An intelligent germinated brown rice milling machine with a high-precision vision servo system for milling

Abstract

The present invention is an intelligent germinated brown rice milling machine with a high-precision vision servo system, which relates to the field of germinated brown rice processing, especially the intelligent processing of germinated brown rice; it solves the problems of controlling the processing quality of germinated brown rice in both active and passive ways; during the milling process, the force exerted by the mill on the paddy rice can be adjusted; the mill can reduce the vibration caused by the paddy rice acting on the mill; the mill can reduce the tendency of the paddy rice to separate from the mill after the impact of the paddy rice on the mill; and it can form a milling formula. The present invention conducts high-precision control over the processing of germinated brown rice through a high-precision vision servo system; the control device intelligently and automatically adjusts the output damping and force of the mill of the milling group and the speed of the conveyor belt according to the detection data of the grain shape vision detection device and the quality vision detection device, so as to form a milling parameter formula for the variety. The present invention is mainly used for the processing of germinated brown rice.

Description

Technical Field

[0001] The present invention relates to the field of germinated brown rice processing, in particular to the intelligent processing of germinated brown rice. Background Art

[0002] At present, the processing technology of ordinary rice has been relatively mature, but the processing status of germinated brown rice is significantly different from that of ordinary rice. Because the germ part of germinated brown rice is very difficult to retain, and even if it is retained, the integrity of the germ is generally not high, so the product quality and output of germinated brown rice cannot well meet the market demand.

[0003] Processing is a major factor affecting the product quality and output of germinated brown rice. Most of the existing processing equipment is improved based on the processing method of ordinary rice. The processing process and control method are single, and it cannot make active and passive adaptive adjustments for different rice varieties, resulting in a low yield rate and an unadvanced detection method. Compared with the large market demand, the economic losses caused are relatively serious. Summary of the Invention

[0004] Technical Problems to be Solved:

[0005] Simultaneously control the processing quality of germinated brown rice in an active and passive manner; the acting force of the mill on the brown rice during the milling process is adjustable; the mill can reduce the vibration caused by the action of the brown rice on the mill; the mill can reduce the tendency of the mill to separate from the brown rice after the impact of the brown rice on the mill; and a milling formula can be formed.

[0006] Technical Solution:

[0007] The present invention can perform high-precision control on the processing of germinated brown rice through a high-precision visual servo system, including a feed hopper, a grain shape visual detection device, a conveyor belt, a milling group, a quality visual detection device, and a control device. The feed hopper and the grain shape visual detection device are arranged in the grain shape detection area, the milling group is arranged in the milling area, and the quality visual detection device is arranged in the quality detection area.

[0008] In the grain shape detection area, the grain shape visual detection device detects the grain shape of the brown rice in the feed hopper, and the detected brown rice is conveyed to the conveyor belt.

[0009] The milling group includes a base, a first spring damper, a mill, and a lifting mechanism. The lifting mechanism is arranged on the base. One end of the first spring damper is connected to the mill, and the other end is connected to the lifting mechanism. The grain shape data detected by the grain shape visual detection device is transmitted to the control device, and the control device fixes the mill at a predetermined position relative to the conveyor belt by controlling the lifting mechanism according to the detected grain shape data.

[0010] In the milling area, the brown rice is milled between the conveyor belt and the mill, and the brown rice is milled into germinated brown rice during the movement of the conveyor belt relative to the mill.

[0011] In the quality inspection area, the quality vision inspection device detects the embryo retention degree and embryo retention rate of the embryo rice conveyed by the conveyor belt. The detected quality data is transmitted to the control device. The control device compares the detected quality data with the milling index. According to the comparison result, the control device adjusts the position of the milling device relative to the conveyor belt, the pressure of the milling device on the brown rice, and the speed of the conveyor belt. The process of comparison and adjustment is continuously carried out until the product meets the requirements of the milling index.

[0012] To achieve better milling control accuracy, the damping of the first spring damper can be adjusted by the control device according to the detected grain shape data and the detected quality data.

[0013] To make the milling group have better rigidity and the position of the milling device in the milling group more stable, a sliding rod is set. One end of the sliding rod is connected to the milling device through a cross shaft, and the other end of the sliding rod is matched with the base through a slideway arranged on the base. The sliding rod can only slide along the direction of the slideway and cannot rotate relative to the base. The connection mode of the first spring damper with the base and the milling device is spherical hinge connection. The degree of freedom of the milling device is jointly restricted by the first spring damper and the sliding rod.

[0014] The present invention intelligently and automatically adjusts the output damping and acting force of the milling device and the speed of the conveyor belt based on the detection data of the grain shape vision inspection device and the quality vision inspection device, and forms a milling parameter formula for varieties.

[0015] Beneficial effects:

[0016] The processing process of embryo rice is intelligent, and it can adapt to different rice varieties; the control of the milling process is more meticulous; the embryo retention degree and embryo retention rate of embryo rice are higher; the intelligent processing of embryo rice is described in a new way of milling formula. Description of the drawings

[0017] An invention with the name of "An embryo rice milling machine with intelligent milling of high-precision vision servo system" has a specification including 12 drawings, and the illustration of these drawings is as follows:

[0018] Figure 1 It is an axonometric view of the first specific embodiment;

[0019] Figure 2 It is an axonometric view of the milling group 6;

[0020] Figure 3 It is an axonometric view of the base 6-1;

[0021] Figure 4 It is an axonometric view of the milling device 6-2;

[0022] Figure 5 It is an axonometric view of the first sliding rod 6-3;

[0023] Figure 6 Is an axonometric view of the second sliding rod 6-4;

[0024] Figure 7 Is an axonometric view of the milling group 6 in the second specific implementation manner;

[0025] Figure 8 Is an axonometric view of the second spring damper 6-7;

[0026] Figure 9 Is an axonometric view of the movable rod 6-7-1;

[0027] Figure 10 Is an axonometric view of the damping control device 6-8;

[0028] Figure 11 Is an axonometric view of the base 6-8-1;

[0029] Figure 12 Is an axonometric view of the sliding sleeve 6-8-2. Specific implementation manner

[0030] In order to implement the technical solution in the invention content, the following design is selected as the preferred implementation manner. Specific implementation manner one

[0032] Such as Figure 1 , this implementation manner includes a conveyor belt 1, a feed hopper 2, a particle shape visual detection device 3, a quality visual detection device 4, a control device 5, and a milling group 6. The feed hopper 2 is provided with a chamber 2-1.

[0033] Such as Figure 2 , the milling group 6 includes a base 6-1, a mill 6-2, a first sliding rod 6-3, a second sliding rod 6-4, a cross shaft 6-5, and a first spring damper 6-6.

[0034] Such as Figure 3 , the base 6-1 is provided with a first slideway 6-1-1, a second slideway 6-1-2, a first support plate 6-1-3, a first screw 6-1-4, a first drive block 6-1-5, and a first servo motor 6-1-6.

[0035] Such as Figure 4 , the mill 6-2 is provided with a milling plate 6-2-1, a first hole 6-2-2, and a first ball socket 6-2-3. Such as Figure 5 , the first sliding rod 6-3 is provided with a cylindrical rod 6-3-1 and a second hole 6-3-2. Such as Figure 6 , the second sliding rod 6-4 is provided with a square hole 6-4-1 and a second ball socket 6-4-2.

[0036] The working mode of the milling group 6 is as follows:

[0037] The cylindrical rod 6-3-1 of the first sliding rod 6-3 can slide within the first slideway 6-1-1. The second hole 6-3-2 of the first sliding rod 6-3 and the first hole 6-2-2 of the mill 6-2 are connected by a cross shaft 6-5. The second sliding rod 6-4 can slide within the second slideway 6-1-2. The second ball socket 6-4-2 of the second sliding rod 6-4 is connected to one ball head end of the first spring damper 6-6, and the first ball socket 6-2-3 of the mill 6-2 is connected to the other ball head end of the first spring damper 6-6. One end of the first driving block 6-1-5 has a threaded hole that mates with the first screw rod 6-1-4, and the other end is inserted into the square hole 6-4-1 of the second sliding rod 6-4.

[0038] The first servo motor 6-1-6 drives the first screw rod 6-1-4 to rotate, causing the first driving block 6-1-5 to move along the axis of the first screw rod 6-1-4. The first driving block 6-1-5 drives the second sliding rod 6-4 to slide within the second slideway 6-1-2. Since the second sliding rod 6-4 is connected to the mill 6-2 through the first spring damper 6-6, the first servo motor 6-1-6 can adjust the mill 6-2 in the vertical direction.

[0039] Since the first sliding rod 6-3 uses two cylindrical rods 6-3-1 to cooperate with the base 6-1, the mill 6-2 cannot rotate relative to the base 6-1. The first spring damper 6-6 can not only provide a downward pressure on the mill 6-2 but also provide damping during the compression and rebound processes.

[0040] The working mode of this embodiment is as follows:

[0041] Brown rice enters from above the feed hopper 2 and flows through the chamber 2-1. When flowing through the chamber 2-1, the grain shape visual detection device 3 detects the grain shape of the brown rice and automatically discriminates it. The control device 5 controls each first servo motor 6-1-6 according to the grain shape data given by the grain shape visual detection device 3, so that the mill 6-2 of the milling group 6 is fixed at a predetermined position relative to the conveyor belt 1, and controls the conveyor belt 1 at a predetermined speed.

[0042] The brown rice detected by the grain shape visual detection device 3 is conveyed by the conveyor belt 1 to below the mill 6-2, and the brown rice is milled between the mill 6-2 and the conveyor belt 1. During the milling process, due to the uneven distribution of the thickness of the brown rice between the mill 6-2 and the conveyor belt 1, and this situation is constantly changing dynamically, the first spring damper 6-6 can adaptively adjust this dynamic change process of the uneven distribution of the brown rice thickness, so that the mill 6-2 can fit well with the brown rice and reduce the impact of the mill 6-2 on the brown rice, better improving the embryo retention degree and embryo retention rate.

[0043] The rice milled by the milling group 6 is detected in real time by the quality vision detection device 4. The detected data is compared with the standard data. The control device 5 controls each servo motor 6-1-6 according to the comparison result, and adjusts the interaction between the mill 6-2 and the brown rice and the speed of the conveyor belt 1 in real time until the data detected by the quality vision detection device 4 is consistent with the standard data.

[0044] Multiple milling groups 6 can be set to achieve more refined and complex milling formulas. Specific Embodiment 2

[0046] To achieve higher control accuracy, the above-mentioned first spring damper 6-6 is replaced with a second spring damper 6-7 with adjustable damping, and a damping control device 6-8 is added for it, specifically as follows:

[0047] As Figure 8 , the second spring damper 6-7 includes a movable rod 6-7-1, an upper cover 6-7-2, a first cylinder 6-7-3, a second cylinder 6-7-4, and a first spring 6-7-5. As Figure 9 , the movable rod 6-7-1 is provided with a connecting rod 6-7-1-1, a first piston 6-7-1-2, a second piston 6-7-1-3, and a retaining ring 6-7-1-4; the first cylinder 6-7-3 is provided with a first flow port 6-7-3-1, and the second cylinder 6-7-4 is provided with a second flow port 6-7-4-1; the retaining ring 6-7-1-4 can slide on the connecting rod 6-7-1-1 and be sealed with it.

[0048] The assembly form of the second spring damper 6-7 is as follows:

[0049] The first cylinder 6-7-3 and the second cylinder 6-7-4 are connected by threads, and the retaining ring 6-7-1-4 is clamped between the first cylinder 6-7-3 and the second cylinder 6-7-4, and they are sealed with each other; the first piston 6-7-1-2 can slide in the first cylinder 6-7-3 and be sealed with each other, and the second piston 6-7-1-3 can slide in the second cylinder 6-7-4 and be sealed with each other. The upper cover 6-7-2 and the first cylinder 6-7-3 are connected by threads, and the first spring 6-7-5 is located between the upper cover 6-7-2 and the first cylinder 6-7-3. The first flow port 6-7-3-1 is communicated with the cavity formed by the first piston 6-7-1-2 and the retaining ring 6-7-1-4, and the second flow port 6-7-4-1 is communicated with the cavity formed by the second piston 6-7-1-3 and the retaining ring 6-7-1-4.

[0050] As Figure 10 , the damping control device 6-8 includes a base 6-8-1, a sliding sleeve 6-8-2, a second servo motor 6-8-3, a second screw rod 6-8-4, a second driving block 6-8-5, a steel ball 6-8-6, and a second spring 6-8-7. As Figure 11 , the base 6-8-1 is provided with a cylinder 6-8-1-1, an inner cylinder hole one

[0051] 6 - 8 - 1 - 2, oil passage 6 - 8 - 1 - 3, flow port three 6 - 8 - 1 - 4, support plate two 6 - 8 - 1 - 5; The oil passage 6 - 8 - 1 - 3 is simultaneously connected to the cylinder 6 - 8 - 1 - 1, the inner cylinder hole one 6 - 8 - 1 - 2, and the flow port three 6 - 8 - 1 - 4; The cylinder 6 - 8 - 1 - 1, the inner cylinder hole one 6 - 8 - 1 - 2, the oil passage 6 - 8 - 1 - 3, and the flow port three 6 - 8 - 1 - 4 are each arranged symmetrically about the center with a quantity of 2. As Figure 12 On the sliding sleeve 6 - 8 - 2, there are provided an inner cylinder hole two 6 - 8 - 2 - 1, an inner cylinder hole three 6 - 8 - 2 - 2, an inner cylinder hole four 6 - 8 - 2 - 3, an outer cylinder surface 6 - 8 - 2 - 4, and a lever 6 - 8 - 2 - 5.

[0052] The assembly form of the damping control device 6 - 8 is as follows:

[0053] The inner cylinder hole two 6 - 8 - 2 - 1 of the sliding sleeve 6 - 8 - 2 is fitted with the cylinder 6 - 8 - 1 - 1 and can slide and seal with each other; The outer cylinder surface 6 - 8 - 2 - 4 is fitted with the inner cylinder hole one 6 - 8 - 1 - 2 and can slide and seal with each other. One end of the second spring 6 - 8 - 7 is installed in the inner cylinder hole three 6 - 8 - 2 - 2, and the other end contacts the steel ball 6 - 8 - 6. The steel ball 6 - 8 - 6 is under the action of the second spring 6 - 8 - 7 and contacts the

[0054] At the oil passage 6 - 8 - 1 - 3 of the cylinder 6 - 8 - 1 - 1. One end of the driving block two 6 - 8 - 5 has an internal threaded hole and is fitted with the screw two 6 - 8 - 4, and the other end has a U - shaped opening and is fitted with the lever 6 - 8 - 2 - 5 of the sliding sleeve 6 - 8 - 2.

[0055] The servo motor two 6 - 8 - 3 drives the screw two 6 - 8 - 4 to move the driving block two 6 - 8 - 5 along the axis of the screw two 6 - 8 - 4. The driving block two 6 - 8 - 5 drives the sliding sleeve 6 - 8 - 2 to slide, changing the acting force of the second spring 6 - 8 - 7 on the steel ball 6 - 8 - 6, and further changing the resistance of the oil flowing out from the oil passage 6 - 8 - 1 - 3 at the cylinder 6 - 8 - 1 - 1, so as to achieve the purpose of adjusting the damping.

[0056] The damping control method is as follows:

[0057] As Figure 7 The flow port one 6 - 7 - 3 - 1 is connected to one flow port three 6 - 8 - 1 - 4 of the damping control device 6 - 8 through a oil pipe, and the flow port two 6 - 7 - 4 - 1 is connected to the other flow port three 6 - 8 - 1 - 4 of the damping control device 6 - 8 through a oil pipe.

[0058] The cavity formed by the piston one 6 - 7 - 1 - 2 and the retaining ring 6 - 7 - 1 - 4, and the cavity formed by the piston two 6 - 7 - 1 - 3 and the retaining ring 6 - 7 - 1 - 4 are filled with oil in the communication space with the damping control device 6 - 8.

[0059] When the first spring 6-7-5 is compressed, the volume of the cavity formed by the second piston 6-7-1-3 and the retaining ring 6-7-1-4 decreases, and the volume of the cavity formed by the first piston 6-7-1-2 and the retaining ring 6-7-1-4 increases. The hydraulic fluid will flow through a steel ball in the damping control device 6-8. When the first spring 6-7-5 rebounds, the volume of the cavity formed by the second piston 6-7-1-3 and the retaining ring 6-7-1-4 increases, and the volume of the cavity formed by the first piston 6-7-1-2 and the retaining ring 6-7-1-4 decreases. The hydraulic fluid will flow through another steel ball 6-8-6 in the damping control device 6-8. The control device 5 controls the servo motor two 6-8-3 to adjust the resistance of the hydraulic fluid flow at the two steel balls 6-8-6 in the damping control device 6-8 respectively, so as to realize the independent control of the compression damping and the rebound damping of the second spring damper 6-7.

Claims

1. An intelligent embryo - retaining rice milling machine with a high - precision visual servo system for milling, characterized in that: It includes a conveyor belt, a feed hopper, a grain shape visual inspection device (3), a quality visual inspection device (4), a control device (5), and a milling group (6); the milling group (6) includes a base (6-1), a first spring damper (6-6), a mill (6-2), and a lifting mechanism. The lifting mechanism is arranged on the base (6-1). One end of the first spring damper (6-6) is connected to the mill (6-2), and the other end is connected to the lifting mechanism; the grain shape visual inspection device (3) inspects the paddy rice in the feed hopper. The feed hopper feeds the conveyor belt. The paddy rice is milled between the conveyor belt and the mill (6-2). The quality visual inspection device (4) inspects the germinated brown rice after milling by the conveyor belt and the milling group (6); the detection data of the grain shape visual inspection device (3) is transmitted to the control device (5), and the detection data of the quality visual inspection device (4) is transmitted to the control device (5). The control device (5) controls the lifting of the lifting mechanism; It includes a damping control device (6-8); the damping control device (6-8) includes a cylinder (6-8-1-1), an inner cylinder hole (6-8-1-2), a sliding sleeve (6-8-2), steel balls, and a second spring; the cylinder (6-8-1-1) and the inner cylinder hole (6-8-1-2) are provided with oil channels; the inner cylindrical surface of the sliding sleeve (6-8-2) can slide and seal with the cylinder (6-8-1-1); the outer cylindrical surface of the sliding sleeve (6-8-2) can slide and seal with the inner cylinder hole (6-8-1-2); the steel balls and the second spring are installed in the sliding sleeve (6-8-2). One end of the second spring abuts against the sliding sleeve (6-8-2), and the other end of the second spring abuts against the steel balls. The steel balls abut against the oil channel of the cylinder (6-8-1-1) under the action of the second spring; the fluid can flow into from the oil channel of the cylinder (6-8-1-1) under pressure and flow out from the oil channel of the inner cylinder hole (6-8-1-2); one set consists of one cylinder (6-8-1-1), one inner cylinder hole (6-8-1-2), one sliding sleeve (6-8-2), one set of steel balls, and one second spring, and two sets are provided; the first spring damper (6-6) has two cavities. When the first spring damper (6-6) is compressed, one cavity increases and the other cavity decreases. When the first spring damper (6-6) rebounds, the changes of the two cavities are opposite; when the first spring damper (6-6) is compressed, the fluid in the cavity with a reduced volume flows to the cavity with an increased volume through the steel balls in one set; when the first spring damper (6-6) rebounds, the fluid in the cavity with a reduced volume flows to the cavity with an increased volume through the steel balls in the other set; it includes a moving mechanism. The sliding sleeve (6-8-2) is connected to the moving mechanism. The control device (5) controls the movement of the moving mechanism; The connection mode of the first spring damper (6-6) with the base (6-1) and the mill (6-2) is spherical hinge connection; it includes a sliding rod (6-3); a slideway (6-1-1) is provided on the base (6-1); one end of the sliding rod (6-3) is connected to the mill (6-2) through a cross shaft, and the other end of the sliding rod (6-3) is matched with the slideway (6-1-1), and can slide relative to the base (6-1) along the direction of the slideway (6-1-1), and cannot rotate relative to the base (6-1); the lifting function part of the lifting mechanism is a spiral structure; the moving function part of the moving mechanism is a spiral structure.

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