机器手智能精准铺叶投料装置的设计与应用

Design and Application of Robot Intelligent and Precise Tobacco Leaf Laying and Feeding Device

为解决打叶复烤过程中人工铺叶投料精度不高、配方比例控制难等问题,满足卷烟工业对精准投料及均质化加工的需要,本文创制了一套机器手智能精准铺叶投料装置。该装置由控制系统和机械系统组成,将装有烟叶的烟筐放至机械系统下,机械系统中的抓取机构通过模拟人工自动抓取烟叶投送至定量输送带,定量输送带根据设定流量按比例定量喂料。测试结果表明:单台设备的最大投料能力为1500 kg/h,单位时间内的投料效率高于人工;在750~1250 kg/h恒定流量投料任务下,该装置每小时投料误差在1.5%内,流量均匀稳定;设备运行稳定,有效作业率≥99%。该装置运行稳定,工作效率高,投料精准,具备实际应用的必要性及可实施性。

In order to solve the problems of low feeding precision of manual leaf laying,difficult control of formula proportion in the process of threshing and redrying,and completely meet the requirements of precise feeding and homogenization processing in cigarette industry,this paper developed a set of robot intelligent and precise leaf laying and feeding device.The device consists of a control system and a mechanical system,wherein a cigarette basket filled with tobacco leaves is placed below the mechanical system,a grabbing mechanism in the mechanical system automatically grabs the tobacco leaves by simulating manual work and delivers the tobacco leaves to a quantitative conveyor belt,and the quantitative conveyor belt quantitatively feeds materials in proportion according to set flow.The results showed that the maximum feeding capacity of one device was 1500 kg/h,the feeding efficiency per unit time was higher than that of manual work;under the constant flow feeding task of 750-1250 kg/h,the feeding error of the device was within 1.5%per hour,the flow was uniform and stable;the equipment ran stably,and the effective operation rate was≥99%.It was concluded that the device had the necessity and practicability for practical application due to its stable operation,high efficiency and precise feeding.