC main controller;
the PLC main controller transmits a control signal to the double-shaft truss robot sub-control system to control the first motion axis of the double-shaft truss robot to perform corresponding actions; the visual controller of the visual system moving sub-control system controls the third servo motor to move on the moving track, so that the first camera reaches a specified position for photographing detection, then moves to the specified position for stacking the tobacco stem packets for data acquisition and recording, and transmits a photographing picture and acquired data to the PLC main controller through the visual controller;
s3, the PLC main controller controls the tobacco stalk packet unloading and stacking mechanism sub-control system and the double-shaft truss robot sub-control system to place the tobacco stalk packet to the corresponding position according to the data acquired by the vision system movement sub-control system;
s4, a PLC main controller controls a double-shaft truss robot sub-control system and a tobacco stem package breaking and unloading mechanism sub-control system to finish tobacco stem package breaking and unloading in a tobacco stem package feeding dustproof mechanism of a tobacco stem conveying mechanism;
s5, when the double-truss robot sub-control system controls the second servo motor to act so as to move the tobacco stem package into the tobacco stem package feeding dustproof mechanism, the tobacco stem package feeding dustproof mechanism sub-control system controls the tobacco stem package feeding dustproof mechanism to act, so that the tobacco stem package breaking and discharging mechanism completes breaking and discharging in the tobacco stem package feeding dustproof mechanism;
s6, after the tobacco stem package breaking and discharging mechanism completes breaking and discharging in the tobacco stem package feeding and dust preventing mechanism, the PLC main control system controls the empty tobacco stem package recycling bin mechanism sub-control system to complete that the empty tobacco stem package falls into the empty tobacco stem package recycling bin.
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